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Multi-robot Map Exploration Based on Multiple Rapidly-Exploring Randomized Trees

SN computer science 2024年第1期5卷 31页

作者： Mukhopadhyay, Shayok Umari, Hassan Koirala, Koshish Electrical & Computer Engineering and Computer Science Department University of New Haven 300 Boston Post Rd West Haven 06516 CT United States Department of Electrical Engineering American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates Mechatronics Engineering graduate program American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates

A map is necessary for tasks such as path planning or localization, which are common to mobile robot navigation. However, a map may be unavailable if the environment in which a robot navigates is unknown. Creating a map requires an exploration algorithm. Such algorithms guide robots to boundaries that separate known portions of a map from the unknown portions. Such boundaries are known as frontiers. There are image processing-based algorithms that detect frontiers. The authors’ previous work uses two, i.e., local and global, rapidly exploring random trees (RRTs) for two-dimensional exploration using a single robot. The present work applies the above to a multiagent system with three robots. A market-based strategy is used to allocate exploration tasks to the robots. Results show that the developed exploration strategy successfully explores a map in a reasonable amount of time compared to image processing-based approaches, and also reduces the map exploration cost. This strategy is readily usable for three-dimensional exploration with drones. It is also shown that the usage of a local frontier detector along with a global frontier detector helps reduce exploration time compared to simply using a global frontier detector alone. As an outline to future work, the paper also shows an extension of the proposed approach towards three-dimensional mapping using a single robot. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Exploration Mapping Multi-agent Navigation ROS RRT

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IoT for Water Quality Categorization 5

IoT for Water Quality Categorization

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5th International Conference on Cybernetics and Intelligent systems, ICORIS 2023

作者： Sastrohartono, Hermantoro Krisdiarto, Andreas Wahyu Uktoro, Arief Ika Rahutomo, Reza Suparyanto, Teddy Pardamean, Bens Institute of Agriculture Stiper Faculty of Agricultural Technology Agricultural Engineering Department Yogyakarta Indonesia Bina Nusantara University School of Information Systems Information System Department Jakarta11480 Indonesia Bina Nusantara University Bioinformatics & Data Science Research Center Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program Master of Computer Science Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350369489

In agricultural water research, the adoption of Internet of Things (IoT) technology has emerged as a pivotal approach for large-scale data collection. Water availability in the context of water quality is very important, both for domestic and industrial purposes. For domestic purposes, drinking water and bathing water are separated. Meanwhile, for the palm oil industry, boiler filler is differentiated from additional process water (dilution water). Water quality parameters can be assessed from turbidity and Total Dissolve Solid (TDS). Measurements using measuring instruments separately and repeatedly require significant energy, time, and costs. This research was conducted with the primary objective of presenting a novel method for categorizing water quality with the approach of IoT sensor technology. The research methodology entailed the utilization of an integrated IoT water sensors system in conjunction with manual water categorization. The methods consist of (1) system design, (2) design and installation of sensor and IoT-based microcontrollers, and (3) accuracy and precision testing compared with laboratory measurements. The precision of the integrated IoT water sensors was assessed through a dedicated sensor precision test, resulting in an accuracy rate of 94.4% for the turbidity sensor and 97.5% for the TDS sensor. Notably, this approach successfully discriminated drinking water with valid categorization, while other water types, including groundwater, water with tea, and water with coffee, yielded null categorization results. © 2023 IEEE.

关键词： Internet of things

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Towards a Healthy AI Tradition: Lessons from Biology and Biomedical science

arXiv

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arXiv 2024年

作者： Kasif, Simon Department of Biomedical Engineering Bioinformatics Graduate Program Department of Computer Science Boston University United States Department of Computer Science Tel Aviv University

AI is a magnificent field that directly and profoundly touches on numerous disciplines ranging from philosophy, computer science, engineering, mathematics, decision and data science and economics, to cognitive science, neuroscience and more. The number of applications and impact of AI is second to none and the potential of AI to broadly impact future science developments is particularly thrilling. While attempts to understand knowledge, reasoning, cognition and learning go back centuries, AI remains a relatively new field. In part due to the fact it has so many wide-ranging overlaps with other disparate fields it appears to have trouble developing a robust identity and culture. Here we suggest that contrasting the fast-moving AI culture to biological and biomedical sciences is both insightful and useful way to inaugurate a healthy tradition needed to envision and manage our ascent to AGI and beyond (independent of the AI Platforms used). After all, the human brain is a biological organ produced by evolution and human intelligence is a remarkable bi-product of nature and nurture and their complex interaction. In this perspective, we focus on traditions and culture, namely the commonly observed practices of evaluating, recognizing applauding, critiquing, debating and managing all progress including useful advances and discovery of challenging limitations. We are not discussing specific scientific exchanges between AI and Biology that include interdisciplinary cross fertilization of scientific methods, technology, ideas and applications that have been amply demonstrated and will continue to be transformative in the future. In a previous perspective, we suggested that biomedical laboratories or centers can usefully embrace logistic traditions in AI labs that will allow them to be highly collaborative, improve the reproducibility of research, reduce risk aversion and produce faster mentorship pathways for PhDs and fellows. This perspective focuses on the benefits of AI a

