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10th International Conference on ICT for Smart Society, ICISS 2023

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

ISBN: (纸本)9798350339543

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. © 2023 IEEE.

关键词： Smart city

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Emotion Recognition from Occluded Facial Images Using Deep Ensemble Model

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computers, Materials & Continua 2022年第12期73卷 4465-4487页

作者： Zia Ullah Muhammad Ismail Mohmand Sadaqat ur Rehman Muhammad Zubair Maha Driss Wadii Boulila Rayan Sheikh Ibrahim Alwawi Department of Computer Science The Brains InstitutePeshawar25000Pakistan School of Natural and Computing Sciences University of AberdeenAberdeenUK Department of Neurosciences KU Leuven Medical SchoolLeuven3000Belgium Security Engineering Laboratory CCISPrince Sultan UniversityRiyadh12435Saudi Arabia Robotics and Internet of Things Lab Prince Sultan UniversityRiyadh12435Saudi Arabia Department of Computer Science Robert Gordon UniversityAberdeenUK

Facial expression recognition has been a hot topic for decades,but high intraclass variation makes it *** overcome intraclass variation for visual recognition,we introduce a novel fusion methodology,in which the proposed model first extract features followed by feature ***,RestNet-50,VGG-19,and Inception-V3 is used to ensure feature learning followed by feature ***,the three feature extraction models are utilized using Ensemble Learning techniques for final expression *** representation learnt by the proposed methodology is robust to occlusions and pose variations and offers promising *** evaluate the efficiency of the proposed model,we use two wild benchmark datasets Real-world Affective Faces Database(RAF-DB)and AffectNet for facial expression *** proposed model classifies the emotions into seven different categories namely:happiness,anger,fear,disgust,sadness,surprise,and ***,the performance of the proposed model is also compared with other algorithms focusing on the analysis of computational cost,convergence and accuracy based on a standard problem specific to classification applications.

关键词： Ensemble learning emotion recognition feature fusion occlusion

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Finding Control Invariant Sets via Lipschitz Constants of Linear programs

arXiv

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arXiv 2024年

作者： Vahs, Matti Han, Shaohang Tumova, Jana Division of Robotics Perception and Learning School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

Control invariant sets play an important role in safety-critical control and find broad application in numerous fields such as obstacle avoidance for mobile robots. However, finding valid control invariant sets of dynamical systems under input limitations is notoriously difficult. We present an approach to safely expand an initial set while always guaranteeing that the set is control invariant. Specifically, we define an expansion law for the boundary of a set and check for control invariance using Linear programs (LPs). To verify control invariance on a continuous domain, we leverage recently proposed Lipschitz constants of LPs to transform the problem of continuous verification into a finite number of LPs. Using concepts from differentiable optimization, we derive the safe expansion law of the control invariant set and show how it can be interpreted as a second invariance problem in the space of possible boundaries. Finally, we show how the obtained set can be used to obtain a minimally invasive safety filter in a Control Barrier Function (CBF) framework. Our work is supported by theoretical results as well as numerical examples. Copyright © 2024, The Authors. All rights reserved.

关键词： Collision avoidance

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Complexity based investigation in collaborative assembly scenarios via non intrusive techniques 4

Complexity based investigation in collaborative assembly sce...

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4th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2022

作者： Panagou, Sotirios Sileo, Monica Papoutsakis, Konstantinos Fruggiero, Fabio Qammaz, Ammar Argyros, Antonis School of Engineering University of Basilicata Potenza85100 Italy Computational Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion70013 Greece

Human and robot collaboration in assembly tasks is an integral part in modern manufactories. Robots provide advantages in both process and productivity with their repeatability and usability in different tasks, while human operators provide flexibility and can act as safeguards. However, process complexity increases which can lower the overall quality. Increased complexity can negatively influence decision making due to cognitive load on human operators, which can lead to lower quality, be it product, process or human work. Moreover, it can lead to safety risks, human-system error and accidents. In this work, we present the preliminary results on an experiment performed with student-participants, based on an assembly task. The experiment was set up to emulate an industrial assembly, and data collection was performed through qualitative and non-intrusive quantitative methods. Questionnaires were used to assess perceptual task complexity and cognitive load, while a stereo camera provided recordings for after-task analysis on process errors and human work quality based on a 3D skeleton-based human pose estimation and tracking method. The aim of the study is to investigate causes of errors and implications on quality. Future direction of the work is discussed. © 2022 The Authors. Published by ELSEVIER B.V.

关键词： Decision making

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Improving Land Cover Segmentation Using Multispectral Dataset 8

Improving Land Cover Segmentation Using Multispectral Datase...

