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arXiv 2025年

作者： Mauricio, Fausto Suarez, Lagos Saradagi, Akshit Sumathy, Vidya Kotpalliwar, Shruti Nikolakopoulos, George Robotics and AI group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden

This article introduces a curriculum learning approach to develop a reinforcement learning-based robust stabilizing controller for a Quadrotor that meets predefined performance criteria. The learning objective is to achieve desired positions from random initial conditions while adhering to both transient and steady-state performance specifications. This objective is challenging for conventional one-stage end-to-end reinforcement learning, due to the strong coupling between position and orientation dynamics, the complexity in designing and tuning the reward function, and poor sample efficiency, which necessitates substantial computational resources and leads to extended convergence times. To address these challenges, this work decomposes the learning objective into a three-stage curriculum that incrementally increases task complexity. The curriculum begins with learning to achieve stable hovering from a fixed initial condition, followed by progressively introducing randomization in initial positions, orientations and velocities. A novel additive reward function is proposed, to incorporate transient and steady-state performance specifications. The results demonstrate that the Proximal Policy Optimization (PPO)based curriculum learning approach, coupled with the proposed reward structure, achieves superior performance compared to a single-stage PPO-trained policy with the same reward function, while significantly reducing computational resource requirements and convergence time. The curriculum-trained policy’s performance and robustness are thoroughly validated under random initial conditions and in the presence of disturbances. © 2025, CC BY.

关键词： Curricula

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REMOTELY CONTROLLABLE DNA MICROFLOW 26

REMOTELY CONTROLLABLE DNA MICROFLOW

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26th International Conference on Miniaturized Systems for Chemistry and Life sciences, MicroTAS 2022

作者： Udono, Hirotake Nomura, Shin-Ichiro M. Takinoue, Masahiro Department of Computer Science School of Computing Tokyo Institute of Technology Japan Department of Robotics Graduate School of Engineering Tohoku University Japan

ISBN: (纸本)9781733419048

Despite an emerging interest in fluid manipulation within confined environment such as biological cells and micro-scale biomimics, remotely controllable micro-scale flow remains unexplored. However, intracellular microfluidics is not compatible with established top-down microfluidic methods because of limited accessibility. Here, we demonstrate photoresponsive DNA fluid, condensate of DNA nanostructures (DNA motifs), as a versatile mechanistic tool for the remote control of microflow. Insertion site of azobenzene, introduced for photocontrollability, determines an extent of dynamic shift in binding enthalpy between DNA motifs, providing the underpinning mechanism for drastic and facile flow-mode switching. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized Systems for Chemistry and Life sciences. All rights reserved.

关键词： Remote control

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Effect of electrolyte anions on the cycle life of a polymer electrode in aqueous batteries

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escience 2022年第1期2卷 110-115页

作者： Ye Zhang Lihong Zhao Yanliang Liang Xiaojun Wang Yan Yao Department of Electrical and Computer Engineering Materials Science and Engineering ProgramUniversity of HoustonHoustonTX77204USA Texas Center for Superconductivity at the University of Houston HoustonTX77204USA

Redox polymers are a class of high-capacity, low-cost electrode materials for electrochemical energy storage, butthe mechanisms governing their cycling stability are not well understood. Here we investigate the effect of anionson the longevity of a p-dopable polymer through comparing two aqueous zinc-based electrolytes. Galvanostaticcycling studies reveal the polymer has better capacity retention in the presence of triflate anions than that withsulfate anions. Based on electrode microstructural analysis and evolution profiles of the cell stacking pressure, theorigin of capacity decay is ascribed to mechanical fractures induced by volume change of the polymer activematerials during repeated cycling. The volume change of the polymer with the triflate anion is 61% less than thatwith the sulfate anion, resulting in fewer cracks in the electrodes. The difference is related to the different anionsolvation structures—the triflate anion has fewer solvated water molecules compared with the sulfate anion,leading to smaller volume expansion. This work highlights that anions with low solvation degree are preferablefor long-term cycling.

关键词： Aqueous batteries Polymer electrode Anions Volume chang

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Automated classification of renal tumors on ultrasound images using deep neural network 9

Automated classification of renal tumors on ultrasound image...

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9th International Conference on Intelligent Informatics and BioMedical sciences, ICIIBMS 2024

作者： Wu, Wei-Chieh Chiang, Te-Mei Tsai, Zhi-Ren Asia University Program in Artificial Intelligence College of Information and Electrical Engineering Taichung City Taiwan Asia University Hospital Department of Radiation Oncology Taichung City Taiwan Asia University Department of Computer Science & Information Engineering Taiwan

ISBN: (纸本)9798350363043

Kidney cancer is one of the most common cancers worldwide. The major types of malignant renal tumors are renal cell carcinoma and urothelial carcinoma. Although the majority of renal tumors are malignant, up to 20% are benign, most commonly renal cyst and angiomyolipomas. Ultrasound is the most accessible imaging tool in medical practice, but it highly depends on operator skill, which may lead to high false-negative rate in diagnosis. The purpose of this study was to develop a predictive model for the automated classification of renal tumors on ultrasound images using deep neural network. A total of 880 kidney ultrasound images were used for training and testing. Transfer learning was used to the ten Convolution neural network models. The kidney ultrasound images were classified as benign or malignant tumors. The classification performance of the model was evaluated by sensitivity and specificity. The research results show that VGG18 yielded the best performance, with a sensitivity of 79%, and a specificity of 86%. © 2024 IEEE.

