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IEEE International Symposium on Information (IT) in Medicine and Education, ITME

作者： Haolong Jiang Lingdan Gu Jiayu Wang Xiao Lan Qinyao Liu Fanxin Wang Department of Electrical and Electronic Engineering School of Advanced Technology Xi’an Jiaotong Liverpool University University of Liverpool Suzhou China Department of Intelligence Robotics Engineering With Contemporary Entrepreneurialism School of Robotics Xi'an Jiaotong Liverpool University Suzhou China Department of Information and Computer Science School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China Department of Electrical and Electronic Engineering School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China Department of Mechatronics and Robotics School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China

ISBN: (数字)9798350356670

ISBN: (纸本)9798350356687

Navigating cluttered indoor environments presents a significant challenge for aerial robots, requiring agility, speed, and a high level of reliability to avoid collisions. This project aims to address this challenge by developing advanced algorithms for lightweight drones, enabling them to reach target location and carrying out delivery efficiently and safely. Utilizing camera data to map and avoid obstacles, we create a system that not only maps and perceives the environment but also navigates its path to the destination. Included in the educational content, this project demonstrates the effectiveness of the technology through practical applications and real-world testing, helping the next generation of engineers accumulate technical experience and broaden their understanding of drone navigation algorithms and applications in system integration. It has a milestone impact on education and development of the drone field.

关键词： Accuracy Navigation Trajectory tracking Heuristic algorithms Education Indoor environment Safety Nonlinear dynamical systems Collision avoidance Drones

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Deep Learning with Backtracking Search Optimization Based Skin Lesion Diagnosis Model

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computers, Materials & Continua 2022年第1期70卷 1297-1313页

作者： C.S.S.Anupama L.Natrayan E.Laxmi Lydia Abdul Rahaman Wahab Sait Jose Escorcia-Gutierrez Margarita Gamarra Romany F.Mansour Department of Electronics&Instrumentation Engineering V.R.Siddhartha Engineering CollegeVijayawada520007India Department of Mechanical Engineering Saveetha School of EngineeringSIMATSChennai602105India Department of Computer Science and Engineering Vignan’s Institute of Information TechnologyVisakhapatnam530049India Department of Archives and Communication King Faisal University31982Kingdom of Saudi Arabia Electronic and Telecommunicacions Program Universidad Autonoma del CaribeBarranquilla08001Colombia Department of Computational Science and Electronic Universidad de la CostaCUCBarranquilla08001Colombia Department of Mathematics Faculty of ScienceNew Valley UniversityEl-Kharga72511Egypt

Nowadays,quality improvement and increased accessibility to patient data,at a reasonable cost,are highly challenging tasks in healthcare *** of Things(IoT)and Cloud Computing(CC)architectures are utilized in the development of smart healthcare *** entities can support real-time applications by exploiting massive volumes of data,produced by wearable sensor *** advent of evolutionary computation algorithms andDeep Learning(DL)models has gained significant attention in healthcare diagnosis,especially in decision making *** cancer is the deadliest disease which affects people across the *** skin lesion classification model has a highly important application due to its fine-grained variability in the presence of skin *** current research article presents a new skin lesion diagnosis model i.e.,Deep Learning with Evolutionary Algorithm based Image Segmentation(DL-EAIS)for IoT and cloud-based smart healthcare ***,the dermoscopic images are captured using IoT devices,which are then transmitted to cloud servers for further ***,Backtracking Search optimization Algorithm(BSA)with Entropy-Based Thresholding(EBT)i.e.,BSA-EBT technique is applied in image *** by,Shallow Convolutional Neural Network(SCNN)model is utilized as a feature *** addition,Deep-Kernel Extreme LearningMachine(D-KELM)model is employed as a classification model to determine the class labels of dermoscopic *** extensive set of simulations was conducted to validate the performance of the presented method using benchmark *** experimental outcome infers that the proposed model demonstrated optimal performance over the compared techniques under diverse measures.

