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UAV Localization with Unreliable Observations in Hostile Underground Environments

Journal of computer science & Technology 2024年第6期39卷 1401-1418页

作者： Peng-Peng Chen Kui-Yuan Zhang Shou-Wan Gao Si-Yi Ren School of Computer Science and Technology China University of Mining and TechnologyXuzhou 221116China Mine Digitization Engineering Research Center Ministry of EducationXuzhou 221116China Shenzhen Research Institute China University of Mining and TechnologyShenzhen 518057China

The accurate and robust unmanned aerial vehicle(UAV)localization is significant due to the requirements of safety-critical monitoring and emergency wireless communication in hostile underground *** range-based localization approaches fundamentally rely on the assumption that the environment is relatively ideal,which enables a precise range for ***,radio propagation in the underground environments may be dramatically influenced by various equipments,obstacles,and ambient *** this case,inaccurate range measurements and intermittent ranging failures inevitably occur,which leads to severe localization performance *** address the challenges,a novel UAV localization scheme is proposed in this paper,which can effectively handle unreliable observations in hostile underground *** first propose an adaptive extended Kalman filter(EKF)based on the fusion of ultra-wideband(UWB)and inertial measurement unit(IMU)to detect and adjust the inaccurate range *** to deal with intermittent ranging failures,we further design the constraint condition by limiting the system ***,the auto-regressive model is proposed to implement the localization in the ranging blind areas by reconstructing the lost ***,extensive simulations have been conducted to verify the *** carry out field experiments in an underground garage and a coal mine based on P440 UWB *** show that the localization accuracy is improved by 16.9%compared with the recent methods in the hostile underground environments.

关键词： unmanned aerial vehicle(UAV)localization Kalman filter ultra-wideband(UWB)observation hostile underground environment

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Design of a High-Efficiency Temporal Engine for Real-Time Spatial Satellite Image Classification Using Augmented Incremental Transfer Learning for Crop Analysis

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SN computer science 2024年第5期5卷 585页

作者： Dhande, Akshay Pramodrao Malik, Rahul Saini, Dipen Garg, Rachit Jha, Sudan Nazeer, Jabeen Ahmad, Sultan Department of Electronics and Telecommunication Engineering Lovely Professional University Punjab Phagwara India School of Computer Science and Engineering Lovely Professional University Punjab Phagwara India Department of Computer Science and Engineering Kathmandu University Dhulikhel Nepal Department of Computer Science College of Computer Engineering and Sciences Prince Sattam Bin Abdulaziz University Alkharj 11942 Saudi Arabia University Center for Research and Development (UCRD) Department of Computer Science and Engineering Chandigarh University Gharuan Punjab Mohali 140413 India

Satellite image processing is a multidomain task which involves design of image capturing, denoising, segmentation, feature extraction, feature reduction, classification, and post-processing tasks. A wide variety of satellite image processing models are proposed by researchers, and each of them has different data and process requirements. For instance, the image capturing module might obtain images in layered form, while feature extraction module might require data in 2D or 3D forms. Moreover, performance of these models also varies due to changes in internal process parameters and dataset parameters, which limits their accuracy and scalability when applied to real-time scenarios. To reduce the probability of these limitations, a novel high-efficiency temporal engine for real-time satellite image classification using augmented incremental transfer learning is proposed and discussed in this text. The model initially captures real-time satellite data using Google’s Earth Engine and processes it using a transfer learning-based convolutional neural network (CNN) via backscatter coefficient analysis. These coefficients indicate average intensity value of Precision Image (PRI) when evaluated over a distributed target. Due to extraction of backscattering coefficients, the model is capable of representing crop images in VV (vertical transmit, vertical receive), and HV (horizontal transmit vertical receive) modes. Thereby assisting the CNN model to extract a wide variety of features from input satellite image, which classifies these datasets (original, VV, and VH) into different crop categories. The classified images are further processed via an incremental learning layer, which assists in visual identification of affected regions. Due to use of incremental learning and CNN for classification, the proposed TRSAITL model is capable of achieving an average accuracy of 97.8% for crop type and severity of damage detection, with an average PSNR (Peak Signal-to-Noise Ratio) of 29.

