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computer Vision-Control-Based CNN-PID for Mobile Robot

computers, Materials & Continua 2021年第7期68卷 1065-1079页

作者： Rihem Farkh Mohammad Tabrez Quasim Khaled Al jaloud Saad Alhuwaimel Shams Tabrez Siddiqui College of Engineering Muzahimiyah BranchKing Saud UniversityP.O.Box 2454Riyadh11451Saudi Arabia College of Computing and Information Technology University of BishaBisha67714Saudi Arabia King Abdulaziz City for Science and Technology Saudi Arabia Department of Computer Science College of Computer Science and Information TechnologyJazan UniversityJazanSaudi Arabia Department of Electrical Engineering Laboratory for AnalysisConception and Control of SystemsLR-11-ES20National Engineering School of TunisTunis El Manar UniversityTunisTunisia

With the development of artificial intelligence technology,various sectors of industry have *** them,the autonomous vehicle industry has developed considerably,and research on self-driving control systems using artificial intelligence has been extensively *** on the use of image-based deep learning to monitor autonomous driving systems have recently been *** this paper,we propose an advanced control for a serving robot.A serving robot acts as an autonomous line-follower vehicle that can detect and follow the line drawn on the floor and move in specified *** robot should be able to follow the trajectory with speed *** controllers were used simultaneously to achieve *** neural networks(CNNs)are used for target tracking and trajectory prediction,and a proportional-integral-derivative controller is designed for automatic steering and speed *** study makes use of a Raspberry PI,which is responsible for controlling the robot car and performing inference using CNN,based on its current image input.

关键词： Autonomous car pid control deep learning convolutional neural network differential drive system raspberry pi

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A Cooperative Co-Evolution Algorithm with Variable-Importance Grouping for Large-Scale Optimization

A Cooperative Co-Evolution Algorithm with Variable-Importanc...

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Congress on Evolutionary Computation

作者： Yongfeng Li Yuze Zhang Lijia Ma Junkai Ji Dugang Liu Victor C. M. Leung Jianqiang Li College of Computer Science and Software Engineering Shenzhen University Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China Guangdong Laboratory of Artificial Intelligence and Digital Economy Shenzhen China Artificial Intelligence Research Institute Shenzhen MSU-BIT University Shenzhen China Department of Electrical and Computer Engineering The University of British Columbia Vancouver Canada

ISBN: (数字)9798350308365

ISBN: (纸本)9798350308372

Cooperative co-evolution (CC) is a promising direction in solving large-scale multiobjective optimization problems (LMOPs). However, most existing methods of grouping decision variables face some difficulties when searching in the huge search space. Specifically, the methods of grouping decision variables can be classified into two types, i.e., high-consumption grouping methods and non-consumption grouping methods. On the one hand, the former ones divide the decision variables into different groups based on the correlation analysis between variables, which consume much evaluation. This way may lead to premature convergence within limited computational resources. On the other hand, the later ones allocate the decision variables into sub-groups based on some metrics, e.g., order and size, which consume no evaluation while may cause the search fall into local optima. To alleviate the above issues, this paper proposes a CC-based algorithm with a variable-importance grouping (VIG) method, called VICCA. Firstly, the decision variables are classified into several subgroups according to their importance quantified by a meta-gene construction method. Secondly, a CC strategy is designed to simultaneously optimize all subgroups of decision variables formed by VIG using the differential evolution operator, which aims to accelerate the convergence speed. Thirdly, a global evolutionary strategy is proposed to optimize original decision variable space by the competitive swarm optimizer, aiming to maintain the diversity. Finally, the experiments demonstrate that our proposed VICCA has the significant advantage in solving LMOPs when compared with state-of-the-art evolutionary algorithms.

