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arXiv 2024年

作者： Wei, Hexiang Jiao, Jianhao Hu, Xiangcheng Yu, Jingwen Xie, Xupeng Wu, Jin Zhu, Yilong Liu, Yuxuan Wang, Lujia Liu, Ming Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong Robot Perception and Learning Lab Department of Computer Science University College London United Kingdom Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology China Guangzhou China

Simultaneous Localization and Mapping (SLAM) technology has been widely applied in various robotic scenarios, from rescue operations to autonomous driving. However, the generalization of SLAM algorithms remains a significant challenge, as current datasets often lack scalability in terms of platforms and environments. To address this limitation, we present FusionPortableV2, a multi-sensor SLAM dataset featuring sensor diversity, varied motion patterns, and a wide range of environmental scenarios. Our dataset comprises 27 sequences, spanning over 2.5 hours and collected from four distinct platforms: a handheld suite, a legged robot, a unmanned ground vehicle (UGV), and a vehicle. These sequences cover diverse settings, including buildings, campuses, and urban areas, with a total length of 38.7km. Additionally, the dataset includes ground-truth (GT) trajectories and RGB point cloud maps covering approximately 0.3km2. To validate the utility of our dataset in advancing SLAM research, we assess several state-of-the-art (SOTA) SLAM algorithms. Furthermore, we demonstrate the dataset's broad application beyond traditional SLAM tasks by investigating its potential for monocular depth estimation. The completae dataset, including sensor data, GT, and calibration details, is accessible at https://***/dataset/fusionportable v2. Copyright © 2024, The Authors. All rights reserved.

关键词： SLAM robotics

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Tuning Language Models for Medical Interviews with Pediatric and Juvenile Patients

Tuning Language Models for Medical Interviews with Pediatric...

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International Conference on Advancements in Computational sciences (ICACS)

作者： Jesús Bouza Rodrigo Alarcón Fernando Fernández Department of IT SingularBeacon SL Madrid Spain Scientific research Inrobics Social Robotics Spain Computer Science and Engineering Department Universidad Carlos III de Madrid Leganés Spain

ISBN: (数字)9798331533038

ISBN: (纸本)9798331533045

This paper presents the fine-tuning of a pre-trained language model for use in medical interviews with child and adolescent patients. Using DialoGPT-small, synthetic data have been generated that allow the model to be trained to generate contextually relevant questions tailored to patient responses. The main objective is to improve the interaction between the physician and the patient, promoting a comfortable and safe environment for children. The results obtained show that the model can generate coherent questions with metrics that demonstrate adequate generalization. Areas for improvement have been identified, such as the management of question repetition, proposing future implementations with conversational memory and multi-modal analysis.

关键词： Measurement Adaptation models Analytical models Pediatrics Computational modeling Data models Interviews Tuning Synthetic data Context modeling

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Chiral exceptional point enhanced active tuning and non reciprocity in micro-resonators

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光：科学与应用（英文版） 2025年第2期14卷 401-410页

作者： Hwaseob Lee Lorry Chang Ali Kecebas Dun Mao Yahui Xiao Tiantian Li Andrea Alù Sahin K.Özdemir Tingyi Gu Department of Electrical and Computer Engineering University of DelawareNewarkDelaware 19716USA Department of Engineering Science and Mechanics Pennsylvania State UniversityUniversity ParkPA 16802USA Photonics Initiative Advanced Science Research CenterCity University of New YorkNew YorkNY 10031USA Physics Program Graduate CenterCity University of New YorkNew YorkNY 10016USA Department of Engineering Science and Mechanics Pennsylvania State UniversityUniversity ParkPA 16802USA Department of Electrical and Computer Engineering Saint Louis UniversitySaint LouisMO 63103USA

