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2024 IEEE Region 10 Conference, TENCON 2024

作者： Sathaporn, Posathip Chaowalittawin, Vasutorn Krungseanmuang, Woranidtha Benjangkaprasert, Chawalit Purahong, Boonchana School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Robotics and Computational Intelligent Systems Bangkok Thailand School of Engineering King Mongkut's Institute of Technology Ladkrabang Computer Engineering Department Bangkok Thailand

ISBN: (纸本)9798350350821

Mining industry is one of significant industry in the world. In order to increase efficiency, safety, sustainability and environmental impacts in mining process. This article presents a centralized data platform for mining process by design based on microservices architecture which can be supported various of input data source such as manual form, excel file and internet of things (IoT) device and notification when the value is abnormal. Our platform implementation on Amazon Web Service (AWS) cloud. For development of productivity in process and controlling quality the mine environment. The results of the platform operations with various source of data acquisition with response time is less than 1.5 seconds per each request. © 2024 IEEE.

关键词： Cloud Computing Data Warehouse Internet of Things Microservices Architecture Mining Industry

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Advanced Endoscopy Imaging with Automatic Feedback 27th

Advanced Endoscopy Imaging with Automatic Feedback

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Bappy, D.M. Kang, Donghwa Lee, Jinkyu Lee, Youngmoon Koo, Minsuk Baek, Hyeongboo Department of Computer Science and Engineering Incheon National University Incheon Korea Republic of Department of Computer Science and Engineering Sungkyunkwan University Suwon Korea Republic of Department of Robotics Hanyang University Ansan Korea Republic of Department of Artificial Intelligence University of Seoul Seoul Korea Republic of

ISBN: (纸本)9783031781940

As we move towards a future where minimally invasive methods become the norm for surgeries and diagnostic procedures, it is increasingly vital to improve our strategies for viewing the organs and complex structures within our bodies. Image stitching presents an enticing solution, expanding our field of view by seamlessly weaving together a sequence of images. While existing stitching techniques do lean on the capabilities of endoscopy imaging, they, unfortunately, overlook the critical need for automated feedback when grappling with the complexities and challenges innate to endoscopy imaging. these methods struggle to stand firm against deformations and regions with low texture. In this paper, we introduce a robust endoscopic image-stitching algorithm designed to thrive in adversity. Its unique resilience to deformations and low-texture regions is reinforced by the inclusion of a radial basis function weighting that is paired harmoniously with location-dependent homography based on the corresponding locations of the strong features extracted by affine shape-adapted Hessian-Laplace detector. Crucially, this algorithm is steered by a sophisticated automatic feedback mechanism. This feedback system makes astute evaluations based on an image quality metric and the structural comparison between the sequences of endoscopy images. We have thoroughly validated the efficacy of our new approach using two public datasets, namely EndoSLAM and EndoAbS, under demanding conditions. The results eloquently illustrate the superior benefits of our technique. Our proposed method surpasses commonly employed techniques, delivering superior performance in quantitative metrics, including precision at 30.07%, recall at 114.89%, F1-score at 84.62%, and TRE at 46.07%. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Endoscopy

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A study on the noise reduction method in turbid water environments using Spatial frequency characteristics 9

A study on the noise reduction method in turbid water enviro...

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

作者： Koura, Ayumu Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Graduate School of Computer Science and Systems Engineering Iizuka city Japan Hankyong National University School of ICT Robotics and Mechanical Engineering Iitc Anseong-si Korea Republic of

ISBN: (纸本)9798350363043

Scattering noise reduction is a challenging project to remove noise under scattering media conditions such as fog or turbid water. In previous study, blurring caused by scattering medium particles in fog or turbid water was removed by low-pass filtering. However, in this method, the accurate color information of the object may be lost due to rough low-frequency filtering. In addition, it is difficult to the obtain object shape information in heavy turbid environments. To solve this problem, we propose a new de-scattering algorithm that combines Fourier-domain filtering and integral imaging by creating a filter tailored to the frequency to be removed. To prove the proposed method, we perform a numerical analysis of experimental results using conventional and proposed methods. © 2024 IEEE.

关键词： Noise abatement

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Automatic Heliostat Directing System Based On Microcontroller ESP32

Automatic Heliostat Directing System Based On Microcontrolle...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Medyanto, Richard Sanjaya, Nicholas Liawatimena, Suryadiputra Binus Aso School of Engineering Bina Nusantara University Automotive & Robotics Program Computer Engineering Department Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program - Computer Science Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350381290

Solar energy is one of the most abundant sources of renewable energy in Indonesia. Solar energy is now typically harnessed using solar panels, but the low efficiency of photovoltaic cells requires the development of other alternatives. The heliostat is a sunlight directing device with mirrors that can be used in a concentrated solar power system. Current heliostats require high capital investment due to their large frames and expensive components. This research was undertaken to develop a lower cost heliostat using a smaller frame, ESP32 microcontroller, servo motor and low-cost components. The position of the sun can be determined using an algorithm based on the National Oceanic and Atmospheric Administration (NOAA) solar calculator, and the mirror is moved to maintain the sun's reflection on a target. The result of this research is a set of heliostat prototypes consisting of the frame and control system. Tests were carried out to test the performance of the designed heliostat and it was found that the heliostat has an accuracy of about 60 cm and can raise temperatures up to 3.41°C. The conclusion is that the heliostat can be used in a concentrated solar power system to heat boilers in solar power towers. © 2023 IEEE.