关键词： Measurement Correlation Sociology Evolutionary computation Reinforcement learning Germanium Computational efficiency

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Adaptive Frequency Hopping for 5G New Radio mMTC Security

Adaptive Frequency Hopping for 5G New Radio mMTC Security

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IEEE International Conference on Industrial Technology (ICIT)

作者： Wai Ming Chan Hyuck M. Kwon Rémi A. Chou David J. Love Sonia Fahmy Syed Rafiul Hussain Sang Wu Kim Chris Vander Valk Christopher G. Brinton Vuk Marojevic Khanh D. Pham Taejoon Kim Department of Electrical Engineering and Computer Science The University of Kansas Lawrence KS USA Department of Electrical and Computer Engineering Wichita State University Wichita KS USA School of Computing Wichita State University Wichita KS USA Elmore Family School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Department of Computer Science Purdue University West Lafayette IN USA Department of Computer Science and Engineering The Pennsylvania State University State College PA USA Department of Electrical and Computer Engineering Iowa State University Ames IA USA Raytheon BBN Cambridge MA USA Department of ECE Mississippi State University Starkville MS USA Air Force Research Laboratory Albuquerque NM USA

3GPP standards (e.g., LTE and 5G New Radio (NR)) have revolutionized commercial broadband access. Unfortunately, the openness of $\mathbf{3GPP}$ specifications and high-level of adaptability make fifth-generation (5G) networks increasingly sensitive to unsophisticated attacks in the network. While 5G NR has introduced frequency hopping (FH) for massive machine-type communications $(\mathbf{mMTC})$ , there has not been a unified approach to designing the FH patterns in practical 5G systems. In this paper, we investigate the multi-user FH design problem at the physical resource grid of the 5G communication networks. We present various criteria for FH pattern design and propose two algorithms that are implementable with low complexity. The first scheme utilizes known interference patterns to design a set of user equipment (UE) FH patterns that are immune to interfering attacks. The second scheme leverages interference statistics and minimizes the expected number of hits by the interferer. Through numerical simulations and analytical modeling, we demonstrate the efficacy of the proposed schemes, which outperform the uniform FH pattern and achieve near-optimal performance.

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The SMART BEAR Project: An Overview of Its Infrastructure 7th

The SMART BEAR Project: An Overview of Its Infrastructure

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7th and 8th International Conference on Information and Communication Technologies for Ageing Well and e-Health, ICT4AWE 2021 and ICT4AWE 2022

作者： Su, Qiqi Peretokin, Vadim Basdekis, Ioannis Kouris, Ioannis Maggesi, Jonatan Sicuranza, Mario Acebes, Alberto Bucur, Anca Mukkala, Vinod Jaswanth Roy Pozdniakov, Konstantin Kloukinas, Christos Koutsouris, Dimitrios D. Iliadou, Elefteria Leontsinis, Ioannis Gallo, Luigi De Pietro, Giuseppe Spanoudakis, George Department of Computer Science City University of London London United Kingdom Philips Research Eindhoven Netherlands SPHYNX Technology Solutions AG Zug Switzerland Biomedical Engineering Laboratory School of Electrical and Computer Engineering National Technical University of Athens Athens Greece Computer Science Department Università degli Studi di Milano Milan Italy Institute for High-Performance Computing and Networking National Research Council of Italy ICAR - CNR Naples Italy Atos Research and Innovation Madrid Spain 1st Otolaryngology University Department National and Kapodistrian University of Athens Athens Greece 1st Cardiology Clinic Medical School National and Kapodistrian University of Athens Athens Greece

ISBN: (纸本)9783031374951

The paper describes a cloud-based platform that utilizes Artificial Intelligence (AI) and Explainable AI techniques to deliver evidence-based, personalized interventions to individuals over 65 suffering or at risk of hearing loss, cardiovascular disease, cognitive impairments, balance disorders, or mental health issues, while supporting efficient remote monitoring and clinician-driven guidance. As part of the SMART BEAR integrated project, this platform has been developed to support its large-scale clinical trials. The platform consists of a standards-based data harmonization and management layer, as well as a security component, a Big Data Analytics system, a Clinical Decision Support system, and a dashboard component to facilitate efficient data collection across pilot sites. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Artificial intelligence