关键词： Accuracy Classification Crop Damage Deep learning Earth Incremental Precision Recall Satellite Transfer Type

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Fortifying Smart Grids: A Holistic Assessment Strategy against Cyber Attacks and Physical Threats for Intelligent Electronic Devices

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computers, Materials & Continua 2024年第8期80卷 2579-2609页

作者： Yangrong Chen June Li Yu Xia Ruiwen Zhang Lingling Li Xiaoyu Li Lin Ge School of Computer Science Zhengzhou University of AeronauticsZhengzhou450046China Henan Xin’an Century Technology Co. Ltd.Henan Data Security Engineering Technology Research CenterZhengzhou450046China Key Laboratory of Aerospace Information Security and Trusted Computing Ministry of EducationSchool of Cyber Science and EngineeringWuhan UniversityWuhan430072China

Intelligent electronic devices(IEDs)are interconnected via communication networks and play pivotal roles in transmitting grid-related operational data and executing control *** the context of the heightened security challenges within smart grids,IEDs pose significant risks due to inherent hardware and software vulner-abilities,as well as the openness and vulnerability of communication *** grid security,distinct from traditional internet security,mainly relies on monitoring network security events at the platform layer,lacking an effective assessment mechanism for ***,we incorporate considerations for both cyber-attacks and physical faults,presenting security assessment indicators and methods specifically tailored for ***,we outline the security monitoring technology for IEDs,considering the necessary data sources for their security ***,we classify IEDs and establish a comprehensive security monitoring index system,incorporating factors such as running states,network traffic,and abnormal *** index system contains 18 indicators in 3 ***,we elucidate quantitative methods for various indicators and propose a hybrid security assessment method known as GRCW-hybrid,combining grey relational analysis(GRA),analytic hierarchy process(AHP),and entropy weight method(EWM).According to the proposed assessment method,the security risk level of IEDs can be graded into 6 levels,namely 0,1,2,3,4,and *** higher the level,the greater the security ***,we assess and simulate 15 scenarios in 3 categories,which are based on monitoring indicators and real-world situations encountered by *** results show that calculated security risk level based on the proposed assessment method are consistent with actual ***,the reasonableness and effectiveness of the proposed index system and assessment method are validated.

关键词： Smart grid intelligent electronic device security assessment abnormal behaviors network traffic running states

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Advancements in Liver Tumor Detection:A Comprehensive Review of Various Deep Learning Models

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computer Modeling in engineering & sciences 2025年第1期142卷 91-122页

作者： Shanmugasundaram Hariharan D.Anandan Murugaperumal Krishnamoorthy Vinay Kukreja Nitin Goyal Shih-Yu Chen Deptartment of Artificial Intelligence and Data Science Vardhaman College of EngineeringHyderabad501218India Deptartment of CSE V.S.B College of EngineeringKarur639111India Deptartment of Electrical and Electronics Engineering Vardhaman College of EngineeringHyderabad501218India Centre for Research Impact&Outcome Chitkara UniversityRajpura140401PunjabIndia Department of Computer Science and Engineering School of Engineering and TechnologyCentral University of HaryanaMahendergarh123031HaryanaIndia Department of Computer Science and Information Engineering National Yunlin University of Science and TechnologyYunlin64002Taiwan Intelligence Recognition Industry Service Research Center National Yunlin University of Science and TechnologyYunlin64002Taiwan

Liver cancer remains a leading cause of mortality worldwide,and precise diagnostic tools are essential for effective treatment *** Tumors(LTs)vary significantly in size,shape,and location,and can present with tissues of similar intensities,making automatically segmenting and classifying LTs from abdominal tomography images crucial and *** review examines recent advancements in Liver Segmentation(LS)and Tumor Segmentation(TS)algorithms,highlighting their strengths and limitations regarding precision,automation,and *** metrics are utilized to assess key detection algorithms and analytical methods,emphasizing their effectiveness and relevance in clinical *** review also addresses ongoing challenges in liver tumor segmentation and identification,such as managing high variability in patient data and ensuring robustness across different imaging *** suggests directions for future research,with insights into technological advancements that can enhance surgical planning and diagnostic accuracy by comparing popular *** paper contributes to a comprehensive understanding of current liver tumor detection techniques,provides a roadmap for future innovations,and improves diagnostic and therapeutic outcomes for liver cancer by integrating recent progress with remaining challenges.

关键词： Liver tumor detection liver tumor segmentation image processing liver tumor diagnosis feature extraction tumor classification deep learning machine learning

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Enhancing Convolutional Models for Indoor Radio Mapping via Ray Marching

Enhancing Convolutional Models for Indoor Radio Mapping via ...