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8th International Conference on Informatics and Computing, ICIC 2023

作者： Herlawati, Herlawati Handayanto, Rahmadya Trias Heryadi, Yaya Abdurachman, Edi Soeparno, Haryono Irwansyah, Edy Miranda, Eka Informatics Universitas Bhayangkara Jakarta Raya Jakarta Indonesia Universitas Islam 45 Computer Engineering Bekasi Indonesia BINUS Graduate Program - Doctor of Computer Science Bina Nusantara University Computer Science Department Jakarta11480 Indonesia Trisakti Institute of Transportation and Logistic Jakarta13410 Indonesia Bina Nusantara University School of Computer Science Computer Science Department Jakarta11480 Indonesia Bina Nusantara University School of Information Systems Information Systems Department Jakarta11480 Indonesia

ISBN: (纸本)9798350342604

computer vision has been used in many areas such as medical, transportation, military, geography, etc. The fast development of sensor devices inside camera and satellite provides not only red-greed-blue (RGB) images but also multispectral dataset with some channels including RGB, infrared, short-wave, and thermal wave. Most of the dataset is panchromatic (black and white) and RGB, for example Google Map and other satellite-based map applications. This study examines the effects of multispectral dataset for semantic segmentation of land cover. The comparison between RGB with band 2 to band 7 of Landsat 8 Satellite shows an improvement of accuracy from 90.283 to 94.473 for U-Net and from 91.76 to 95.183 for DeepLabV3+. In addition, this research also compares two well-known semantic segmentation methods, namely U-Net and DeepLabV3+, that shown that DeepLabV3+ outperformed U-Net regarding to speed and accuracy. Testing was conducted in the Karawang Regency area, West Java, Indonesia. © 2023 IEEE.

关键词： Landsat

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A Study on Automatic Segmentation of Red Blood Cells in Digital Holographic Microscopy

A Study on Automatic Segmentation of Red Blood Cells in Digi...

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International Technical Conference o Circuits/Systems, computers and Communications (ITC-CSCC)

作者： Riki Numata Hyun-Woo Kim Myungjin Cho Min-Chul Lee Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Fukuoka Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka IITC School of ICT Robotics and Mechanical Engineering Hankyoung National University Anseong Kyonggi-do Republic of Korea

ISBN: (数字)9798350379051

ISBN: (纸本)9798350379068

Digital holographic microscopy (DHM) can provide three-dimensional information. For this reason, this technology has been applied to various fields such as malaria diagnosis using red blood cell (RBC)s and automatic cancer diagnosis using living cells. In research on automatic diagnosis using deep learning, the quality of training data is very important to improve performance. Therefore, we propose an accurate cell segmentation technology for automatic diagnostic assistance of DHM in this paper. The proposed method uses a segmentation algorithm, Segment Anything, and an image recognition algorithm, Xception. In this paper, to evaluate the proposed method, we use five images containing multiple RBCs and calculate the detection rate and false detection rate. This method can reduce the cost of data acquisition and obtain accurate data by automatically acquiring RBCs from images containing multiple RBCs, making it suitable for the automatic diagnosis of DHM using deep learning.

关键词： Deep learning Image segmentation Accuracy Image recognition Red blood cells Microscopy Training data

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Assessing Parkinson's Disease Severity Using Channel Attention and Graph Attention Networks on Kinect Skeleton Images 19

Assessing Parkinson's Disease Severity Using Channel Attenti...

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19th Iranian Conference on Intelligent Systems, ICIS 2024

作者： Fadaie, Fatemeh Aghapanah, Hamed Sedighifard, Alireza Shirvan, Hadi Niknam AI and Robotics University of Isfahan Department of Computer Engineering Isfahan Iran School of Advanced Technologies in Medicine Isfahan University of Medical Sciences Department of Bioelectrics and Biomedical Engineering Isfahan Iran Iran University of Science and Technology Department of Artificial Intelligence Isfahan Iran University of Tehran Faculty of New Sciences and Technologies Isfahan Iran

ISBN: (纸本)9798331507565

Parkinson's Disease (PD), a prevalent global neurological disorder, presents with motor symptoms like rigidity and tremors. Accurate severity assessment is vital for intervention evaluation. This study uses computer vision, specifically Kinect cameras and deep learning, to develop a system for assessing the severity of Parkinson's disease. Leveraging Kinect cameras' Precision in tracking key motion patterns, the system utilizes convolutional neural networks, namely Spatial-Temporal Graph Convolutional Network (STGCN) and Two-Stream Adaptive Graph Convolutional Network (2SAGCN), to detect movement anomalies and provide quantitative severity measures. A novel model is proposed, representing an enhanced version of 2SAGCN featuring a channel and graph attention module. Parkinson's severity classification comprises 11 classes based on 9 motion categories, totaling 99 classes. Three-dimensional transfer learning and data augmentation improve model Accuracy. This research advances non-invasive, quantitative Parkinson's assessment using innovative technology and advanced neural network models. The program is hosted on GitHub for implementation and result observation. The 10-fold cross-validation results of the best model, incorporating 2SAGCN structure, Graph, and Channel Attention, yield Accuracy, Precision, Recall, and F1-Score of Confidence Intervals 94.12± 0.14, 99.6 ± 0.20, 98.9 ± 0.10,99.2 ± 0.80 respectively. © 2024 IEEE.