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Mixture Gaussian Distribution-Based Collaborative Reinforcement Learning for 3D UAV Localization Optimization Against Jamming Attacks

Mixture Gaussian Distribution-Based Collaborative Reinforcem...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Yujiao Zhu Mingzhe Chen Sihua Wang Yuchen Liu Gaolei Li Changchuan Yin Tony Q.S. Quek Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing China Information Systems Technology and Design Pillar Singapore University of Technology and Design Singapore Department of Electrical and Computer Engineering and Institute for Data Science and Computing University of Miami Coral Gables FL USA Department of Computer Science North Carolina State University Raleigh NC USA School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

In this paper, the optimization of unmanned aerial vehicle (UAV) localization under jamming attacks is studied. In the considered network, a base station (BS) collaborates with an active UAV to localize a target UAV. During this positioning process, a jamming UAV transmits discontinuous signals to passive UAVs to interfere the distance information measurement. To localize the target UAV under jamming attacks, the BS jointly use two localization methods: 1) generative adversarial network (GAN)-based positioning method and 2) time difference of arrival (TDOA)-based positioning method. Since GAN-based positioning method cannot defense in a strong jamming signal while TDOA-based positioning method may consume more energy and sacrifice localization accuracy, the BS must select an appropriate positioning method (GAN-based or TDOA-based methods) and four distance measurement information of passive UAVs to estimate the position of the target UAV. This problem is formulated as an optimization problem whose goal is to minimize the positioning error between the estimated and the ground truth positions of the target UAV while considering jamming attacks and the trajectory of passive UAVs. To solve this problem, we propose a mixture Gaussian distribution model-based collaborative reinforcement learning (RL) method which enables the active UAV to determine its transmit power and trajectory, and enables the BS to select the most appropriate subsets of distance measurement information and the optimal positioning method according to the movement of passive UAVs and the unknown jamming attack pattern of the jamming UAV. Simulation results show the proposed method can reduce the positioning error of the target UAV by up to 36.5% compared to the method that does not consider the GAN-based positioning method.

关键词： Location awareness Simulation Collaboration Reinforcement learning Gaussian distribution Autonomous aerial vehicles Distance measurement Trajectory Jamming Optimization

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Performance Optimization for Multicast Mm Wave MIMO Networks with Mobile Users

Performance Optimization for Multicast Mm Wave MIMO Networks...

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IEEE International Conference on Communications Workshops, ICC

作者： Songling Zhang Mingzhe Chen Wenjing Zhang Zhaohui Yang Danpu Liu Zhilong Zhang Kai-Kit Wong Beijing Key Laboratory of Network System Architecture and Convergence Beijing University of Posts and Telecommunications Beijing China Department of Electrical and Computer Engineering Institute for Data Science and Computing University of Miami Coral Gables FL USA Zhejiang Lab Hangzhou China Zhejiang University Hangzhou China Department of Electronic and Electrical Engineering University College London London UK

ISBN: (数字)9798350304053

ISBN: (纸本)9798350304060

In this paper, the problem of maximizing the sum rate of mobile users in a multi-base station (BS) cooperative millimeter-wave (mmWave) multicast communication system is studied. In the considered model, due to the real-time mobility of users, the users being served by a given BS and beamforming of BSs and users are dynamic. Multiple BSs must cooperate to serve dynamic requests of multiple mobile users. This problem is posed as an optimization framework whose goal is to maximize the sum rate of all mobile users by jointly optimizing the number of users served by all BSs and beamforming matrices of both BSs and users. To solve this non-convex optimization problem, we first introduce a value decomposition based reinforcement learning (VD- RL) algorithm to determine the users to be served by each BS. Then, we use the block diagonalization method to obtain the fully digital transmit beamforming matrices of all BSs as well as the receive beamforming matrices of the users. Finally, a fast optimization algorithm is used to optimize the hybrid beamforming matrices of both BSs and users. Simulation results show that, the proposed algorithm can achieve up to 51 % gain in terms of the sum rate of all mobile users compared to baseline multi-agent algorithms.

