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Trajectory-attracted adaptive tracking control for robotic systems based on a hybrid guiding vector field in flexible environments

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IEEE Transactions on Automation Science and engineering 2025年 22卷 14808-14817页

作者： Fan, Penghui Peng, Jinzhu Ding, Shuai Liu, Yaqiang Yang, Yaoyu Zhao, Nan Wang, Yaonan Zhengzhou University School of Electrical and Information Engineering Zhengzhou450001 China Zhengzhou University Institute for Robotics Zhengzhou450001 China Zhengzhou JD Cloud Computing Co. Ltd Zhengzhou451460 China Hunan University College of Electrical and Information Engineering Changsha410082 China

This paper proposes a trajectory-attracted adaptive tracking control (TAATC) scheme based on a hybrid guiding vector field (HGVF) for robotic systems, addressing the high operational difficulty and safety concerns inherent in flexible environments. The HGVF is constructed using the characteristics of different task spaces in flexible environments to enable smooth transitions between free space and contact space with adjustable operating velocity, thereby enhancing robustness against environmental interactions and uncertainties. The HGVF can attract the state trajectories of the robotic systems by path convergence of an auxiliary dynamic system, simplifying the trajectory planning process with a time-independent representation of the desired path. In addition, a neural network is employed to compensate for uncertainties in the robotic systems, while a nonlinear duffing function represents the dynamic contact force model of flexible environments. In this way, the TAATC scheme is constructed by using the HGVF and the adaptive neural network, which unifies trajectory planning and tracking control. By using the proposed TAATC scheme, the robotic systems can achieve smooth interaction with flexible environments and obtain the desired tracking force without complex trajectory planning. The stability of the HGVF and the whole control scheme are analyzed by using the Lyapunov theorem. Finally, the effectiveness of the proposed method is validated through both simulation and experimental tests. © 2004-2012 IEEE.

关键词： Lyapunov functions

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Efficient Bit-Plane Based Medical Image Cryptosystem Using Novel and Robust Sine-Cosine Chaotic Map

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Computers, Materials & Continua 2025年第4期83卷 917-933页

作者： Zeric Tabekoueng Njitacke Louai A.Maghrabi Musheer Ahmad Turki Althaqafi Department of Electrical and Electronic Engineering College of Technology(COT)University of BueaBueaP.O.Box 63Cameroon Department of Software Engineering College of EngineeringUniversity of Business and TechnologyJeddah22246Saudi Arabia Department of Computer Engineering Jamia Millia IslamiaNew Delhi110025India Department of Computer Science School of EngineeringComputing and DesignDar Al-Hekma UniversityJeddah22246Saudi Arabia

This paper presents a high-security medical image encryption method that leverages a novel and robust sine-cosine *** map demonstrates remarkable chaotic dynamics over a wide range of *** employ nonlinear analytical tools to thoroughly investigate the dynamics of the chaotic map,which allows us to select optimal parameter configurations for the encryption *** findings indicate that the proposed sine-cosine map is capable of generating a rich variety of chaotic attractors,an essential characteristic for effective *** encryption technique is based on bit-plane decomposition,wherein a plain image is divided into distinct bit *** planes are organized into two matrices:one containing the most significant bit planes and the other housing the least significant *** subsequent phases of chaotic confusion and diffusion utilize these matrices to enhance *** auxiliary matrix is then generated,comprising the combined bit planes that yield the final encrypted *** results demonstrate that our proposed technique achieves a commendable level of security for safeguarding sensitive patient information in medical *** a result,image quality is evaluated using the Structural Similarity Index(SSIM),yielding values close to zero for encrypted images and approaching one for decrypted ***,the entropy values of the encrypted images are near 8,with a Number of Pixel Change Rate(NPCR)and Unified Average Change Intensity(UACI)exceeding 99.50%and 33%,***,quantitative assessments of occlusion attacks,along with comparisons to leading algorithms,validate the integrity and efficacy of our medical image encryption approach.

