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General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

engineering 2024年第2期33卷 63-76页

作者： Heye Huang Yicong Liu Jinxin Liu Qisong Yang Jianqiang Wang David Abbink Arkady Zgonnikov School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Cognitive Robotics Faculty of MechanicalMaritime and Materials Engineering(3mE)Delft University of TechnologyDelft 2628Netherlands Department of Software Technology Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyDelft 2628Netherlands Xi’an Institute of High-Technology Xi’an 710051China

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and *** simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic ***,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action

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Development of Detection Lung Disease Stand Alone System Based on Convolutional Neural Network (CNN)

Development of Detection Lung Disease Stand Alone System Bas...

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International Conference of computer and Informatics engineering (IC2IE)

作者： Edgar Caesar Liewarnata Yosica Mariana Sofyan Tan Suryadiputra Liawatimena Winda Astuti Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Product Design Program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Department BINUS Graduate Program – Master of Computer Science Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798331505530

ISBN: (纸本)9798331505547

Lung disease, especially Tuberculosis (TBC), placed the highest death rate in Indonesia. Tuberculosis (TB) in Indonesia is ranked second after India. Therefore, it is important to reduce or early detection of the lung disease, to prevent this disease and speed up handling. The system can recognize the disease lung identification, and the system applied as standalone system. In this work, the Convolutional Neural Network (CNN) approach for identifying diseases lung identification is proposed. The Mel Frequency Cepstral Coefficient (MFCC) applied to process the stethoscope sounds which will used as input to the CNN. The performance of the proposed system has been investigated and resulted. The accuracy of 99% and 98%, for training and testing accuracy respectively. Furthermore, the system accurately detects lung diseases identification.

关键词： Training Accuracy Tuberculosis Pulmonary diseases Lungs Stethoscope Recording Convolutional neural networks Mel frequency cepstral coefficient Testing

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Sentiment Analysis with N-Gram Preprocessing for Online-Shopping Reviews in Indonesian Language 9

Sentiment Analysis with N-Gram Preprocessing for Online-Shop...

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9th IEEE International Conference on Computing, engineering and Design, ICCED 2023

作者： Asian, Jelita Putra, Oktavianus Tegar N.K. Ayu, Media Anugerah Mantoro, Teddy Nusa Putra University Postgraduate Program - School of Computer Science Sukabumi Indonesia Sampoerna University Faculty of Engineering and Technology Department of Computer Science Jakarta Indonesia

ISBN: (纸本)9798350370126

Currently, online Shopping platforms have grown significantly, especially during the COVID-19 pandemic. This condition motivates the need for analyzing how the users/customers' opinions on using such platform. Sentiment analysis, as a process of detecting, extracting, and classifying users' opinions and attitudes toward specific topics, is a good tool for the required analysis. This study aims to evaluate the performance of machine learning approach which combined with N-Gram technique in doing sentiment analysis. The dataset used in this study comes from scraping reviews in Bahasa Indonesia regarding the Shopee Apps. In this study, N=2 for the N-Gram was employed in the preprocessing process. Our main goal is to investigate whether the performance of machine learning in doing sentiment analysis can be improved by adding the N-Gram technique in its preprocessing. This work applied the Naive Bayes Classifier and k-Nearest Neighbor with K=11 as the machine learning algorithms. The best accuracy in this study was achieved by Naive Bayes Classifier after applying N-Gram Terms (N=2) with Split Validation (8:2), which is 97.26%. © 2023 IEEE.

关键词： Sentiment analysis

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Enhancing Security Information and Event Management (SIEM) by Incorporating Machine Learning for Cyber Attack Detection 9

Enhancing Security Information and Event Management (SIEM) b...

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9th IEEE International Conference on Computing, engineering and Design, ICCED 2023

作者： Ayu, Media Anugerah Erlangga, Dimas Mantoro, Teddy Handayani, Dini Sampoerna University Faculty of Engineering and Technology Department of Computer Science Jakarta Indonesia Nusa Putra University - Sukabumi Postgraduate Program - School of Computer Science Indonesia

ISBN: (纸本)9798350370126

Network security is a crucial component of Information Technology, yet organizations continue to grapple with meeting established security benchmarks. Given the rise in cyber-attacks and the continuous emergence of new attack types, it's practically infeasible to persistently update attack patterns or signatures within security parameters. Key tools such as Intrusion Detection Systems (IDS) and Security Information and Event Management (SIEM) are instrumental in monitoring network traffic and identifying potential threats. However, these tools face limitations, such as the high volume of alerts produced by IDS and the use of rule-based method, also the inability of SIEM tools to analyze logs comprehensively to identify inappropriate activities. This research has conducted anomaly detection using machine learning process to classify cyber-attacks network flow collected from IDS that installed incident network infrastructure. The analysis of IDS using machine learning, integrated with SIEM. The algorithm used in this research was Random Forest Classifier using CSE-CID-IDS2018 dataset pre-processed with Principal Component Analysis (PCA). Results of the experiments show that Random Forest Classifier Model, when combined with Principal Component Analysis (PCA), yields the most commendable results when applied to a 70/30 training/testing data ratio with accuracy of 0.99953. © 2023 IEEE.

