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8th International Conference on Education and Technology, ICET 2022

作者： Antonio, Nicholas Jason Nobel, Yosse Ricardo Ho, Hwi-Chie Astuti, Winda Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta Indonesia Bina Nusantara University Industrial Engineering Department Jakarta Indonesia

ISBN: (数字)9781665492140

ISBN: (纸本)9781665492140

Daily pressure activity especially in work place or any society condition may causing stress or pressure for the people deal with that condition. This stress may causing of decreasing of work performance and achievement in the daily activity. Furthermore in worse condition, people may went to psychiatrist consulting regarding the condition in order to heal the stress or pressure feeling. In this work, food recommendation healing in order to improve the mood based on mood recognition using heartbeat rate detection system is developed. Mood detection results will be used to recommend foods that can improve the mood. the mood detection system work based on automatic intelligent heartbeat rate identification. This system installed on an Android cellphone, so its make the system more flexible and portable. the system has also connected to the web, in order used by doctors to monitor the patient's condition if the patient is being monitoring due to health mental diseases treatment. This system has worked properly with mood detection based on heartbeat rate with 96% and 97%, training and testing accuracy, respectively. Furthermore, this system is connected to the website for monitoring purposes for the psychiatrist to monitor their patient intern of mood changing fluctuation © 2022 IEEE.

关键词： Data handling

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Convergent effects of peptides on the initiation of feeding motor programs in the mollusk Aplysia

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Journal of Neurophysiology 2025年第5期133卷 1368-1379页

作者： Evans, Colin G. Barry, Michael A. Reaver, Carrie N. Patel, Paras R. Chestek, Cynthia A. Perkins, Matthew H. Jing, Jian Cropper, Elizabeth C. Department of Neuroscience Friedman Brain Institute Icahn School of Medicine at Mount Sinai New York NY United States Department of Biomedical Engineering Biointerfaces Institute University of Michigan Ann Arbor MI United States Department of Electrical Engineering and Computer Science Neurosciences Program Robotics Program University of Michigan Ann Arbor MI United States State Key Laboratory of Pharmaceutical Biotechnology Institute for Brain Sciences Chemistry and Biomedicine Innovation Center Jiangsu Engineering Research Center for MicroRNA Biology and Biotechnology Advanced Institute for Life Sciences School of Life Sciences Nanjing University Nanjing China

Neuropeptides configure the feeding network of Aplysia. For example, egestive activity is promoted by small cardioactive peptide (SCP), and ingestive activity is promoted by a combination of feeding circuit activating peptide (FCAP) and cerebral peptide 2 (CP-2). In addition, SCP and FCAP/CP-2 have a common network effect that does not contribute to motor program specification. They increase the excitability of an interneuron, B63. In this report, we further characterized the effects of peptides on B63. We performed voltage-clamp experiments and used a step protocol to look at steady-state currents. We found that SCP and FCAP/CP-2 both induced an inward current that was virtually absent in low-sodium saline. Previous work has established that B63 is unusual in the feeding circuit in that subthreshold depolarizations are autonomously generated that can trigger motor programs. Here, we show that this autonomous activity is more frequent in the presence of peptides. Previous studies have also shown that activity of the feeding central pattern generator (CPG) can be initiated by neurons that excite B63, e.g., by cerebral buccal interneuron 2 (CBI-2), a projection neuron that triggers biting-like motor programs. Here, we show that the latency of CBI-2-induced activity is decreased by stimulation of the esophageal nerve (EN) (which releases endogenous SCP). These results, taken together with previous results, indicate that peptides that act divergently to configure network activity additionally act convergently to promote motor program induction. We present data that suggest that this arrangement facilitates brief switches between ingestive and egestive motor activity. © 2025 The Authors.

关键词： central pattern generator invertebrate modulation motor program neuropeptide

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Multi-Robot Planning for Filming Groups of Moving Actors Leveraging Submodularity and Pixel Density

Multi-Robot Planning for Filming Groups of Moving Actors Lev...