关键词： Image cryptosystem robust chaos sine-cosine map nonlinear analysis tools medical images

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Convergence-Privacy-Fairness Trade-Off in Personalized Federated Learning

IEEE Transactions on Machine Learning in Communications and ...

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IEEE Transactions on Machine Learning in Communications and Networking 2025年 3卷 246-262页

作者： Zhao, Xiyu Cui, Qimei Li, Weicai Ni, Wei Hossain, Ekram Sheng, Quan Z. Tao, Xiaofeng Zhang, Ping School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China School of Computing Macquarie University SydneyNSW2109 Australia Department of Broadband Communication Peng Cheng Laboratory Shenzhen518055 China School of Electrical and Data Engineering University of Technology Sydney SydneyNSW2007 Australia Department of Electrical and Computer Engineering University of Manitoba WinnipegMBR3T 2N2 Canada

Personalized federated learning (PFL), e.g., the renowned Ditto, strikes a balance between personalization and generalization by conducting federated learning (FL) to guide personalized learning (PL). While FL is unaffected by personalized model training, in Ditto, PL depends on the outcome of the FL. However, the clients’ concern about their privacy and consequent perturbation of their local models can affect the convergence and (performance) fairness of PL. This paper presents PFL, called DP-Ditto, which is a non-trivial extension of Ditto under the protection of differential privacy (DP), and analyzes the trade-off among its privacy guarantee, model convergence, and performance distribution fairness. We also analyze the convergence upper bound of the personalized models under DP-Ditto and derive the optimal number of global aggregations given a privacy budget. Further, we analyze the performance fairness of the personalized models, and reveal the feasibility of optimizing DP-Ditto jointly for convergence and fairness. Experiments validate our analysis and demonstrate that DP-Ditto can surpass the DP-perturbed versions of the state-of-the-art PFL models, such as FedAMP, pFedMe, APPLE, and FedALA, by over 32.71% in fairness and 9.66% in accuracy. © 2023 CCBY.

关键词： Federated learning

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On the Challenge of Generating Multivariate Time Series Data from Distributed Sensors in IoT-enabled Scenarios 24

On the Challenge of Generating Multivariate Time Series Data...

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14th International Conference on the Internet of Things, IoT 2024

作者： Bañuelos, Julián Jerónimo Costa-Requena, Jose He, Jiayuan Salim, Flora D. Sigg, Stephan Department of Information and Communications Engineering School of Electrical Engineering Aalto University Espoo Uusimaa Finland School of Computing Technologies RMIT University MelbourneVIC Australia Cumucore Oy Espoo Uusima Finland School of Computer Science and Engineering University of New South Wales Sydney Australia

ISBN: (纸本)9798400712852

Smart sensing environments supported by an Internet of Things (IoT) infrastructure are enabling a wide array of possibilities for data-intensive remote monitoring applications. Although nowadays it is possible to access and deploy complex setups of sophisticated sensors, the telecommunications infrastructures are struggling to deal with the massive amounts of generated data for transmission, processing, and storage from the diverse range of IoT devices. As data corruption and the loss of data are realistic scenarios in current IoT deployments, it is relevant to find an alternative solution that circumvents the limitations of the physical infrastructure for dealing with potential missing data in remote sensing environments. In this paper, we analyze the feasibility of reproducing missing sensor data due to a communication failure from correlated sources in the same experimental context. We rely on generative adversarial models for the prediction of acceleration data and evaluate the usefulness of the synthetic data with a standard human activity recognition (HAR) classifier. © 2024 Copyright held by the owner/author(s).

关键词： Time series

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Developing Efficient Game Theory Approaches for Spectrum Sharing in 6G Networks 5th

Developing Efficient Game Theory Approaches for Spectrum Sha...