关键词： Network security

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Enhanced Ship Classification in SAR Imagery using Fine-tuned DenseNet and Self-attention 15

Enhanced Ship Classification in SAR Imagery using Fine-tuned...

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15th International Conference on Computing Communication and Networking Technologies, ICCCNT 2024

作者： Chethan, Kosaraju Sai Lokesh, Vadlamudi Reddy, Kunta Vignaj Singh, Rimjhim Padam Srivastava, Smita Amrita Vishwa Vidyapeetham Amrita School of Computing Department of Computer Science and Engineering Bengaluru India Defense Research & Development Organization Centre for Artificial Intelligence & Robotics Bengaluru India

ISBN: (纸本)9798350370249

The categorization of ships in synthetic aperture radar (SAR) imagery is vital for civilian and military applications, including maritime management and reconnaissance. Deep learning techniques, such as Inception, DenseNet, Fusion Transformers, and EfficientNet, are used to extract multiscale information from SAR images, improving classification capabilities. Advanced solutions are necessary to address challenges in SAR imagery, such as speckle noise, varying illumination conditions, and complex sea clutter. The FUSAR-Ship dataset, which utilizes GF-3 SAR technology, offers a comprehensive collection of diverse scenarios including sea, land, coast, river, and islands. With over 5000 ship chips containing AIS messages and examples of various clutter types, FUSAR-Ship is a benchmark dataset for ship classification tasks. Our research involves thorough testing of advanced classification models using the FUSAR dataset. Through meticulous evaluation of a wide range of ship instances, scales, and maritime scenes, we aim to demonstrate the robustness and adaptability of these models. By refining their architectures and optimizing their parameters, we strive to enhance the capabilities of classification models and advance the performance of ship classification in SAR imagery. Our efforts contribute to enhancing maritime surveillance, management, and reconnaissance in both civilian and military domains. © 2024 IEEE.

关键词： DenseNet201 EfficientNetB1 InceptionV3 MobilenetV3Small RestNet50 Self Attention Ship small object detection Xception

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Continuous query-based data trading 24

Continuous query-based data trading

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2024 ACM SIGMETRICS/IFIP Performance Conference on Measurement and Modeling of computer Systems, SIGMETRICS/PERFORMANCE 2024

作者： Cheng, Jin Ding, Ningning Lui, John C.S. Huang, Jianwei School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society The Chinese University of Hong Kong Shenzhen Shenzhen China Department of Electrical and Computer Engineering Northwestern University Evanston United States Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9798400706240

In the era of big data, traditional data trading methods designed for one-time queries on static databases fail to meet the demands of continuous query-based trading on streaming data, often resulting in repeated and inaccurate charges due to neglecting computation sharing in continuous query execution. To address this, we introduce CQTrade, the first trading framework tailored for continuous queries, which incorporates computation sharing across different time windows and queries, enhancing integration with existing trading systems. Our contributions include a theoretical analysis of computation-sharing techniques, the development of a general optimization problem to maximize seller revenue adaptable to various techniques, and the proposal of a branch-and-price algorithm to handle the problem's complexity. Our evaluation shows that the proposed framework improves the success rate of data trading by 12.8% and boosts the seller's revenue by an average of 28.7%, compared to the one-time query-based data trading methods used in the current data market. © 2024 Copyright held by the owner/author(s).

关键词： Integer programming

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MOSFET Based Active Rectifier Design in Wireless Capacitive Power Transfer for Electric Vehicles 1

MOSFET Based Active Rectifier Design in Wireless Capacitive ...

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1st International Conference on Smart Mechatronics, ICSMech 2024

作者： Dragon, Klemens Raphael Lie, Zener Sukra Muharam, Aam Ika, Juan Luciano Perdana, Muhamad Arjuna Amin Hapid, Abdul Binus Aso School of Engineering Bina Nusantara University Automotive and Robotics Program Computer Engineering Department Jakarta Indonesia Badan Riset dan Inovasi Nasional Research Center for Transportation Technology Jawa Barat Bandung Indonesia

ISBN: (纸本)9798350368918

While the rise of electric vehicles reflects a push for clean energy as envisioned by international agreements like the Paris Agreement, wireless charging's convenience can overcome limitations and hasten their adoption, making it a strategic step alongside regulations such Permenhub No. 15/2022 and SDG 9 'Industry, Innovation, and Infrastructure' for cleaner air and sustainable transportation. The aim is to convert the high frequency AC voltage from the coupling capacitor into a stable DC voltage. Further increase the system sensitivity to the load variations, by designing a MOSFET based active rectifier. By changing load parameters, the accuracy of PFC adaptation to the battery State of Charge (SOC) obtained is at 98% with 2% tolerance for errors. It is concluded that the research is said to be successful because it has met the parameters of general research hypothesis where the system is able to convert high frequency AC voltage into a stable DC voltage. © 2024 IEEE.