关键词： Intelligent models skin lesion dermoscopic images smart healthcare internet of things

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 8

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

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Comparison of Rating Scale and Pairwise Comparison Methods for Measuring Human Co-worker Subjective Impression of Robot during Physical Human-Robot Collaboration

Comparison of Rating Scale and Pairwise Comparison Methods f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiao Wang Ziqi Wang Marc G. Carmichael Dikai Liu Chin-Teng Lin Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney Ultimo NSW Australia Australian Artificial Intelligence Institute School of Computer Science Faculty of Engineering and Information Technology University of Technology Sydney Ultimo NSW Australia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The Rating Scale method has been long deemed the standard for measuring subjective perceptions. However, in the field of physical human-robot collaboration (pHRC), its aptness should be put under scrutiny due to inherent challenges such as response bias, between-subject variations, and the granularity *** variances can introduce significant bias in the rating scale results. A high granularity in the scale could overwhelm participants, leading to unclear and biased responses, while a low granularity may gloss over the fine nuances of human feelings. Additionally, there’s a notable risk of receiving careless responses, which compromise data reliability. Recognizing these challenges, this paper proposes the application of Pairwise Comparison (PC) in pHRC — an alternative survey technique that emphasizes direct comparisons between items on the defined criteria. By using the NASA Task Load Index (NASA-TLX) as a template, RS and PC questionnaires are designed and used in a series of pHRC experiments. Our preliminary findings suggest that PC is more precise and robust than the rating scale method. Compared to RS, PC fosters authentic participant interests in the experiment by intuitive question design and reducing the experimental duration. Besides, the accuracy and reliability of PC are also found to be consistent regardless of the variations in our experimental procedure design.

关键词： Surveys Accuracy NASA Collaboration Reliability engineering Particle measurements Task analysis

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Diagnosis of Faults in Edge-PLC using Optimized Deep Learning models in Industrial IoT

Diagnosis of Faults in Edge-PLC using Optimized Deep Learnin...

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International Conference on Advanced Computing and Communication Systems (ICACCS)

作者： A. Kishore Kumar T Rajesh Kumar R. Balamanigandan A. Sasi Kumar Mahaveerakannan R Department of Robotics and Automation Sri Ramakrishna Engineering College Coimbatore Tamilnadu Department of Computer Science and Engineering Saveetha School of Engineering SIMATS Chennai Tamil Nadu Department Of Cloud Technology & Data Science Institute Of Engineering & Technology Srinivas University Surathkal

Industrial Internet of Things (IIoT) may allow for the state of equipment to be monitored and defects to be detected before they become serious, helping smart factories keep up with the rising demands for safety and efficiency brought on by worldwide competition. In the case of Cloud Computing, data-driven approaches implemented in the cloud are used to first train the model using a vast quantity of raw data, and then end-machines send their real-time readings for processing at the cloud data centre. It is possible, however, that this will impose a significant delay and a high computational cost. In this study, we take into account a hierarchical structure in which edge-PLCs are used to collect sensed data locally and lessen the burden on long-distance connections. Due to the fact that a single responsibility may be associated with multiple swaying topographies, we aim to first reduce the sum of features required to identify a fault, and then identify the smallest possible set of edge-PLCs that still accounts for all of the most important ones, all while keeping deployment costs to a minimum. To address this, we present an Enhanced Harris Hawkins Optimization (EHHO) approach to tackling the features selection issue, followed by the assortment of edge-PLCs through the set coverage problematic. The model named Residual Attention Neural Network (RANN) is proposed the in this study to forecast the fault detection procedure. Residual Neural Network (ResNet) is used by RANN to help diagnose problems, alongside the knowledge of experts. We evaluate the performance of our technique in comparison to existing AI-based approaches, such as the lregression model and its expansions, by simulating on a real data trail. The findings confirm competence and presentation of the suggested approach, which meets or even surpasses the correctness of approaches employing the entire collection of data.