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5th International Conference on Data Science, Machine Learning and Applications, ICDSMLA 2023

作者： Ramola, Abhishek C. Francis, Jerrin Joe Savita Murugan, R. Department of Electrical Engineering School of Engineering and Computing Dev Bhoomi Uttarakhand University Navgaon Manduwala Dehradun India School of Computer Science and Engineering Presidency University Karnataka Bengaluru India Maharishi School of Engineering and Technology Maharishi University of Information Technology Uttar Pradesh Lucknow India Karnataka Bangalore India

ISBN: (纸本)9789819780426

This paper provides the development of green game idea procedures for spectrum sharing in upcoming 6G cellular networks. As dynamic spectrum get entry to keeps to advantage commercial interest, the want to broaden a sustainable framework to make sure powerful and relaxed spectrum sharing arises. To this stop, sport principle methods are seen as a legitimate candidate to facilitate robust spectrum sharing in 6G networks. This paper offers unique attention to the area of spectrum sharing and how the underlying game theory procedures may be leveraged to percentage spectrum efficiently. After an intensive review of existing methods and strategies, an overall performance evaluation of the numerous strategies is provided. Subsequently, the paper gives insights at the potential of game concept strategies in future 6G networks. Moreover, much game theoretic equipment are used for analytical as well as simulation experiments if you want to higher apprehend the dynamics of the spectrum sharing. Basic, this paper examines the effectiveness of each analytical and simulation-based totally game theoretic fashions for spectrum sharing in 6G networks, and gives a new version which may be used to improve the spectrum sharing dynamics in such networks. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Spread spectrum communication

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Exploring the Use of Transfer Learning for Automated Brain Tumor Segmentation 5th

Exploring the Use of Transfer Learning for Automated Brain T...

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5th International Conference on Data Science, Machine Learning and Applications, ICDSMLA 2023

作者： Savita Jaison, Feon Nautiyal, Kshitij Sunitha, B.J. Maharishi School of Engineering and Technology Maharishi University of Information Technology Uttar Pradesh Lucknow India Karnataka Bengaluru India Department of Electrical Engineering School of Engineering and Computing Dev Bhoomi Uttarakhand University Navgaon Manduwala Dehradun India School of Computer Science and Engineering Presidency University Karnataka Bengaluru India

ISBN: (纸本)9789819780426

Switch getting to know has become increasingly famous in many aspects of pc vision, including picture segmentation. This paper explores switch-gaining knowledge for automated brain tumor segmentation using a deep getting-to-know structure known as U-net. U-internet is a convolution neural community version that has been used efficiently to ramify scientific image segmentation obligations in the beyond. This work utilizes a U-internet model skilled on a huge-scale brain tumor segmentation dataset. The version plays nicely at the utility of brain tumor segmentation, achieving an average cube coefficient of zero. Ninety-three on check scans. Moreover, qualitative consequences display that the U-net version produces segmentation masks with few false-nice mistakes. These consequences reveal the capability of switch getting to know for automatic mind tumor segmentation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Image segmentation

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How Much Do Activity Patterns Change With Age? 6th

How Much Do Activity Patterns Change With Age?

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6th International Conference on Biomedical and Health Informatics, ICBHI 2024

作者： Jurčić, Krunoslav Gómez, Andrea Juliana Ruiz Zequera-Diaz, Martha Magjarević, Ratko Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10000 Croatia School of Engineering BASPI/FootLab Pontificia Universidad Javeriana Cra. 7 #40–62 Bogotá Colombia

ISBN: (纸本)9783031863226

This paper presents a comparison of features derived from various biomedical signals from both younger as well as elderly subjects. The dataset consists of accelerometer, gyroscope and altimeter signals acquired from wearable sensors, describing three different activities of daily living: walking, running and sitting on a chair. The features of all three signal data were processed, and later analysed to determine whether significant differences between signals recorded by younger subjects and elder subjects are present. Results of this comparison could prove valuable in the field of signal processing for various applications (activity recognition, fall detection, elderly care etc.) in terms of rehabilitation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Aneroid altimeters

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Unraveling Disease-Specific Diffusion Patterns in Human Brain Using Diffusion Tensor Image Analysis 5th

Unraveling Disease-Specific Diffusion Patterns in Human Brai...