Exceptional points(EPs)have been extensively explored in mechanical,acoustic,plasmonic,and photonic ***,little is known about the role of EPs in tailoring the dynamic tunability of optical devices.A specific type of EPs known as chiral EPs has recently attracted much attention for controlling the flow of light and for building sensors with better responsivity.A recently demonstrated route to chiral EPs via lithographically defined symmetric Mie scatterers on the rim of resonators has not only provided the much-needed mechanical stability for studying chiral EPs,but also helped reduce losses originating from nanofabrication imperfections,facilitating the in-situ study of chiral EPs and their contribution to the dynamics and tunability of ***,we use asymmetric Mie scatterers to break the rotational symmetry of a microresonator,to demonstrate deterministic thermal tuning across a chiral EP,and to demonstrate EP-mediated chiral optical nonlinear response and efficient electro-optic *** results indicate asymmetric electro-optic modulation with up to 17 dB contrast at GHz and CMOS-compatible voltage *** wafer-scale nano-manufacturing of chiral electro-optic modulators and the chiral EP-tailored tunning may facilitate new micro-resonator functionalities in quantum information processing,electromagnetic wave control,and optical interconnects.

关键词： active point micro chiral enhanced exceptional reciprocity resonators tuning

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Analysis of Parallel Graph Applications

Analysis of Parallel Graph Applications

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International Conference on Parallel and Distributed Systems (ICPADS)

作者： Funda Atik Serif Yesil Hamza Ouarnoughi Smail Niar Ozcan Ozturk Computer Science and Engineering Department Washington University in St. Louis Doimukh MI USA NVidia Urbana IL USA Department of Computer Science Université Polytechnique Hauts-de-France Valenciennes France LAMIH/CNRS Université Polytechnique Hauts-de-France Valenciennes France Computer Science and Engineering Program Electronics Engineering Program Sabanci University Istanbul Turkey

ISBN: (数字)9798331515966

ISBN: (纸本)9798331515973

Despite the increasing computing power of shared memory systems with high core counts, parallel graph processing frameworks cannot exploit it effectively. The reason behind this is the inherent challenges in parallel graph algorithms, which are efficient management of dynamically created tasks and irregular data access patterns. In this paper, we categorize several popular design choices into three design dimensions: (i) execution mode, (ii) data access pattern, and (iii) work activation. We provide their high-level parallel implementations and analyze various implementations of three representative iterative graph algorithms by considering these design dimensions. To gain a better understanding of design choices, we examine their impacts on performance, communication, scalability, and work efficiency. We also investigate the communication characteristics of the design choices on two state-of-the-art shared-memory platforms by performing micro-architectural analysis. Our microarchitectural analysis reveals that a topology-driven, pull-based model gives up to $20 x$ better performance.

关键词： Analytical models Microarchitecture Scalability Heuristic algorithms Benchmark testing Throughput Iterative algorithms System-on-chip

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Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics

Multi-Robot Local Motion Planning Using Dynamic Optimization...

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International Symposium on Multi-Robot and Multi-Agent Systems (MRS)

作者： Saray Bakker Luzia Knoedler Max Spahn Wendelin Böhmer Javier Alonso-Mora department of Cognitive Robotics Delft University of Technology The Netherlands department of Electrical Engineering Mathematics & Computer Science Delft University of Technology The Netherlands

In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as Multi-Robot Dynamic Fabrics (MRDF). This geometric method enables a very high planning frequency for high-dimensional systems at the expense of being reactive and prone to deadlocks. To detect and resolve deadlocks, we propose Rollout Fabrics where MRDF are forward simulated in a decentralized manner. We validate the methods in simulated close-proximity pick-and-place scenarios with multiple manipulators, showing high-success rates and real-time performance. Code, video: https://***/tud-amr/multi-robot-fabrics

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dVRK-Si: The Next Generation da Vinci Research Kit

dVRK-Si: The Next Generation da Vinci Research Kit

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International Symposium on Medical robotics (ISMR)

作者： Keshuai Xu Jie Ying Wu Anton Deguet Peter Kazanzides Department of Computer Science Johns Hopkins University Baltimore MD USA Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD USA Department of Computer Science Vanderbilt Institute for Surgery and Engineering Vanderbilt University Nashville TN USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