关键词： Solar energy

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MF-BERT: A Siamese Pre-training Framework for Motion Forecasting

MF-BERT: A Siamese Pre-training Framework for Motion Forecas...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Shi, Jianxin Chen, Jinhao Chen, Xiaolong Ma, Jun Wo, Tianyu School of Computer Science and Engineering Beihang University Beijing China Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology Guangzhou China

ISBN: (纸本)9798350368741

Accurately predicting the future motions of traffic agents is essential for autonomous systems. Despite the significant success of existing motion forecasting methods based on supervised learning, they still exhibit two main limitations. First, when annotated data for a scene is limited, these methods often fail to achieve the expected accuracy. Second, they typically rely on complex architectures and extensive prior knowledge to improve performance. To overcome these challenges, we propose MF-BERT, a novel framework that adapts the concept of BERT to motion forecasting, inspired by advancements in the self-supervised pre-training paradigm. During pre-training, we design a siamese sequence modeling task with an asymmetric mask strategy to capture complex behavior patterns of agents. During fine-tuning, the pre-trained representation module initializes the feature encoder of the motion forecasting model, and a multimodal trajectory decoder generates all possible predictions. Experimental results demonstrate the superiority of MF-BERT over state-of-the-art methods. © 2025 IEEE.

关键词： Autonomous Motion Forecasting Self-supervised Learning Time Series Analysis

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A study on Image Processing Method for Noise Reduction in Digital Holographic Microscopy 9

A study on Image Processing Method for Noise Reduction in Di...

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

作者： Nagashima, Masaharu Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Graduate School of Computer Science and Systems Engineering Iizuka city Japan Iitc Hankyong National University School of Ict Robotics and Mechanical Engineering Anseong-si Korea Republic of

ISBN: (纸本)9798350363043

Digital Holographic Microscopy (DHM) can obtain three-dimensional (3D) information about the fine structure of an object by utilizing the phase information of coherent light. In DHM, during the process of reconstructing the shape of an object, phase information is extracted by windowing the sideband containing the phase information. The 3D information of the object is then obtained from the acquired phase information. When windowing the sideband in a narrow range, it can remove noise caused by the DC spectrum, but detailed shape information of the object is lost. On the other hand, when windowing in a wide range, detailed shape information of the object can be obtained, but noise from the DC spectrum increases. To solve this trade-off relationship, we propose a method of determining the range for windowing the sideband using a function and then averaging the windowed sidebands. This proposed method can reduce the impact of noise from the DC spectrum and enables the acquisition of the detailed shape information. In this paper, we explain the reconstruction algorithm of this method and compare it with conventional methods and the previous study, phase differences averaging (PDA). © 2024 IEEE.

关键词： Noise abatement

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Designing Optimal Parameters for Single-Axis Solar-Tracker through Analysis of Sun-Path and Tracking Vector Dynamics 6

Designing Optimal Parameters for Single-Axis Solar-Tracker t...

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6th International Conference on Electrical engineering and Information and Communication Technology, ICEEICT 2024

作者： Akhtaruzzaman, M. Islam, Md Shofiqul Shahryer, Fahim Arif, Muammer Din Mollik, Md. Sazib Rahman, Muhammad Towfiqur Rahman, Md. Mahbubur Hasan, Mohammad Kamrul Ahmed, Shugata Ashrafuzzaman, Md. Department of Computer Science and Engineering Dhaka1216 Bangladesh Department of Mechanical Engineering Dhaka1216 Bangladesh Department of Electrical and Electronic Engineering Dhaka Bangladesh Department of Computer Science and Engineering Dhaka Bangladesh Faculty of Information Science and Technology Bangi Malaysia Department of Robotics and Mechatronics Engineering Bangladesh Sdn. Bhd. Cyberjaya Malaysia

ISBN: (纸本)9798350385779

The persistent challenges faced by sun-tracking systems include inefficient power production, wastage of energy, ineffective control, and high costs. Most of the existing systems are either static or dual-axis tracking which lead to inefficient output or increasing energy wastage and cost overheads. Though, single-axis tracking system has some benefits over the static or dual-axis tracking, most of the systems do not analyze the selection of optimal sun-path which again leads to inefficient and inadequate absorption of sunlight. Addressing the issues, this article presents a design of optimal parameters for single-axis solar-tracking by analyzing the sun-path and tracking vector dynamics. The study mainly focuses on analyzing solar-tracking dynamics, variations in sunray angles, Azimuth and Elevation dynamics throughout the day for the twelve months, Sun-vector calculation for local coordinates, joint rotational-axis, and joint motion control using a Proportional-Derivative controller. Additionally, the article outlines a conceptual architecture for automated control, monitoring, and power distribution for the potential development of a sustainable smart city. The proposed strategy addresses the issues of the optimal design of a single-axis solar-tracker, thus ensuring the reduction of cost overhead and energy wastage. © 2024 IEEE.