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

作者： Wu, Mengfan Skocaj, Marco Boban, Mate Munich Research Center Huawei Technologies Germany School of Electrical Engineering and Computer Science TU Berlin Germany

ISBN: (纸本)9798350368741

In this paper, we present an enhanced convolutional model for indoor radio map generation, focusing on the integration of a novel ray-marching feature. We describe our machine learning pipeline developed for the ICASSP 2025 Signal Processing Grand Challenge, specifically the First Indoor Pathloss Radio Map Prediction Challenge. Our method incorporates a ray-marching feature that, combined with a UNet architecture enhanced by dilated convolution layers, significantly improves indoor pathloss prediction accuracy. Our approach achieved a 3rd-place ranking in the challenge with a weighted RMSE of 10.33 on the test dataset. © 2025 IEEE.

关键词： feature engineering machine learning radio maps Wireless communications

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Uncertain Pushing Adaptive Coordinated Control for the Human-Exoskeleton-Walker System

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IEEE robotics and Automation Letters 2025年第7期10卷 7086-7093页

作者： Zhang, Xinhao Yang, Chen Zhang, Jingting Zou, Chaobin Song, Guangkui Huang, Rui Farooq, Muhammad Umar Cheng, Hong University of Electronic Science and Technology of China Center for Robotics School of Automation Engineering Chengdu 611731 China

Lower Limb Exoskeletons are potential in the gait training for patients with gait disorders. For patients in the early rehabilitation stages with weak upper limb strength, it is challenge to keep balance by themselves only. A mobile robotic walker is helpful to maintain the walking balance, with the help of a physician pushing behind to keep a forward walking associated with the exoskeleton. However, since the gait patterns are varying with different training tasks, how to ensure a coordinated movement between the exoskeleton and the mobile robotic walker is challenge, especially with the uncertain pushing applied by the physician. In this letter, the Uncertain Pushing Adaptive Coordinated Control (UP-ACC) approach is proposed to solve the problem, which consists of two contributions. Based on the decoupled simplified dynamics, the center of mass trajectories and footstep placements are generated through linear model predictive control. In addition, the optimal footstep placement is used for the human-like gait planning by introducing the phases of heel-strike and toe-off. The proposed method has been verified in the robot simulation platform CoppeliaSim, and the experimental results indicate its effectiveness in generating coordinated motion and human-like gait patterns for the human-exoskeleton-walker system with the external pushing from 0 to 150 N and walking speed from 0.2 m/s to 0.6 m/s. © 2016 IEEE.

关键词： coordinated motion Exoskeleton human-like gait model predictive control robotic walker

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Shuffling for Semantic Secrecy

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IEEE Transactions on Information Forensics and Security 2025年 20卷 5240-5255页

作者： Chen, Fupei Xiang, Liyao Sun, Haoxiang Cheng, Hei Victor Shen, Kaiming Shanghai Jiao Tong University John Hopcroft Center for Computer Science Shanghai200240 China Shanghai Jiao Tong University School of Information and Electronic Engineering Shanghai200240 China Aarhus University Electrical and Computer Engineering Department Aarhus8000 Denmark The Chinese University of Hon g Kong School of Science and Engineering Shenzhen518172 China

Deep learning draws heavily on the latest progress in semantic communications. The present paper aims to examine the security aspect of this cutting-edge technique from a novel shuffling perspective. Our goal is to improve upon the conventional secure coding scheme to strike a desirable tradeoff between transmission rate and leakage rate. To be more specific, for a wiretap channel, we seek to maximize the transmission rate while minimizing the semantic error probability under the given leakage rate constraint. Toward this end, we devise a novel semantic security communication system wherein the random shuffling pattern plays the role of the shared secret key. Intuitively, the permutation of feature sequences via shuffling would distort the semantic essence of the target data to a sufficient extent so that eavesdroppers cannot access it anymore. The proposed random shuffling method also exhibits its flexibility in working for the existing semantic communication system as a plugin. Simulations demonstrate the significant advantage of the proposed method over the benchmark in boosting secure transmission, especially when channels are prone to strong noise and unpredictable fading. © 2005-2012 IEEE.

关键词： Fading channels

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Research on natural environment protection based on blockchain technology to facilitate ecological balance and regional revitalization 4

Research on natural environment protection based on blockcha...