The da Vinci Research Kit (dVRK) is an opensource and open-hardware surgical robotics research platform that provides complete access to all levels of control on decommissioned da Vinci Surgical Systems. The original dVRK, released to the research community in 2012 and now installed at more than 40 institutions worldwide, is based on the first-generation da Vinci system released in 2000. In this work, we present dVRK-Si, an update that extends support to decommissioned second/third generation da Vinci S/Si patientside robots. We describe extensions to the system architecture that maintain compatibility and interoperability with the original dVRK system, thereby enabling a heterogeneous mix of dVRK and dVRK-Si arms in the same system. Additionally, we describe the following components specific to the dVRK-Si: (1) a new controller that features 10 channels of PWM motor drivers with digital current loops; (2) alternative (closed-source) firmwares for embedded devices in the robot arm that stream serialized sensor data using an open protocol; and (3) electronics to support the passive Setup Joints included in full systems. All electronics designs, software, and firmware (except as noted above) are provided open source to the community.

关键词： Medical robotics Systems architecture Arms Pulse width modulation Robot sensing systems Motors Manipulators Software Interoperability Microprogramming

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White rice stem borer pest detection system using image-based convolution neural network

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Procedia computer science 2024年 245卷 518-527页

作者： Akhmad Saufi Suharjito Computer Science Department BINUS Online Learning Bina Nusantara University Jakarta Indonesia 11480 Industrial Engineering Department BINUS Graduate Program – Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia 11480

Preventing agricultural resource loss caused by pests remains a crucial issue. While technological advancements are being achieved, the current agricultural management methods and equipment have yet to meet the required level for precise pest control, a huge portion of the pest population analysis process is still conducted manually. As a solution to this issue, the development of a White Rice Stem Borer pest detection system has been conducted by applying Convolutional Neural Network (CNN) technology to calculate the pest population count at the research location. This system has been specifically designed to detect the White Rice Stem Borer using available traps. The method involves training data from a direct dataset obtained from the field, categorized into two positive and negative classes of the White Stem Borer pests. Six models have been trained from this dataset, utilizing two different architectures. Out of the six trained models, four showed potential overfitting, one exhibited underfitting, and one model demonstrated optimal results. The highest accuracy in image detection achieved by the most optimal CNN model was 97.35%, with a training accuracy of 98.54%. This best-performing model utilized an architecture with three Convolution layers, 50 Epochs, and an automatic data split with an 80:20 training-validation data ratio. From the research findings, it is concluded that this study can assist in automatically analyzing the quantity of White Stem Borer pests in a specific area without directly counting the number of pests from existing traps. However, the study still encounters a limitation—the detection process still requires substantial server resources and cannot be directly processed on the Raspberry PI device installed in the trap. Consequently, the detection relies on transmitting image data from the field device to the server before the detection process can occur.

关键词： White Rice Stem Borer Stem Borer White Stem Borer Detection Pest Detection Convolutional Neural Network (CNN)

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Feasibility Study of Semi-supervised Intrusion Detection Systems for Industrial Control Systems 10

Feasibility Study of Semi-supervised Intrusion Detection Sys...

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10th International Conference on Applied System Innovation, ICASI 2024

作者： Loo, Fu-Nie Chen, Tung-Shou Tsai, Chia-Wei Lin, Jason Yang, Chun-Wei National Taichung University of Science and Technology Department of Computer Science and Information Engineering No.129 Sec.3 Sanmin Rd. North Dist. Taichung City404 Taiwan National Chung Hsing University Department of Computer Science and Engineering 145 Xingda Rd. South Dist. Taichung City402202 Taiwan China Medical University Master Program for Digital Health Innovation No. 100 Sec. 1 Jingmao Rd. Beitun Dist. Taichung City406040 Taiwan

ISBN: (纸本)9798350394924

Industrial Control systems (ICS) automate industrial processes but also introduces cybersecurity threats. Intrusion Detection System (IDS) are crucial for detecting cyber-attacks on ICS, yet zero-day attacks are often inefficiently detecting with supervised learning. This study employs semi-supervised learning using one-class SVM, isolation forest, and Local Outlier Factor (LOF), to train IDS models. Utilizing dataset collected from a self-build virtual ICS environment, the study demonstrates the feasibility of these models in detecting common attack like Injection, ARP, and Man-in-the-Middle. © 2024 IEEE.

