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arXiv 2024年

作者： Yang, Xuru Hu, Yunze Gao, Han Ding, Kang Li, Zhaoyang Zhu, Pingping Sun, Ying Liu, Chang Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China Department of Automation Tsinghua University Beijing100080 China Marshall University HuntingtonWV25755 United States School of Electrical Engineering and Computer Science The Pennsylvania State University State CollegePA16802 United States

Swarm robotics has garnered significant attention due to its ability to accomplish elaborate and synchronized tasks. Existing methodologies for motion planning of swarm robotic systems mainly encounter difficulties in scalability and safety guarantee. To address these limitations, we propose a Risk-aware swarm mOtion planner using conditional ValuE-at-Risk (ROVER) that systematically navigates large-scale swarms through cluttered environments while ensuring safety. ROVER formulates a finite-time model predictive control (FTMPC) problem predicated upon the macroscopic state of the robot swarm represented by a Gaussian Mixture Model (GMM) and integrates conditional value-at-risk (CVaR) to ensure collision avoidance. The key component of ROVER is imposing a CVaR constraint on the distribution of the Signed Distance Function between the swarm GMM and obstacles in the FTMPC to enforce collision avoidance. Utilizing the analytical expression of CVaR of a GMM derived in this work, we develop a computationally efficient solution to solve the non-linear constrained FTMPC through sequential linear programming. Simulations and comparisons with representative benchmark approaches demonstrate the effectiveness of ROVER in flexibility, scalability, and safety guarantee. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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LaPE: Layer-adaptive Position Embedding for Vision Transformers with Independent Layer Normalization

LaPE: Layer-adaptive Position Embedding for Vision Transform...

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International Conference on computer Vision (ICCV)

作者： Runyi Yu Zhennan Wang Yinhuai Wang Kehan Li Chang Liu Haoyi Duan Xiangyang Ji Jie Chen School of Electronic and Computer Engineering Peking University Shenzhen China AI for Science (AI4S)-Preferred Program Peking University Shenzhen Graduate School China Peng Cheng Laboratory Shenzhen China Department of Automation and BNRist Tsinghua University Beijing China School of Computer Science and Technology Zhejiang University Zhejiang China

Position information is critical for Vision Transformers (VTs) due to the permutation-invariance of self-attention operations. A typical way to introduce position information is adding the absolute Position Embedding (PE) to patch embedding before entering VTs. However, this approach operates the same Layer Normalization (LN) to token embedding and PE, and delivers the same PE to each layer. This results in restricted and monotonic PE across layers, as the shared LN affine parameters are not dedicated to PE, and the PE cannot be adjusted on a per-layer basis. To overcome these limitations, we propose using two independent LNs for token embeddings and PE in each layer, and progressively delivering PE across layers. By implementing this approach, VTs will receive layer-adaptive and hierarchical PE. We name our method as Layer-adaptive Position Embedding, abbreviated as LaPE, which is simple, effective, and robust. Extensive experiments on image classification, object detection, and semantic segmentation demonstrate that LaPE significantly outperforms the default PE method. For example, LaPE improves +1.06% for CCT on CIFAR100, +1.57% for DeiT-Ti on ImageNet-1K, +0.7 box AP and +0.5 mask AP for ViT-Adapter-Ti on COCO, and +1.37 mIoU for tiny Segmenter on ADE20K. This is remarkable considering LaPE only increases negligible parameters, memory, and computational cost.

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Development of Automatic Plant Irrigation System using Soil Moisture Sensors for Precision Agriculture of Chili

Development of Automatic Plant Irrigation System using Soil ...

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2020 International Conference on Smart Technology and Applications, ICoSTA 2020

作者： Priandana, Karlisa Wahyu, Ramadina Al-Fatihah Computer Science Department Bogor Indonesia Computer Engineering Study Program Vocational School Bogor Indonesia

ISBN: (纸本)9781728130835

In agriculture, water management is crucial to reduce the amount of water used for irrigation. This study aims to develop an automatic plant irrigation system to be implemented in the Greenhouse of the Department of computer science, IPB University. The system is made of solenoid valves and soil moisture sensors whose amount is adjusted to the number of plants. This automatic plant irrigation system was created to support the development of smart and precision farming in Indonesia. Irrigation is done automatically and precisely for each plant by using a solenoid valve and a relay. The system prototype has been tested with different soil moisture values. Experiment results show that the prototype has successfully read the soil moisture value and can do the irrigation properly according to the specified functional requirements. © 2020 IEEE.