关键词： State of charge

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Features Reduction with PCA Technique for Malware Detection Using Machine Learning 9

Features Reduction with PCA Technique for Malware Detection ...

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9th IEEE International Conference on Computing, engineering and Design, ICCED 2023

作者： Mantoro, Teddy Ginanjar, Agung Ayu, Media Anugerah Aditiawarman, Umar Sampoerna University Faculty of Engineering and Technology Department of Computer Science Jakarta Indonesia Nusa Putra University Postgraduate Program - School of Computer Science Sukabumi Indonesia

ISBN: (纸本)9798350370126

Malware had been a problem for quite some times since it spreads easily and can cause various problems. Currently, malware is also one of the big threats for internet users. With a huge number of internet users today, techniques that can automatically detect malware before it infects the system is required. This study aims to develop malware detection using machine learning approach with Principal Component Analysis (PCA) as feature reduction. PCA (Principal Component Analysis) is expected to be able to reduce the number of features which then could also reduce the learning time but do not reduce its accuracy significantly. There were four machine learning classifiers used in this study, i.e. K-Nearest Neighbor, Decision Tree, Naïve bayes, and Random Forest. The n-components used in this study were 20 and 34 and the ratio of test and train in the dataset was 35% for test and 65% for training. The results have shown that the best performance come from the detection using random forest with 34 n-component and 100 n-estimator with the average accuracy was 0.991688. © 2023 IEEE.

关键词： Principal component analysis

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Sentiment Analysis in Indonesian Trading using Lexicon-based and Support Vector Machine

Sentiment Analysis in Indonesian Trading using Lexicon-based...

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2023 International Conference on computer science, Information Technology and engineering, ICCoSITE 2023

作者： Oetama, Raymond Sunardi Yanfi, Yanfi Ikhsan Assiddiq Up, Masagus M. Muhamad Isa, Sani Universitas Multimedia Nusantara Information System DepartmentFaculty of Engineering and Informatics Jakarta Indonesia Bina Nusantara University BINUS Graduate Program Computer Science School of Computer Science Computer Science Department Jakarta Indonesia Bina Nusantara University BINUS Graduate Program Computer Science Computer Science Department Jakarta Indonesia

ISBN: (纸本)9798350320954

Many individuals now trade online utilizing trading software in the digital world. Binomo is one of Indonesia's most popular trading platforms. This is because some influencers made several promises to Binomo customers. Since many customers were deceived, this case became quite popular. This study was executed to see how Indonesians felt about the Binomo application after the case went viral. The solution taken was in the form of sentiment analysis because there had been no previous research on sentiment analysis that discussed the Binomo case. The data was scanned using Netlytic tools, a cloud-based text and social network analyzer capable of identifying any talks on social media sites such as Twitter. The sentiment analysis of Binomo trading tweets by using the Multi-Perspective Question Answering lexicon utilized the KNIME tool. But unfortunately, the accuracy of sentiment analysis results is low. Furthermore, the Support Vector Machine technique is also being conducted. The Term Frequency-Inverse Document Frequency method is applied to perform feature extraction whilst the chi-square approach is utilized to identify features that are thought to be useful for inclusion in the classification process and to exclude features that are irrelevant to the target class. The obtained accuracy is 86%. The study proposes that words from the algorithm's outputs can be utilized to improve the quality of sentiment analysis using the lexicon. As an outcome of the algorithm, positive and negative terms are added to the lexicon, increasing the accuracy of sentiment analysis using the new vocabulary from 58.984% to 71.146%. © 2023 IEEE.

关键词： Support vector machines

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Enhancing Impulse Response-Based SSVEP Decoding Method by Incorporating Temporal Local Correlation 7

Enhancing Impulse Response-Based SSVEP Decoding Method by In...

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7th International Conference on Biological Information and Biomedical engineering, BIBE 2024

作者： Huang, Jiayang Wang, Jiaxi Yang, Pengfei Xiong, Bang Zhang, Zhi-Qiang School of Computer Science and Technology The Key Laboratory of Smart Human-Computer Interaction Wearable Technology of Shaanxi Province Xidian University China School of Electronic and Electrical Engineering Institute of Robotics Autonomous Systems and Sensing University of Leeds United Kingdom

ISBN: (纸本)9783800762910

Various training-based spatial filtering methods have been proposed to classify steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs). However, many overlook the temporal instability of SSVEPs, leading to decreased classification performance. Therefore, we propose an SSVEP decoding method that calculates template signals and spatial filters using the subject's impulse responses and periodic impulses, incorporating the temporally local correlation coefficient in the SSVEP decoding process. Then, we employ a combined correlation coefficient for SSVEP classification. The proposed method addresses the temporal instability of SSVEPs, with template signals that exhibit strong individual characteristics. Utilizing a public benchmark dataset, we achieved a classification accuracy of 87.43% and an ITR of 256.1 bits/min at 1s time window, demonstrating the performance of this method. Compared to other classical spatial filtering methods, the proposed method demonstrates superior classification performance, which can enhance the practical usability of SSVEP-BCI systems. © VDE VERLAG GMBH.

关键词： Wiener filtering

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