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IEEE Conference on Decision and Control

作者： Skyler Hughes Rebecca Martin Micah Corah Sebastian Scherer NSF REU program Robotics Institute Summer Scholars (RISS) program Carnegie Mellon University Airlab Robotics Institute Carnegie Mellon University Department of Computer Science Colorado School of Mines

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multiple actors at once, and a robot team may observe individual actors from multiple views. As actors move about, groups may split, merge, and reform, and robots filming these actors should be able to adapt smoothly to such changes in actor formations. Rather than adopt an approach based on explicit formations or assignments, we propose an approach based on optimizing views directly. We model actors as moving polyhedra and compute approximate pixel densities for each face and camera view. Then, we propose an objective that exhibits diminishing returns as pixel densities increase from repeated observation. This gives rise to a multi-robot perception planning problem that we solve via a combination of value iteration and greedy submodular maximization. We evaluate our approach on challenging scenarios modeled after various social behaviors and featuring different numbers of robots and actors and observe that robot assignments and formations arise implicitly given the movements of groups of actors. Simulation results demonstrate that our approach consistently outperforms baselines, and in addition to performing well with the planner’s approximation of pixel densities our approach also performs comparably for evaluation based on rendered views. Overall, the multi-round variant of the sequential planner we propose meets (within 1%) or exceeds formation and assignment baselines in all scenarios.

关键词： Robot kinematics Simulation Robot vision systems Cameras Motion pictures Planning Trajectory Multi-robot systems Optimization Sports

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Constant-time Motion Planning with Anytime Refinement for Manipulation

Constant-time Motion Planning with Anytime Refinement for Ma...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Itamar Mishani Hayden Feddock Maxim Likhachev School of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA Electrical and Computer Engineering Department Pittsburgh University

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of obstacle avoidance and constraint satisfaction, often makes motion planning the bottleneck for achieving reliable and adaptable autonomy. Recently, a class of constant-time motion planners (CTMP) was introduced. These planners employ a preprocessing phase to compute data structures that enable online planning provably guarantee the ability to generate motion plans, potentially sub-optimal, within a user defined time bound. This framework has been demonstrated to be effective in a number of time-critical tasks. However, robotic systems often have more time allotted for planning than the online portion of CTMP requires, time that can be used to improve the solution. To this end, we propose an anytime refinement approach that works in combination with CTMP algorithms. Our proposed framework, as it operates as a constant time algorithm, rapidly generates an initial solution within a user-defined time threshold. Furthermore, functioning as an anytime algorithm, it iteratively refines the solution’s quality within the allocated time budget. This enables our approach to strike a balance between guaranteed fast plan generation and the pursuit of optimization over time. We support our approach by elucidating its analytical properties, showing the convergence of the anytime component towards optimal solutions. Additionally, we provide empirical validation through simulation and real-world demonstrations on a 6 degree-of-freedom robot manipulator, applied to an assembly domain.

关键词： Manipulators Reliability engineering Data structures Real-time systems Planning Time factors Task analysis

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Seafloor Imaging Maps by Incorporating Side Scan Sonar Technology on Hybrid Autonomous Underwater Glider 6

Seafloor Imaging Maps by Incorporating Side Scan Sonar Techn...

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6th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2023

作者： Atmaja, Ardian Budi Kusuma Hidayat, Egi Muhammad Idris Riyanto Trilaksono, Bambang Siregar, Simon Habibullah, Natsir School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Institut Teknologi Bandung Telkom University Doctoral Program of Electrical Engineering Department Computer Engineering Faculty of Applied Science Indonesia

ISBN: (纸本)9798350358346

This research aims to construct a two-dimensional image to represent an underwater geometry map with a Side Scan Sonar (SSS) mounted on a Hybrid Autonomous Underwater Glider (HAUG). Building the underwater map has two stages of the process. The first stage is preprocessing which includes Time-varying gains (TVG), slant range correction, and ground range correction. The second is HAUG navigation, the movement of HAUG orientation to the angle and distance of SSS readings and plotting the geometry of the grid map. With these two stages, a two-dimensional grid map will be formed. Meanwhile, the 3D plot utilizes slant range and ground range correction to obtain the surface height of the bottom of the pool. From the experiments conducted to conduct mapping in the pool, two-dimensional and three-dimensional visual forms of the pool floor and pool walls were produced. The results of the estimated measurement of the width of the pool obtained 14.05 meters and the height of the pool 3.199 meters with an SSS beam angle of 58 degrees. © 2023 IEEE.