关键词： Ultrasonic imaging

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Resiliency in Space Autonomy: a Review

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Current robotics Reports 2023年第1期4卷 1-12页

作者： Banerjee, Avijit Mukherjee, Moumita Satpute, Sumeet Nikolakopoulos, George Robotics and AI Department of Computer science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

The article provides an extensive overview on the resilient autonomy advances made across various missions, orbital or deep-space, that captures the current research approaches while investigating the possible future direction of resiliency in space autonomy. In recent years, the need for several automated operations in space applications has been rising, that ranges from the following: spacecraft proximity operations, navigation and some station keeping applications, entry, decent and landing, planetary surface exploration, etc. Also, with the rise of miniaturization concepts in spacecraft, advanced missions with multiple spacecraft platforms introduce more complex behaviours and interactions within the agents, which drives the need for higher levels of autonomy and accommodating collaborative behaviour coupled with robustness to counter unforeseen uncertainties. This collective behaviour is now referred to as resiliency in autonomy. As space missions are getting more and more complex, for example applications where a platform physically interacts with non-cooperative space objects (debris) or planetary bodies coupled with hostile, unpredictable, and extreme environments, there is a rising need for resilient autonomy solutions. Resilience with its key attributes of robustness, redundancy and resourcefulness will lead toward new and enhanced mission paradigms of space missions.

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A Deep Learning-Based Bengali Visual Question Answering System 25

A Deep Learning-Based Bengali Visual Question Answering Syst...

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25th International Conference on computer and Information Technology, ICCIT 2022

作者： Rafi, Mahamudul Hasan Islam, Shifat Hasan Imtiaz Labib, S.M. Hasan, Sm Sajid Shah, Faisal Muhammad Ahmed, Sifat Ahsanullah University of Science and Technology Department of Computer Science and Engineering Dhaka Bangladesh Bangladesh University of Engineering and Technology Department of Computer Science and Engineering Dhaka Bangladesh Robotics & Artificial Intelligence Environmental Intelligence & Innovation Co. Ltd. Tokyo Japan

ISBN: (纸本)9798350346022

Visual Question Answering (VQA) is a challenging task in Artificial Intelligence (AI), where an AI agent answers questions regarding visual content based on images provided. Therefore, to implement a VQA system, a computer system requires complex reasoning over visual aspects of images and textual parts of the questions to anticipate the correct answer. Although there is a good deal of VQA research in English, Bengali still needs to thoroughly explore this area of artificial intelligence. To address this, we have constructed a Bengali VQA dataset by preparing human-annotated question-answers using a small portion of the images from the VQA v2.0 dataset. To overcome high linguistic priors that hide the importance of precise visual information in visual question answering, we have used real-life scenarios to construct a balanced Bengali VQA dataset. This is the first human-annotated dataset of this kind in Bengali. We have proposed a Top-Down Attention-based approach in this study and conducted several studies to assess our model's performance. © 2022 IEEE.

关键词： Deep learning

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Leveraging Advanced computer Vision for Hazardous Behavior Monitoring on Campus Safety Maintenance 4

Leveraging Advanced Computer Vision for Hazardous Behavior M...

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4th IEEE International Conference on Electronic Communications, Internet of Things and Big Data, ICEIB 2024

作者： Tsai, Shang-Te Wu, Zong-Rong Chang, Yu-Cheng Lin, Wei-Hsin Lee, Jia-Yi Chien, Wei Business School Yulin Normal University Yulin China National Yunlin University of Science and Technology Department of Technical and Vocational Program in Artificial Intelligence Yunlin Taiwan National Taipei University of Technology Department of Computer Science and Information Engineering Taipei Taiwan Lunghwa University of Science and Technology Department of Computer Information and Network Engineering Taoyuan Taiwan National Pingtung University Department of International Business Pintung Taiwan

ISBN: (纸本)9798350360721

There was an incident on a campus involving the casualty of students. It created social unrest and heightened concerns over campus security. Consequently, it becomes important to prevent such incidents. Thus, we developed a solution for enhancing campus security and creating a safer school environment using deep learning. © 2024 IEEE.

关键词： computer vision

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Accessing Gender Bias in Speech Processing Using Machine Learning and Deep Learning with Gender Balanced Audio Deepfake Dataset

Accessing Gender Bias in Speech Processing Using Machine Lea...