关键词： Convolutional neural networks

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Soft Cap for Vine Robots

Soft Cap for Vine Robots

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Cem Suulker Sophie Skach Danyaal Kaleel Taqi Abrar Zain Murtaza Dilara Suulker Kaspar Althoefer Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science School of Electronic Engineering and Computer Science Queen Mary University of London United Kingdom

Growing robots based on the eversion principle are known for their ability to extend rapidly, from within, along their longitudinal axis, and, in doing so, reach deep into hitherto inaccessible, remote spaces. Despite many advantages, vine robots also present significant challenges, one of which is maintaining sensory payload at the tip without restricting the eversion process. A variety of tip mechanisms have been proposed by the robotics community, among them rounded caps of relatively complex construction that are not always compatible with functional hardware, such as sensors or navigation pouches, integrated with the main eversion structure. Moreover, many tip designs incorporate rigid materials, reducing the robot's flexibility and consequent ability to navigate through narrow openings. Here, we address these shortcomings and propose a design to overcome them: a soft, entirely fabric based, cylindrical cap that can easily be slipped onto the tip of vine robots. Having created a series of caps of different sizes and materials, an experimental study was conducted to evaluate our new design in terms of four key aspects: vine robot made from multiple layers of everting material, solid objects protruding from the vine robot, squeezability, and navigability. In all scenarios, we can show that our soft, flexible cap is robust in its ability to maintain its position and is capable of transporting payloads such as a camera across long distances. We also demonstrate that the robot's ability to move through restricted aperture openings and indeed its overall flexibility is virtually unhindered by the addition of our cap. The paper discusses the advantages of this design and gives further recommendations in relation to aspects of its engineering.

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Whole-Body Dynamic Throwing with Legged Manipulators

arXiv

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arXiv 2024年

作者： Munn, Humphrey Tidd, Brendan Böhm, Peter Gallagher, Marcus Howard, David School of Electrical Engineering and Computer Science University of Queensland QLD4072 Australia CSIRO Robotics DATA61 CSIRO Australia

Throwing with a legged robot involves precise coordination of object manipulation and locomotion — crucial for advanced real-world interactions. Most research focuses on either manipulation or locomotion, with minimal exploration of tasks requiring both. This work investigates leveraging all available motors (full-body) over arm-only throwing in legged manipulators. We frame the task as a deep reinforcement learning (RL) objective, optimising throwing accuracy towards any user-commanded target destination and the robot’s stability. Evaluations on a humanoid and an armed quadruped in simulation show that full-body throwing improves range, accuracy, and stability by exploiting body momentum, counter-balancing, and full-body dynamics. We introduce an optimised adaptive curriculum to balance throwing accuracy and stability, along with a tailored RL environment setup for efficient learning in sparse-reward conditions. Unlike prior work, our approach generalises to targets in 3D space. We transfer our learned controllers from simulation to a real humanoid platform. © 2024, CC BY.

关键词： Anthropomorphic robots

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SelfMedHPM: Self Pre-Training with Hard Patches Mining Masked Autoencoders for Medical Image Segmentation

SelfMedHPM: Self Pre-Training with Hard Patches Mining Maske...

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IEEE International Symposium on Biomedical Imaging

作者： Yunhao Lv Lingyu Chen Jian Wang Yangxi Li Fang Chen Department of Computer Science and Engineering Nanjing University of Aeronautics and Astronautics Nanjing China School of Biomedical Engineering and the Institute of Medical Robotics Shanghai JiaoTong University Shanghai China

ISBN: (数字)9798331520526

ISBN: (纸本)9798331520533

In recent years, deep learning methods such as convolutional neural network (CNN) and transformers have made significant progress in CT multi-organ segmentation. However, CT multi-organ segmentation methods based on masked image modeling (MIM) are very limited. There are already methods using MAE for CT multi-organ segmentation task, we believe that the existing methods do not identify the most difficult areas to reconstruct. To this end, we propose a MIM self-training framework with hard patches mining masked autoencoders for CT multi-organ segmentation tasks (self-MedHPM). The method performs ViT self-pretraining on the training set of the target data and introduces an auxiliary loss predictor, which first predicts the patch loss and determines the location of the next mask. SelfMedHPM implementation is better than various competitive methods in abdominal CT multi-organ segmentation and body CT multi-organ segmentation. We have validated the performance of our method on the Multi Atlas Labeling Beyond The Cranial Vault (BTCV) dataset for abdomen mult-organ segmentation and the SinoMed Whole Body (SMWB) dataset for body multi-organ segmentation tasks.

关键词： Training Image segmentation Three-dimensional displays Computed tomography Autoencoders Transformers Convolutional neural networks Prognostics and health management Image reconstruction Biomedical imaging

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