关键词： Geometry

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Q-Learning Energy Management System (Q-EMS) in Wireless Sensor Network

Q-Learning Energy Management System (Q-EMS) in Wireless Sens...

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2024 International Conference on Smart Computing, IoT and Machine Learning, SIML 2024

作者： Ardiansyah, Deden Mustafid Mantoro, Teddy Universitas Diponegoro Doctoral Program of Information Systems School of Postgraduate Central Java Semarang Indonesia Universitas Pakuan Vocational School Computer Engineering Department West Java Bogor Indonesia Sampoerna University Media-Tech-Lab Computer Science Department DKI Jakarta Indonesia

ISBN: (纸本)9798350364101

The energy control of a Wireless Sensor Network (WSN) often leads to an unbalanced state between the battery storage system, energy extraction through photovoltaic systems energy, and energy utilization in the WSN. These disparities result in suboptimal wireless sensor network performance. The reliance on batteries is a major factor contributing to this problem. The Q-Learning Energy Management System (Q-EMS) is designed to address these challenges and improve energy management strategies. The Q-EMS algorithm used a learning process resulting in optimal actions for sensor nodes in different situations. The rewards or punishments nodes receive determine their decisions, which are determined by the Q-EMS algorithm. The Q-learning model approach is aimed at reducing energy consumption and supply in WSNs. Energy supply is categorized into battery-based, transfer-based, and harvesting, while energy consumption can be classified into task-cycle, mobility-based, and data-driven. The development of the Q Learning algorithm model has three scenarios: determining energy needs for WSN, effective energy harvesting strategy, and effective energy transfer. As a result, effective energy demand, harvesting and transfer using the Q-learning algorithm are balanced. However, it needs to be studied in more depth using real data in the field. In future research, I will use real data and optimize the use of the Q-Learning algorithm. © 2024 IEEE.

关键词： Energy management systems

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Model LEGO: Creating Models Like Disassembling and Assembling Building Blocks 38

Model LEGO: Creating Models Like Disassembling and Assemblin...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Hu, Jiacong Gao, Jing Ye, Jingwen Gao, Yang Wang, Xingen Feng, Zunlei Song, Mingli College of Computer Science and Technology Zhejiang University China Robotics Institute School of Computer Science Carnegie Mellon University United States Electrical and Computer Engineering National University of Singapore Singapore School of Software Technology Zhejiang University China State Key Laboratory of Blockchain and Data Security Zhejiang University China Institute of Blockchain and Data Security China Bangsheng Technology Co. Ltd. China

With the rapid development of deep learning, the increasing complexity and scale of parameters make training a new model increasingly resource-intensive. In this paper, we start from the classic convolutional neural network (CNN) and explore a paradigm that does not require training to obtain new models. Similar to the birth of CNN inspired by receptive fields in the biological visual system, we draw inspiration from the information subsystem pathways in the biological visual system and propose Model Disassembling and Assembling (MDA). During model disassembling, we introduce the concept of relative contribution and propose a component locating technique to extract task-aware components from trained CNN classifiers. For model assembling, we present the alignment padding strategy and parameter scaling strategy to construct a new model tailored for a specific task, utilizing the disassembled task-aware components. The entire process is akin to playing with LEGO bricks, enabling arbitrary assembly of new models, and providing a novel perspective for model creation and reuse. Extensive experiments showcase that task-aware components disassembled from CNN classifiers or new models assembled using these components closely match or even surpass the performance of the baseline, demonstrating its promising results for model reuse. Furthermore, MDA exhibits diverse potential applications, with comprehensive experiments exploring model decision route analysis, model compression, knowledge distillation, and more. For more information, please visit https://***/. © 2024 Neural information processing systems foundation. All rights reserved.