关键词： Soil moisture

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Sentiment Analysis of User Review on Indonesian Food and Beverage Group using Machine Learning Techniques

Sentiment Analysis of User Review on Indonesian Food and Bev...

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Creative Communication and Innovative Technology (ICCIT), IEEE

作者： Yanfi Yanfi Yaya Heryadi Lukas Lukas Wayan Suparta Yulyani Arifin Computer Science Department BINUS Graduate Program Computer Science School of Computer Science Bina Nusantara University Jakarta Indonesia Computer Science Department BINUS Graduate Program Computer Science Bina Nusantara University Jakarta Indonesia Cognitive Engineering Research Group (CERG) Universitas Katolik Indonesia Atma Jaya Jakarta Indonesia Department of Electrical Engineering Faculty of Industrial Technology Institut Teknologi Nasional Yogyakarta Yogyakarta Indonesia

A vast number of technologies based on Artificial Intelligence (AI) have proliferated into various application domains. As part of its objectives to develop agents which can behave and think like humans, some branches of AI have focused on developing various algorithms that can learn from input data without explicitly being programmed. In the food industry, notably in restaurants, smartphone technology is typically used to collect data from customers efficiently such as orders or feedback toward the services provided. The use of smartphones by some restaurants is motivated by their convenience and efficiency. Furthermore, various promotions, discounts, and membership benefits offered by cellular service providers have attracted the use of smartphones as devices for improving restaurant services to their customers. This study aimed to conduct a sentiment analysis related to multi-brand restaurants in Indonesia based on customer feedback. The data retrieved from the Google Play Store consists of 756 reviews from Boga, Champs, Hangry, Ismaya, Kulo, and Union groups. In this study, TF-IDF was used as a vectorizer to represent customer feedback as numeric vectors. The polarity sentiment of customer feedback was recognized using classifier models based on machine learning such as Logistic Regression, Naive Bayes (NB), Random Forest, and Support Vector Machine (SVM) as the classifier. The empirical results showed that SVM has the best accuracy of 93.10 % average accuracy followed by Logistic Regression with 92.41 %, Random Forest with 84.14 % average accuracy, and Naive Bayes with 76.55 % average accuracy.

关键词： Support vector machines Sentiment analysis Analytical models Machine learning algorithms Food industry Companies Classification algorithms

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Designing Online Multiplayer Games with Haptically and Virtually Linked Tangible Robots to Enhance Social Interaction in Therapy

Designing Online Multiplayer Games with Haptically and Virtu...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Arzu Guneysu Ozgur Hala Khodr Mehdi Akeddar Michael Roust Pierre Dillenbourg Computer Human Interaction in Learning and Instruction Lab (CHILI) EPFL Lausanne Switzerland Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9781728188591

ISBN: (纸本)9781665406802

The social aspects of therapy and training are important for patients to avoid social isolation and must be considered when designing a platform, especially for home-based rehabilitation. We proposed an online version of the previously proposed tangible Pacman game for upper limb training with haptic-enabled tangible Cellulo robots. Our main objective is to enhance motivation and engagement through social integration and also to form a gamified multiplayer rehabilitation at a distance. Thus, allowing relatives, children, and friends to connect and play with their loved ones while also helping them with their training from anywhere in the world. As well as connecting therapists to their patients through haptically linking capabilities. This is especially relevant when there are social distancing measures which might isolate the elderly population, a majority of all rehabilitation patients.