关键词： Fault diagnosis Deep learning Solid modeling Cloud computing Image edge detection Computational modeling Fault detection

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More Text, Less Point: Towards 3D Data-Efficient Point-Language Understanding 39

More Text, Less Point: Towards 3D Data-Efficient Point-Langu...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Tang, Yuan Han, Xu Li, Xianzhi Yu, Qiao Xu, Jinfeng Hao, Yixue Hu, Long Chen, Min Huazhong University of Science and Technology China South China University of Technology China School of computer science and technology Huazhong University of Science and Technology China Guangdong Intelligent Robotics Institute China Guangdong HUST Industrial Technology Research Institute China School of Computer Science and Engineering South China University of Technology Guangdong Guangzhou 510640 China Pazhou Laboratory Guangdong Guangzhou 510640 China

ISBN: (纸本)157735897X

Enabling Large Language Models (LLMs) to comprehend the 3D physical world remains a significant challenge. Due to the lack of large-scale 3D-text pair datasets, the success of LLMs has yet to be replicated in 3D understanding. In this paper, we rethink this issue and propose a new task: 3D Data-Efficient Point-Language Understanding. The goal is to enable LLMs to achieve robust 3D object understanding with minimal 3D point cloud and text data pairs. To address this task, we introduce GreenPLM, which leverages more text data to compensate for the lack of 3D data. First, inspired by using CLIP to align images and text, we utilize a pre-trained point cloud-text encoder to map the 3D point cloud space to the text space. This mapping leaves us to seamlessly connect the text space with LLMs. Once the point-text-LLM connection is established, we further enhance text-LLM alignment by expanding the intermediate text space, thereby reducing the reliance on 3D point cloud data. Specifically, we generate 6M free-text descriptions of 3D objects, and design a three-stage training strategy to help LLMs better explore the intrinsic connections between different modalities. To achieve efficient modality alignment, we design a zero-parameter cross-attention module for token pooling. Extensive experimental results show that GreenPLM requires only 12% of the 3D training data used by existing state-of-the-art models to achieve superior 3D understanding. Remarkably, GreenPLM also achieves competitive performance using text-only data. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： 3D modeling

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A Modified Feature Selection Algorithm for Intrusion Detection System Based on Student Psychology-Based Optimization with Explainable AI

A Modified Feature Selection Algorithm for Intrusion Detecti...

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computer science and Data engineering (CSDE), IEEE Asia-Pacific Conference on

作者： Md. Raisul Islam Evan Mohammad Motiur Rahman Sk. Tanzir Mehedi Abdullah Nazib Rafiqul Islam Ziaur Rahman Computer Science and Engineering Mawlana Bhashani Science and Technology University Tangail Bangladesh Information and Communication Technology Mawlana Bhashani Science and Technology University Tangail Bangladesh School of Electrical Engineering and Robotics Queensland University of Technology Brisbane Queensland Australia School of Computing Mathematics and Engineering Charles Sturt University Bathurst Australia School of Computer Science Queensland University of Technology Brisbane Queensland Australia

Intrusion Detection Systems (IDS) play a vital role in safeguarding network security by monitoring and identifying both normal and intrusive activities. However, constructing an effective IDS from extensive datasets poses a significant challenge. The process of feature selection from these datasets is crucial, as it not only enhances accuracy but also reduces the time required to build the model. In this paper, we employ a modified version of the Student Psychology-Based Optimization (SPBO) algorithm to identify the most relevant features set for IDS. Following feature selection, various machine learning algorithms are employed for multi-level classification. To evaluate our approach, we utilize the NLS-KDD dataset. Our proposed algorithm surpasses several state-of-the-art feature selection methods in terms of accuracy, precision, recall, Fl-score, and finally faster convergence. Specif-ically, our proposed bio-inspired SPBO algorithm combined with the Random Forest (RF) algorithm achieves a comparable accuracy rate of 99.81 %. To ensure better comprehensibility, we employ two widely used Explainable Artificial Intelligence (XAI) techniques: SHapley Additive exPlanations (SHAP) and Local In-terpretable Model-Agnostic Explanations (LIME). These methods provide insightful explanations for our model's decisions, further enhancing its interpretability.