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4th International Conference on Industrial IoT, Big Data and Supply Chain, IIoTBDSC 2023

作者： Wan, Chenye Fu, Taoran Wang, Haochen Wang, Xing Luo, Junyou Wang, Ziqian School of Information Science and Technology Nantong University Nantong China School of Computer and Communication Hunan Institute of Engineering Xiangtan China School of Computational Science and Electronics Hunan Institute of Engineering Xiangtan China School of Robotics Hunan University Changsha China

ISBN: (纸本)9798350341690

Now the Masai Mara population continues to expand, the wildlife in the reserve is facing serious threats to their survival. The purpose of this report is to establish a management strategy model for local protected areas that balances the mutual interests between local people and wildlife in ***, Masai Mara divides the protected area into three parts, planting area, protected area, and livestock area, and then conducts correlation analysis on different areas, and concludes that the reduction in the number of wild animals is closely related to the degree of population density, and the area of cultivated land and forest area is highly correlated. So a nonlinear programming model of multiple strategies is established to plan the planting area. Then establish a comprehensive evaluation model based on the entropy weight method, quantify various strategies, and use gray correlation prediction to obtain solutions. This article introduces blockchain related technologies and uses its decentralization, security and transparency to build an architecture that contributes to the actual government protection of wild animals. © 2023 IEEE.

关键词： Conservation

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Deletion and Recovery Scheme of Electronic Health Records Based onMedical Certificate Blockchain

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computers, Materials & Continua 2023年第7期76卷 849-859页

作者： Baowei Wang Neng Wang Yuxiao Zhang Zenghui Xu Junhao Zhang School of Computer and Software Nanjing University of Information Science and TechnologyNanjing210044JiangsuChina Engineering Research Center of Digital Forensics Ministry of EducationNanjing210044JiangsuChina

The trusted sharing of Electronic Health Records(EHRs)can realize the efficient use of medical data *** speaking,EHRs are widely used in blockchain-based medical data *** are valuable private assets of patients,and the ownership belongs to *** recent research has shown that patients can freely and effectively delete the EHRs stored in hospitals,it does not address the challenge of record sharing when patients revisit *** order to solve this problem,this paper proposes a deletion and recovery scheme of EHRs based on Medical Certificate *** paper uses cross-chain technology to connect the Medical Certificate Blockchain and the Hospital Blockchain to real-ize the recovery of deleted *** the same time,this paper uses the Medical Certificate Blockchain and the InterPlanetary File System(IPFS)to store Personal Health Records,which are generated by patients visiting different medical *** addition,this paper also combines digital watermarking technology to ensure the authenticity of the restored electronic medical *** the combined effect of blockchain technology and digital watermarking,our proposal will not be affected by any other rights throughout the *** analysis and security analysis illustrate the completeness and feasibility of the scheme.

关键词： Electronic health records cross-chain medical certificate blockchain data deletion and recovery

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Adaptive finite-time command-filtered backstepping sliding mode control for stabilization of a disturbed rotary-inverted-pendulum with experimental validation

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JVC/Journal of Vibration and Control 2023年第5-6期29卷 1431-1446页

作者： Mofid, Omid Alattas, Khalid A Mobayen, Saleh Vu, Mai The Bouteraa, Yassine Future Technology Research Center National Yunlin University of Science and Technology Douliu Taiwan Department of Computer Science and Artificial Intelligence College of Computer Science and Engineering University of Jeddah Jeddah Saudi Arabia School of Intelligent Mechatronics Engineering Sejong University Seoul Korea Republic of Department of Computer Engineering College of Computer Engineering and Sciences Prince Sattam bin Abdulaziz University Al-Kharj Saudi Arabia University of Sfax Sfax3038 Tunisia

In this paper, the finite-time stabilization of the disturbed and uncertain rotary-inverted-pendulum system is studied based on the adaptive backstepping sliding mode control procedure. For this purpose, first of all, the dynamical equation of the rotary-inverted-pendulum system is obtained in the state-space form in the existence of external disturbances and model uncertainties with unknown bound. Afterward, a novel command filter is defined to enhance the control strategy by consideration of a virtual control input. Therefore, the differential signal is replaced by the output of the command filter to reduce the complicated computing in the control process. Hence, the finite-time convergence of the sliding surface to the origin is attested by using the backstepping sliding mode control scheme according to the Lyapunov theory. Besides, the unknown upper bound of the exterior perturbation and uncertainty is approximated providing the adaptive control technique. Finally, simulations and experimental results are done to demonstrate the impression and proficiency of the suggested method. © The Author(s) 2022.

关键词： Inverted pendulum

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