关键词： Dynamics

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Intelligent Small Scale Autonomous Vehicle Development Based on Convolutional Neural Network (CNN) for Steering Angle Prediction 1

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International Conference on Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2022

作者： Asy’ari, Muhammad Zacky Phang, Maxson Suganda, Nicholas Mariana, Yosica Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Architecture Department Faculty of Engineering Binus University Jakarta Indonesia

ISBN: (数字)9783031290787

ISBN: (纸本)9783031290770

Human error is the most significant factor in traffic accidents. 61% of accidents in Indonesia are caused by driver negligence. Autonomous vehicles are unmanned vehicles that are believed to be able to reduce the number of accidents caused by human error. This study aims to create a prototype of a small-scale unmanned vehicle using computer vision that can move around the track. The prototype captures an image using a USB webcam and is processed by a Raspberry Pi 4 to predict the correct steering angle based on input from the camera. A convolutional neural network (CNN) algorithm is used to recognize the path. The material used to make the prototype is PLA (polylactic acid). The prototype steering system uses a servo motor, and the drive system uses a brushless DC motor controlled by the PCA9685 module. More than 1600 image data were used and taken based on a simplified track. The results of this study indicate that the prototype can move along the given track with a steering angle range of 20°–130° for right turns and 60°–170° for left turns. The throttle value capable of moving the prototype at a steady speed is 0.075. The Keras Tensorflow model, dataset, and autonomous car design can achieve the desired level of autonomy with an RMSE accuracy of 0.1145. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Forecasting

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SEGYM: A Novel Electrified Weight Machine for Performing Free-Weight Training

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IEEE Access 2025年 13卷 98175-98189页

作者： Park, Jangyeon Yoo, Keeung Choi, Dongwan Choi, Jungsu Yeungnam University Department of Robotics Engineering Gyeongsan South Korea Inha University Department of Computer Engineering Incheon South Korea

As part of digital healthcare, weight equipment has been motorized using electric motors to overcome the limitations of conventional weight equipment that relies on the weight of objects. However, this has been limited to cable and strength machines, and the most popular free weights, which lack safety and ease of use, have not yet been electrified. As such, in this study, SEGYM was developed as electrified weight equipment for free weight training. SEGYM aimed to imitate the load and motion characteristics of traditional free weights while achieving consistent human-robot interaction. The actuating modules, located on both sides of SEGYM, generate loads independent of user motion through a belt-drive mechanism, similar to gravitational loads. Additionally, the barbell module, combined with the actuating modules, applies ergonomic design to enable natural human movement in three-dimensional space while delivering the load. To implement the same resistance sensation as conventional free weights, a multi-layered disturbance rejection controller (MDRC), based on robust control, was applied to the actuating modules. This controller changes the dynamic characteristics of SEGYM to match those of traditional free weights. An experiment with elite weightlifters was conducted to verify the similarity between SEGYM and conventional free weights. The results confirmed their similarity. © 2013 IEEE.

关键词： Digital healthcare Ergonomic design Human-robot interaction Robust control

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Cross-Cultural Analysis of Pedestrian Group Behaviour Influence on Crossing Decisions in Interactions with Autonomous Vehicles 27

Cross-Cultural Analysis of Pedestrian Group Behaviour Influe...

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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Serrano, S. Martin Mendez Blanco, O. Worrall, Stewart Sotelo, M.A. Femandez-Llorca, D. University of Sydney Australian Centre for Field Robotics Australia Universidad de Alcalá Computer Engineering Department Spain Joint Research Centre European Commission Seville Spain

ISBN: (纸本)9798331505929

Understanding cultural backgrounds is crucial for the seamless integration of autonomous driving into daily life as it ensures that systems are attuned to diverse societal norms and behaviours, enhancing acceptance and safety in varied cultural contexts. In this work, we investigate the impact of co-located pedestrians on crossing behaviour, considering cultural and situational factors. To accomplish this, a full-scale virtual reality (VR) environment was created in the CARLA simulator, enabling the identical experiment to be replicated in both Spain and Australia. Participants (N=30) attempted to cross the road at an urban crosswalk alongside other pedestrians exhibiting conservative to more daring behaviours, while an autonomous vehicle (AV) approached with different driving styles. For the analysis of interactions, we utilized questionnaires and direct measures of the moment when participants entered the lane. Our findings indicate that pedestrians tend to cross the same traffic gap together, even though reckless behaviour by the group reduces confidence and makes the situation perceived as more complex. Australian participants were willing to take fewer risks than Spanish participants, adopting more cautious behaviour when it was uncertain whether the AV would yield. © 2024 IEEE.

关键词： Virtual environments

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