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5th International Conference on Data Science, Machine Learning and Applications, ICDSMLA 2023

作者： Prajapati, Sandhya Bhagawati, Rupam Alam, Intekhab Jebakumari, S. Adlin Department of Electrical Engineering School of Engineering and Computing Dev Bhoomi Uttarakhand University Navgaon Manduwala Dehradun India School of Computer Science and Engineering Presidency University Karnataka Bengaluru India Maharishi School of Engineering & Technology Maharishi University of Information Technology Uttar Pradesh Lucknow India Karnataka Bangalore India

ISBN: (纸本)9789819780426

Diffusion tensor imaging (DTI) is a feasible approach to have a look at the structural connectivity of neuronal networks in vivo, as it presents insights into the microstructural and molecular properties of white depend fiber bundles. On this study, we used superior DTI and diffusion tensor image evaluation to analyze the unique diffusion patterns of several distinct diseases in human mind. We obtained statistics from healthful controls and cohorts of sufferers with a range of sicknesses, along with stroke, annoying mind injury, Alzheimer’s ailment, and Parkinson’s ailment, in addition to from postmortem brains of each wholesome and diseased people. Our findings emphasize the capability of the use of this technique to increase ailment-precise structural networks biomarkers for diagnosis and control of neurological illnesses. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Diffusion tensor imaging

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Enhancement of High Angular Resolution Diffusion-Weighted Imaging Through Parallel Imaging and Motion Correction 5th

Enhancement of High Angular Resolution Diffusion-Weighted Im...

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5th International Conference on Data Science, Machine Learning and Applications, ICDSMLA 2023

作者： Sandhya, Prajapati Sreejith, V. Alam, Intekhab Haripriya Department of Electrical Engineering School of Engineering and Computing Dev Bhoomi Uttarakhand University Manduwala Dehradun Navgaon India School of Computer Science and Engineering Presidency University Karnataka Bengaluru India Maharishi School of Engineering and Technology Maharishi University of Information Technology Uttar Pradesh Lucknow India Karnataka Bangalore India

ISBN: (纸本)9789819780426

Excessive Angular decision Diffusion-Weighted Imaging (HARDI) is an effective imaging modality that produces high decision pictures of fiber tracts within the brain. Reconstruction of those pictures calls for a huge quantity of computational power and reminiscence, because it acquires appreciably extra diffusion weighted photographs than the conventional diffusion-weighted imaging (DWI) strategies. It makes use of multiple receiver coils in parallel, with every coil measuring the same records set. MC improves the accuracy of HARDI reconstruction by using correcting for motion artifacts. The application of PI and MC along with HARDI allows high-decision reconstruction of fiber tracts inside the mind, with stepped forward sign-to-noise ratio and decreased test instances. When used together, PI and MC also can improve the accuracy of HARDI tractography, providing extra designated records on fiber tract micros. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： measuring movement reconstruction

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Assessments of Channel Coding Performance in Data Compression and Source Coding 5th

Assessments of Channel Coding Performance in Data Compressio...

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5th International Conference on Data Science, Machine Learning and Applications, ICDSMLA 2023

作者： Savita Bargavi, Manju Panwar, Rahul Shyam, Gopal Krishna Maharishi School of Engineering and Technology Maharishi University of Information Technology Uttar Pradesh Lucknow India Karnataka Bangalore India Department of Electrical Engineering School of Engineering and Computing Dev Bhoomi Uttarakhand University Navgaon Manduwala Dehradun India School of Computer Science and Engineering Presidency University Karnataka Bengaluru India

ISBN: (纸本)9789819780426

Channel coding is a technique used to boom the performance and reliability of records transmission. It is able to be used for facts compression and source coding, that are the procedures of reducing the amount of records that desires to be despatched across a *** of channel coding performance can be performed with the aid of analyzing the performance of the records compression and source coding techniques. This can be executed thru diverse measures, such as compression ratio, supply coding charge, mistakes detection and correction, and bit blunders rate. With the intention to appropriately verify the performance of the channel coding approach, all of these measures must be considered. The aim of channel coding is to reap the highest viable fee of data compression with minimal errors detection and correction, and bit blunders rates as little as possible. This guarantees that the records is transmitted securely and efficaciously. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Coding errors

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