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International Conference on Informatics and Computing (ICIC)

作者： Tricia Estella Amalia Zahra Wai-Keung Fung Computer Science Department BINUS Graduate Program – Master of Computer Science Bina Nusantara University Jakarta Indonesia Department of Engineering Cardiff School of Technologies EUREKA Robotics Centre Cardiff Metropolitan University United Kingdom

ISBN: (数字)9798331517601

ISBN: (纸本)9798331517618

The rapid advancement of AI has led to the rise of Audio Deepfakes (AD), which pose serious ethical and security concerns by accurately mimicking human speech. This research addresses the urgent need for effective AD detection, with a focus on gender bias that can reduce the effectiveness of detection models. We examined how gender affects the performance of both Machine Learning (Support Vector Machine, Random Forest, Logistic Regression, XGBoost) and Deep Learning (Deep Neural Networks, Convolutional Neural Networks) models using the GBAD dataset. Our findings show that models trained on female audio outperform those trained on male audio, likely due to the expressive nature of female voice features and high-pitched artifacts in FAKE audio. This highlights the need for more robust, gender-sensitive detection systems. Future work should focus on developing adaptive models to reduce gender bias, improving security, and creating lightweight models for wider public use.

关键词： Deep learning Support vector machines Deepfakes Adaptation models Logistic regression Computational modeling Security Speech processing Informatics Random forests

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An Exploratory Computational Approach for Elucidating a Nonstructural Protein Interaction in Dengue Virus 2 9th

An Exploratory Computational Approach for Elucidating a Nons...

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9th International Conference on computer science and Computational Intelligence, ICCSCI 2024

作者： Hidayat, Alam Ahmad Nirwantono, Rudi Pardamean, Bens Mathematics Department School of Computer Science Bina Nusantara University 11480 Indonesia Biotechnology Department Faculty of Engineering Bina Nusantara University 11480 Indonesia Bioinformatics and Data Science Research Center Bina Nusantara University Jakarta11480 Indonesia Computer Science Department BINUS Graduate Program Bina Nusantara University Jakarta11480 Indonesia

As the dengue infection still impacts hundreds of millions of people globally, unprecedented efforts in dengue drug development have been more progressive in recent decades. Computational methods provide a fast, sustainable, and efficient screening of active compounds and newly created drug molecules, including those specifically targeting nonstructural proteins (NS) of dengue viruses. In this work, protein modeling for the NS proteins of DENV-2/16681 strain was performed using a template-based homology modeling for the NS3 protein and an Artificial Intelligence (AI)-based prediction via AlphaFold for the NS4B protein. Moreover, the protein-protein interaction between the two structures was predicted using the HADDOCK server, which employs information about active and passive residues of the interaction interface to guide the docking process. After the modeling and its respective refinement process, the predicted structures of NS3 and NS4B improved their steric clashing scoring from MolProbity assessment. The refined models were then docked, and the resulting docking pose was analyzed to extract the interacting residues based on the polar contacts within the interface of the two proteins. Our result presents a preliminary study to create a dataset related to in silico molecular interactions of the NS3-NS4B interaction of different DENV types. It is helpful for building a computational pipeline for elucidating protein-ligand problems in dengue drug screenings. © 2024 The Authors.

关键词： Molecular docking

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Textual Training for the Hassle-Free Removal of Unwanted Visual Data: Case Studies on OOD and Hateful Image Detection 38

Textual Training for the Hassle-Free Removal of Unwanted Vis...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Lee, Saehyung Mok, Jisoo Park, Sangha Shin, Yongho Jung, Dahuin Yoon, Sungroh Department of Electrical and Computer Engineering Seoul National University Korea Republic of Qualcomm Korea YH Seoul Korea Republic of School of Computer Science and Engineering Soongsil University Korea Republic of Interdisciplinary Program in Artificial Intelligence Seoul National University Korea Republic of

In our study, we explore methods for detecting unwanted content lurking in visual datasets. We provide a theoretical analysis demonstrating that a model capable of successfully partitioning visual data can be obtained using only textual data. Based on the analysis, we propose Hassle-Free Textual Training (HFTT), a streamlined method capable of acquiring detectors for unwanted visual content, using only synthetic textual data in conjunction with pre-trained vision-language models. HFTT features an innovative objective function that significantly reduces the necessity for human involvement in data annotation. Furthermore, HFTT employs a clever textual data synthesis method, effectively emulating the integration of unknown visual data distribution into the training process at no extra cost. The unique characteristics of HFTT extend its utility beyond traditional out-of-distribution detection, making it applicable to tasks that address more abstract concepts. We complement our analyses with experiments in out-of-distribution detection and hateful image detection. Our codes are available at https://***/Saehyung-Lee/HFTT. © 2024 Neural information processing systems foundation. All rights reserved.

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