关键词： Training Pediatrics Sociology Medical treatment Games Human factors Social factors

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OSM: Leveraging model checking for observing dynamic 1 behaviors in aspect-oriented applications

arXiv

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arXiv 2024年

作者： AlSobeh, Anas Mohammad Ramadan Department of Information Systems Faculty of Information Technology and Computer Science Yarmouk University Irbid Jordan Program of Information Technology School of Computing College of Engineering Computing Technology and Mathematics Southern Illinois University CarbondaleIL United States

In the intricate domain of software systems verification, dynamically model checking multifaceted system characteristics remains paramount, yet challenging. This research proposes the advanced observe-based statistical model-checking (OSM) framework, devised to craft executable formal models directly from foundational system code. Leveraging model checking predicates, the framework melds seamlessly with aspect-oriented programming paradigms, yielding a potent method for the analytical verification of varied behavioral attributes. Exploiting the transformative capacity of OSM framework, primary system code undergoes a systematic metamorphosis into multifaceted analysis constructs. This not only simplifies the model verification process but also orchestrates feature interactions using an innovative observing join point abstraction mechanism. Within this framework, components encompassing parsing, formal verification, computational analytics, and rigorous validation are intrinsically interwoven. Marrying the principles of model checking with aspect-oriented (AO) modularization, OSM framework stands as a paragon, proficiently scrutinizing and affirming system specifications. This ensures the unyielding performance of electronic health record systems amidst shifting preconditions. OSM framework offers runtime verification of both object-oriented and AO deployments, positioning itself as an indispensable open-source resource, poised to automate the enhancement of system performance and scalability. Copyright © 2024, The Authors. All rights reserved.

关键词： Aspect oriented programming

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CodeEnhance: A Codebook-Driven Approach for Low-Light Image Enhancement

arXiv

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arXiv 2024年

作者： Wu, Xu Hou, XianXu Lai, Zhihui Zhou, Jie Zhang, Ya-Nan Pedrycz, Witold Shen, Linlin The Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518060 China The Department of Electrical & Computer Engineering University of Alberta University of Alberta Canada

Low-light image enhancement (LLIE) aims to improve low-illumination images. However, existing methods face two challenges: (1) uncertainty in restoration from diverse brightness degradations;(2) loss of texture and color information caused by noise suppression and light enhancement. In this paper, we propose a novel enhancement approach, CodeEnhance, by leveraging quantized priors and image refinement to address these challenges. In particular, we reframe LLIE as learning an image-to-code mapping from low-light images to discrete codebook, which has been learned from high-quality images. To enhance this process, a Semantic Embedding Module (SEM) is introduced to integrate semantic information with low-level features, and a Codebook Shift (CS) mechanism, designed to adapt the pre-learned codebook to better suit the distinct characteristics of our low-light dataset. Additionally, we present an Interactive Feature Transformation (IFT) module to refine texture and color information during image reconstruction, allowing for interactive enhancement based on user preferences. Extensive experiments on both real-world and synthetic benchmarks demonstrate that the incorporation of prior knowledge and controllable information transfer significantly enhances LLIE performance in terms of quality and fidelity. The proposed CodeEnhance exhibits superior robustness to various degradations, including uneven illumination, noise, and color distortion. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

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Development of Buffer Zone into Living Lab - Garuda Smart City Framework: Systematic Review

Development of Buffer Zone into Living Lab - Garuda Smart Ci...

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International Conference on ICT For Smart Society (ICISS)

作者： Gunadi Emmanuel Suhono Harso Supangkat Ford Lumban Gaol Benny Ranti Doctor of Computer Science Bina Nusantara University Jakarta Indonesia Fakultas Sains dan Teknologi Univ. Katolik Musi Charitas Palembang Indonesia School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Computer Science Department Binus Graduate Program - Doctor of Computer Science Bina Nusantara University Jakarta Indonesia

The phenomenon of urbanization in Indonesia is inevitable. The new residential and economic centers in suburban areas is also a problem in city development. The gradual planning and development of smart cities in a living lab require consideration of the right location for a living lab. This study wants to show that suburban areas as city buffer zones can become living laboratories for smart city development. The diversity of situations in cities and regencies across Indonesia, the potential for resources, and the problems faced are the challenges of developing a living lab - Garuda Smart City Framework. This research uses the method of reviewing the literature of research publications for the last five years (2019–2023) to obtain information on Smart City development in Indonesia. We collected selected articles from databases in Google Scholar, IEEE, and Scopus using the Publish and Perish 8. The search keywords used were garuda AND Smart city AND Framework. The findings show the potential and dynamics of buffer zones to become appropriate living laboratories. Smart city regional planning can more holistically involve neighborhoods and address urban issues.