关键词： Multicast algorithms Array signal processing Heuristic algorithms Simulation Conferences Multicast communication real-time systems

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Statistical 3D Device Simulation of Full Fluctuations of Gate-All-Around Silicon Nanosheet MOSFETs at Sub-3-nm Technology Nodes

Statistical 3D Device Simulation of Full Fluctuations of Gat...

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2022 International Symposium on VLSI Technology, Systems and Applications, VLSI-TSA 2022

作者： Kola, Sekhar Reddy Li, Yiming Chen, Chieh-Yang Chuang, Min-Hui National Yang-Ming Chiao Tung University Electrical Engineering and Computer Science International Graduate Program Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Institute of Communications Engineering Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Department of Electrical Engineering and Computer Engineering Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Institute of Biomedical Engineering Hsinchu300 Taiwan National Yang-Ming Chiao Tung University Parallel and Scientific Computing Laboratory Hsinchu300 Taiwan

ISBN: (纸本)9781665409230

We for the first time study characteristic fluctuation of gate-all-around silicon nanosheet MOSFETs induced by random dopants fluctuation (RDF), interface trap fluctuation (ITF), and work function fluctuation (WKF), and their combinations. The explored devices affected by the WKF and its combination result in sizeable variability. Because of enigmatical interactions among the aforementioned random factors, overestimated variabilities occur if we only consider one random source each time, compared with the statistical 3D device simulation for full RDF, ITF and WKF at the same time. Notably, 10.78% and 103% overestimations are found for the threshold voltage and off-state current fluctuations. © 2022 IEEE.

关键词： Nanosheets

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Joint Beamforming and Antenna Design for Near-Field Fluid Antenna System

arXiv

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arXiv 2024年

作者： Chen, Yixuan Chen, Mingzhe Xu, Hao Yang, Zhaohui Wong, Kai-Kit Zhang, Zhaoyang Hangzhou310027 China Department of Electrical and Computer Engineering Institute for Data Science and Computing University of Miami Coral GablesFL33146 United States Department of Electronic and Electrical Engineering University College London LondonWC1E 7JE United Kingdom Yonsei Frontier Laboratory Yonsei University Seoul03722 Korea Republic of

In this letter, we study the energy efficiency maximization problem for a fluid antenna system (FAS) in near field communications. Specifically, we consider a point-to-point near-field system where the base station (BS) transmitter has multiple fixed-position antennas and the user receives the signals with multiple fluid antennas. Our objective is to jointly optimize the transmit beamforming of the BS and the fluid antenna positions at the user for maximizing the energy efficiency. Our scheme is based on an alternating optimization algorithm that iteratively solves the beamforming and antenna position subproblems. Our simulation results validate the performance improvement of the proposed algorithm and confirm the effectiveness of FAS. Copyright © 2024, The Authors. All rights reserved.

关键词： Beam forming networks

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Natural Human Skin‑Inspired Wearable and Breathable Nanofiber‑based Sensors with Excellent Thermal Management Functionality

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Advanced Fiber Materials 2024年第6期6卷 1955-1968页

作者： Peng Wang Xiaodan Li Guifen Sun Guoqing Wang Qing Han Chuizhou Meng Zhonghe Wei Yang Li School of Mechanical Engineering University of JinanJinan 250022China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China Shandong Provincial Key Laboratory of Network‑Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China Network Information Center Department of Computer ScienceQilu University of Technology(Shandong Academy of Sciences)Jinan 250353China School of Integrated Circuits Shandong UniversityJinan 250101China