关键词： Zero-day attack

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ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor

ViTacTip: Design and Verification of a Novel Biomimetic Phys...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wen Fan Haoran Li Weiyong Si Shan Luo Nathan Lepora Dandan Zhang Department of Bioengineering Imperial College London School of Engineering Mathematics and Technology and Bristol Robotics Laboratory University of Bristol School of Computer Science and Electronic Engineering University of Essex Department of Engineering King’s College London

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which seamlessly integrates both tactile and visual perception capabilities into a single, integrated sensor unit. ViTacTip features a transparent skin to capture fine features of objects during contact, which can be known as the see-through-skin mechanism. In the meantime, the biomimetic tips embedded in ViTacTip can amplify touch motions during tactile perception. For comparative analysis, we also fabricated a ViTac sensor devoid of biomimetic tips, as well as a TacTip sensor with opaque skin. Furthermore, we develop a Generative Adversarial Network (GAN)-based approach for modality switching between different perception modes, effectively alternating the emphasis between vision and tactile perception modes. We conducted a performance evaluation of the proposed sensor across three distinct tasks: i) grating identification, ii) pose regression, iii) contact localization and force estimation. In the grating identification task, ViTacTip demonstrated an accuracy of 99.72%, surpassing TacTip, which achieved 94.60%. It also exhibited superior performance in both pose and force estimation tasks with the minimum error of 0.08 mm and 0.03N, respectively, in contrast to ViTac’s 0.12 mm and 0.15N. Results indicate that ViTacTip outperforms single-modality sensors.

关键词： Biomimetics Force Estimation Switches Robot sensing systems Skin Sensors

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Offline Content-based Recommendation System for Wikimedia Commons Contents 16

Offline Content-based Recommendation System for Wikimedia Co...

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16th International Conference on Ambient Systems, Networks and Technologies Networks, ANT 2025 / 8th International Conference on Emerging Data and Industry 4.0, EDI40 2025

作者： Maitaigahasse, Ahidjo Ebongue Fendji, Jean Louis Kedieng Atemkeng, Marcellin Department Mathematics and Computer Science Faculty of Science University of Ngaoundere Ngaoundere454 Cameroon Centre for Research Experimentation and Production School of Chemical Engineering and Mineral Industries University of Ngaoundere Ngaoundere454 Cameroon Wallenberg Research Centre Stellenbosch University Stellenbosch South Africa Department of Robotics and Industrial Informatics School of Chemical Engineering and Mineral Industries University of Ngaoundere Ngaoundere454 Cameroon Department of Mathematics Rhodes University P.O. Box 6140 Grahamstown South Africa

Recommendation systems are essential for enhancing digital experiences, but their reliance on internet connectivity limits accessibility in regions with limited or no access. This paper presents an offline content-based recommendation system designed to operate without internet dependency by leveraging precomputed Term Frequency-Inverse Document Frequency (TF-IDF) vectors and cosine similarity. To optimize offline performance, we store a locally computed TF-IDF matrix, allowing efficient retrieval of relevant media items through matrix multiplication instead of real-time computation. The system is evaluated using twenty simulated personas representing diverse user interests, demonstrating its ability to generate personalized relevant recommendations. By eliminating the need for online data access, our system makes educational content from Wikimedia Commons accessible in remote areas, schools, and offline learning environments. These findings highlight the potential of offline recommendation systems in bridging the digital divide and providing equitable access to personalized learning resources. © 2025 Elsevier B.V.. All rights reserved.

关键词： Interactive computer systems

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