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Cybersecurity in local governments: A systematic review and framework of key challenges

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Urban Governance 2025年第1期5卷 1-19页

作者： Hossain, Sk Tahsin Yigitcanlar, Tan Nguyen, Kien Xu, Yue City 4.0 Lab School of Architecture and Built Environment Queensland University of Technology 2 George Street Brisbane 4000 QLD Australia School of Electrical Engineering and Robotics Queensland University of Technology 2 George Street Brisbane 4000 QLD Australia School of Computer Science Queensland University of Technology 2 George Street Brisbane 4000 QLD Australia

Cybersecurity has emerged as a critical concern in modern urban governance, as local governments now extend their responsibilities beyond traditional infrastructure management to safeguard digital systems and citizen data in increasingly digitised smart city environments. Despite the importance of robust cybersecurity measures, there is a concerning gap—i.e., local governments often exhibit a cybersecurity posture that is inadequately prepared to counter the rising cyber threats. This discrepancy underscores the urgency for a comprehensive understanding of the challenges restricting effective cybersecurity in local governmental settings. This paper aims to elucidate these challenges of local governments in a structured framework utilising a systematic literature review method named the PRISMA protocol. The findings reveal that the stakes are high when it comes to cybersecurity for local governments, with the key challenges being financial resource constraints, technological vulnerabilities, human factors, and the regulatory framework. This study recommends improving interdepartmental coordination, adopting relevant policies, and executing targeted cybersecurity training to address these challenges. The study also highlights unconventional approaches to mitigate financial and skill resource limitations, including the utilisation of open-source security tools, outsourcing specific cybersecurity functions, and establishing collaborations with local cybersecurity agencies, academic institutions, and the private sector to obtain expertise and advanced resources. Overall, this study offers valuable insights into the critical cybersecurity challenges faced by local governments and provides specific recommendations, equipping urban policymakers, administrators, and researchers with valuable guidance to enhance cybersecurity resilience within this critical yet understudied research domain. © 2024 The Author(s)

关键词： Cyber threat Cybersecurity Local government Municipality Smart city Urban governance

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Automatic Anti-Swing Gantry Crane Based on Gradient Descent Optimization Proportional Integrated Derivative (PID): A Comparison Simulation and Real Experiment

Automatic Anti-Swing Gantry Crane Based on Gradient Descent ...

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2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Qadri, Munzir Harjanto, Danang Karuna Miharja, Jonathan Astuti, Winda Mariana, Yosica Tan, Sofyan Solihin, Mahmud Iwan University of Muhammadiyah Jakarta Engineering Faculty Mechanical Engineering Department Jakarta10510 Indonesia Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta11480 Indonesia Binus Aso School of Engineering Bina Nusantara University Product Design Program Industrial Engineering Department Jakarta11480 Indonesia Ucsi University Departement of Mechanical & Mechatronics Engineering Kuala Lumpur Malaysia

ISBN: (纸本)9798350381290

Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time. © 2023 IEEE.

关键词： Proportional control systems

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The Effect of WebRTC Jitter Buffer on Cloud Streaming Game QoE

The Effect of WebRTC Jitter Buffer on Cloud Streaming Game Q...

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Consumer Technology (ICCT-Pacific), International Conference on

作者： Naoyasu Kaneko Toshiro Nunome Department of Engineering Computer Science Program Graduate School of Engineering Nagoya Institute of Technology Nagoya Japan

ISBN: (数字)9798331504120

ISBN: (纸本)9798331504137

This paper considers a cloud streaming game using WebRTC. Since the cloud streaming game consists of a server and a client, the network quality between them affects the game. Among the network quality degradation factors, we focus on delay jitter. We reduce the effect of the jitter by buffering. We conduct a subjective experiment of a single-player action game and evaluate application-level QoS and QoE. We investigate the impact of buffering on the video and audio quality of the user playing the game.

关键词： Degradation Games Quality of service Jitter Streaming media Cloud gaming Delays Quality of experience Servers WebRTC

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