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Comparative analysis of deep learning models for detecting face mask

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Procedia computer science 2023年 216卷 48-56页

作者： M Vickya Ramadhan Kahlil Muchtar Yudha Nurdin Maulisa Oktiana Maya Fitria Novi Maulina Gregorius Natanael Elwirehardja Bens Pardamean Department of Electrical and Computer Engineering Universitas Syiah Kuala Banda Aceh 23111 Indonesia. Telematics Research Center (TRC) Universitas Syiah Kuala Banda Aceh 23111 Indonesia. Microbiology Department School of Medicine Universitas Syiah Kuala Banda Aceh 23111 Indonesia. Bioinformatics and Data Science Research Center Bina Nusantara University Jakarta 11480 Indonesia. Computer Science Department BINUS Graduate Program - Master of Computer Science Program Bina Nusantara University Jakarta 11480 Indonesia.

The spread of Corona Virus Disease 19 (COVID-19) in Indonesia is still relatively high and has not shown a significant decrease. One of the main reasons is due to the lack of supervision on the implementation of health protocols such as wearing masks in daily activities. Recently, state-of-the-art algorithms were introduced to automate face mask detection. To be more specific, the researchers developed various kinds of architectures for the detection of masks based on computer vision methods. This paper aims to evaluate well-known architectures, namely the ResNet50, VGG11, InceptionV3, EfficientNetB4, and YOLO (You Only Look Once) to recommend the best approach in this specific field. By using the MaskedFace-Net dataset, the experimental results showed that the EfficientNetB4 architecture has better accuracy at 95.77% compared to the YOLOv4 architecture of 93.40%, InceptionV3 of 87.30%, YOLOv3 of 86.35%, ResNet50 of 84.41%, VGG11 of 84.38%, and YOLOv2 of 78.75%, respectively. It should be noted that particularly for YOLO, the model was trained using a collection of MaskedFace-Net images that had been pre-processed and labelled for the task. The model was initially able to train faster with pre-trained weights from the COCO dataset thanks to transfer learning, resulting in a robust set of features expected for face mask detection and classification.

关键词： Binary Classification Deep Learning Face mask detection

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Multi-Objective Optimization of High-Power Fiber Laser Cutting of Thick Mild Steel by Using Response Surface Methodology

SSRN

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SSRN 2023年

作者： Liu, Yanjie Yoshigoe, Kenji Ullah, Farhan Zhang, Shijin Zhao, Yue Shanghai Key Lab of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China School of Software Northwestern Polytechnical University Xi’an710129 China Department of Electrical Engineering and Computer Science Embry-Riddle Aeronautical University Daytona BeachFL32114 United States

High-power continuous wave fiber laser cutting is a next-generation cutting technology for rapid prototyping and small-scale fabrication. To utilize the advantage offered by this technology in terms of high-quality cutting, the laser cutting process parameters must be optimized. In this study, separation speed experiment on thick mild steel plates was performed using a 12-kW continuous-wave multimode ytterbium-doped fiber laser, and a high-power fiber laser cutting cut-through criterion for thick carbon steel plates was proposed. The response surface method was used to model and optimize the cut quality characteristics. Material thickness, laser power, cutting speed, gas pressure, and defocus amount were selected as input factors, whereas kerf taper and material removal rate (MRR) were selected as output quality characteristics. The effects of the various factors on the kerf taper and MRR were investigated using analysis of variance, and second-order regression models were developed for the kerf taper and MRR. Furthermore, a multi-objective optimization method was used to optimize the kerf taper and MRR. The percentage errors of the validation experiments and multi-objective optimization results were 5.27% and 1.93% for the kerf taper and MRR, respectively. Moreover, the analysis revealed that the material removal mechanism and the kerf taper formation mechanism are related to the melt flow. The findings presented in this paper contribute to the improvement of quality and accuracy when cutting thick plates by using a high-power fiber laser. © 2023, The Authors. All rights reserved.

关键词： Multiobjective optimization

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