Wearable sensors have been rapidly developed for application in various human monitoring ***,the wearing comfort and thermal properties of these devices have been largely ignored,and these characteristics urgently need to be ***,we develop a wearable and breathable nanofiber-based sensor with excellent thermal management functionality based on passive heat preservation and active Joule heating *** multifunctional device consists of a micropatterned carbon nanotube(CNT)/thermoplastic polyurethane(TPU)nanofiber electrode,a microporous ionic aerogel electrolyte and a microstructured Ag/TPU nanofiber *** to the presence of a supercapacitive sensing mechanism and the appli-cation of microstructuration,the sensor shows excellent sensing performance,with a sensitivity of 24.62 ***,due to the overall porous structure and hydrophobicity of TPU,the sensor shows good breathability(62 mm/s)and water repellency,with a water contact angle of 151.2°.In addition,effective passive heat preservation is achieved by combining CNTs with high solar absorption rates(85%)as the top layer facing the outside,aerogel with a low thermal conductivity(0.063 W m-1 k-1)as the middle layer for thermal insulation,and Ag with a high infrared reflectance rate as the bottom layer facing the *** warming,this material yields a higher temperature than ***,the active Joule heat-ing effect is realized by applying current through the bottom resistive electrode,which can quickly increase the temperature to supply controlled warming on *** proposed wearable and breathable sensor with tunable thermal properties is promising for monitoring and heat therapy applications in cold environments.

关键词： Wearable sensor Breathable Personal thermal management Electrospun nanofibers Joule heating

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Clustering Interval and Triangular Granular Data: Modeling, Execution, and Assessment

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IEEE Transactions on Neural Networks and Learning Systems 2024年第6期36卷 10000-10014页

作者： Yiming Tang Wenbin Wu Witold Pedrycz Jianwei Gao Xianghui Hu Zhaohong Deng Rui Chen Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine School of Computer and Information Hefei University of Technology Hefei China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada School of Computer and Information Hefei University of Technology Hefei China Faculty of Automatic Control Electronics and Computer Science Silesian University of Tecghnology Gliwice Poland Research Center of Performance and Productivity Analysis Istinye University Istanbul TÃrkiye School of Computer Science and Engineering Southeast University Nanjing China School of Artificial Intelligence and Computer Jiangnan University Wuxi Jiangsu China

In current granular clustering algorithms, numeric representatives were selected by users or an ordinary strategy, which seemed simple; meanwhile, weight settings for granular data could not adequately express their structural characteristics. Aiming at these problems, in this study, a new scheme called a granular weighted kernel fuzzy clustering (GWKFC) algorithm is put forward. We propose the representative selection and granularity generation (RSGG) algorithm enlightened by the density peak clustering (DPC) algorithm. We build interval and triangular granular data on the strength of numeric representatives obtained by RSGG under the principle of justifiable granularity (PJG), in which we establish some combinations of functions and boundary constraints and prove their properties. Furthermore, we present a novel distance formula via the kernel function for granular data and design new weights to affect the coverage and specificity of granular data. In addition, based upon these factors, we come up with the GWKFC algorithm of granular clustering, and its performance with different granularity is assessed. To sum up, a macro framework involving granular modeling, granular clustering, and assessment has been set up. Lastly, the GWKFC algorithm and ten other granular clustering algorithms are compared by experiments on some artificial and UCI datasets together with datasets with large data or those of high dimensionality. It is found that the GWKFC algorithm can provide better granular clustering results by contrast with other algorithms. The originality is embodied as follows. First, we improve the previous density radius and present the RSGG algorithm to acquire numeric representatives. Second, we propose a new strategy to determine granular data boundaries and further obtain novel weights enlightened by the idea of volume. Lastly, we employ the kernel function to calculate the distance between granular data, which has a stronger spatial division ability than the pr

关键词： Clustering algorithms Data models Computational modeling Numerical models Kernel Phase change materials Granular computing Uncertainty Fuzzy sets Noise

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