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LMS-Net: A Learned Mumford-Shah Network For Few-Shot Medical Image Segmentation

arXiv

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arXiv 2025年

作者： Zhang, Shengdong Jia, Fan Li, Xiang Zhang, Hao Shi, Jun Ma, Liyan Ying, Shihui Department of Mathematics School of Science Shanghai University Shanghai200444 China Institute University of Utah Salt Lake CityUT84102 United States School of Computer Science and Technology East China Normal University Shanghai China School of Communication and Information Engineering Shanghai University Shanghai200444 China School of Computer Engineering and Science Shanghai University Shanghai200444 China School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Shanghai Institute of Applied Mathematics and Mechanics The School of Mechanics and Engineering Science Shanghai University Shanghai200072 China

Few-shot semantic segmentation (FSS) methods have shown great promise in handling data-scarce scenarios, particularly in medical image segmentation tasks. However, most existing FSS architectures lack sufficient interpretability and fail to fully incorporate the underlying physical structures of semantic regions. To address these issues, in this paper, we propose a novel deep unfolding network, called the Learned Mumford-Shah Network (LMSNet), for the FSS task. Specifically, motivated by the effectiveness of pixel-to-prototype comparison in prototypical FSS methods and the capability of deep priors to model complex spatial structures, we leverage our learned Mumford-Shah model (LMS model) as a mathematical foundation to integrate these insights into a unified framework. By reformulating the LMS model into prototype update and mask update tasks, we propose an alternating optimization algorithm to solve it efficiently. Further, the iterative steps of this algorithm are unfolded into corresponding network modules, resulting in LMS-Net with clear interpretability. Comprehensive experiments on three publicly available medical segmentation datasets verify the effectiveness of our method, demonstrating superior accuracy and robustness in handling complex structures and adapting to challenging segmentation scenarios. These results highlight the potential of LMS-Net to advance FSS in medical imaging applications. Our code will be available at: https:// ***/SDZhang01/LMSNet Copyright © 2025, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Multiple Autoencoder-Based Anomaly Detection with Fuzzy Rough Sets

SSRN

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SSRN 2024年

作者： Tan, Xiaofeng Gao, Can Zhou, Jie Yue, Xiaodong College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen518060 China SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China School of Computer Engineering and Science Shanghai University Shanghai200444 China

Anomaly detection is a practical and essential research topic with a wide range of applications. However, existing anomaly detection methods may face challenges when handling high-dimensional data with complex distributions. In this study, we propose a multiple autoencoder-based anomaly detection method with the aid of fuzzy rough sets. Specifically, the autoencoder is first improved by introducing the kernel fuzzy relation to enhance its representation capability in low-dimensional space. Then, the theory of fuzzy rough sets is employed to perform anomaly detection in the learned low-dimensional representation by fusing multi-view proximity-based information. Finally, to handle complex data, multiple autoencoders are utilized to collaboratively detect anomalies by integrating local anomaly information from different perspectives. Comparative experiments conducted on the selected datasets reveal that the proposed method is superior to state-of-the-art methods, improving over classical autoencoder by 5.58% in terms of the AUC-ROC index. © 2024, The Authors. All rights reserved.

关键词： Anomaly detection

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Cardiovascular Disease Analysis Using Correlational Analysis and Association Rules Mining for In-depth Analysis to Identify Predominant Variables

Cardiovascular Disease Analysis Using Correlational Analysis...

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computer science, Information Technology and engineering (ICCoSITE), International Conference on

作者： Boby Siswanto Haryono Soeparno Nesti F. Sianipar Widodo Budiharto Computer Science Department BINUS Graduate Program- Computer Science Bina Nusantara University Jakarta Indonesia Food Technology Department Engineering Faculty Bina Nusantara University Jakarta Indonesia Computer Science Department School of Computer Science Bina Nusantara University Jakarta Indonesia

Cardiovascular disease is one of the dangerous non-communicable disorders or diseases that has become one of the causes of death worldwide. Various studies have been conducted to prevent cardiovascular disease in the world. This study analyzed cardiovascular disease medical record data from the Kaggle public dataset by implementing correlational analysis combined with association rule mining to identify variables that are the predominant cause of cardiovascular disease. Correlational analysis can analyze the interrelationships between variables in a dataset, but not in depth. Association rule mining can identify the interrelationships of variables in the form of frequent item sets, which can be calculated for their support and confidence values. The result of this study is a combination of correlation analysis with association rule mining that can identify predominant variables to cause cardiovascular disease. Found that the variable gender=woman, height=short (<165 cm), and age=middle (45-60 years) are more likely to be affected by cardiovascular disease. The variable gender=woman with height=short indicates a 76.07% probability of developing cardiovascular disease.

关键词： computer science Correlation Itemsets Cardiovascular diseases Data mining Information technology

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