关键词： Biological organs

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Single-cell transcriptomics uncovers EGFR signaling-mediated gastric progenitor cell differentiation in stomach homeostasis (vol 14, 3750, 2023)

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NATURE COMMUNICATIONS 2023年第1期14卷 1-16页

作者： Takada, Hitomi Sasagawa, Yohei Yoshimura, Mika Tanaka, Kaori Iwayama, Yoshimi Hayashi, Tetsutaro Isomura-Matoba, Ayako Nikaido, Itoshi Kurisaki, Akira Laboratory of Stem Cell Technologies Graduate School of Science and Technology Nara Institute of Science and Technology Takayama-cho Ikoma Nara Japan Laboratory for Bioinformatics Research RIKEN Center for Biosystems Dynamics Research Wako Saitama Japan Department of Functional Genome Informatics Biological Data Science Medical Research Institute Tokyo Medical and Dental University Bunkyo Tokyo Japan Master’s/Doctoral Program in Life Science Innovation (Bioinformatics) Degree Programs in Systems and Information Engineering Graduate School of Science and Technology University of Tsukuba Tsukuba Ibaraki Japan

Defects in gastric progenitor cell differentiation are associated with various gastric disorders, including atrophic gastritis, intestinal metaplasia, and gastric cancer. However, the mechanisms underlying the multilineage differentiation of gastric progenitor cells during healthy homeostasis remain poorly understood. Here, using a single-cell RNA sequencing method, Quartz-Seq2, we analyzed the gene expression dynamics of progenitor cell differentiation toward pit cell, neck cell, and parietal cell lineages in healthy adult mouse corpus tissues. Enrichment analysis of pseudotime-dependent genes and a gastric organoid assay revealed that EGFR-ERK signaling promotes pit cell differentiation, whereas NF-κB signaling maintains gastric progenitor cells in an undifferentiated state. In addition, pharmacological inhibition of EGFR in vivo resulted in a decreased number of pit cells. Although activation of EGFR signaling in gastric progenitor cells has been suggested as one of the major inducers of gastric cancers, our findings unexpectedly identified that EGFR signaling exerts a differentiation-promoting function, not a mitogenic function, in normal gastric homeostasis.

关键词： Adult stem cells Stem-cell differentiation Stem-cell niche

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Convolutional Neural Network Using Res-Net For Organic and Anorganic Waste Classification 4

Convolutional Neural Network Using Res-Net For Organic and A...

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4th IEEE International Conference of computer science and Information Technology, ICOSNIKOM 2022

作者： Girsang, Abba Suganda Yunanda, Rezky Syahputra, Muhammad Edo Peranginangin, Ezra Binus Graduate Program-Master of Computer Science Bina Nusantara University Computer Science Department Jakarta11480 Indonesia School of Computer Science Bina Nusantara University Computer Science Department Jakarta11480 Indonesia Bina Nusantara University Faculty of Engineering Industrial Engineering Department Jakarta11480 Indonesia

ISBN: (纸本)9798350399073

Convolutional Neural network is state of the art of image recognition or image classification. However to build the robust model using CNN needs many parameters adjusted, and choosing the good combination hyperparameter which impacts taking much computation time. Genetic algorithm is one method metaheuristic which is robust for choosing the combinatorial possible hyperparameter. This model also uses ResNet-50 which is a pretrained model of convolutional neural network that consists 50 layers. By using a pretrained like ResNet-50, it will increase the performance model. CNN-ResNet with efficient genetic algorithm (EGA) to optimize the hyperparameter. The EGA algorithm utilizes transfer learning techniques in its algorithm so that the optimization process on CNN can achieve unified accuracy values quickly. The best performance model optimized using EGA outperformed the ResNet-50 model and the model optimized using GA and VLGA in classifying organic and inorganic materials. The accuracy value obtained from EGA is 97.53% with a loss of 0.08. © 2022 IEEE.

关键词： Convolutional neural networks

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Predicting Microsatellite Instability from Histology Images with Dilated Neighborhood Attention Transformer in Colorectal Cancer 24

Predicting Microsatellite Instability from Histology Images ...

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24th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2024

作者： Chen, Yun-Chi Chao, Tung Phandita, Wimaya Nitya Sun, Tzu-Yu Wang, Huai-Zhi Hsieh, Yi-Hsien Hsu, Le-Yin Lin, Che Taipei Taiwan College of Bioresources and Agriculture NTU Taipei Taiwan National Taiwan University of Science and Technology Department of Computer Science and Information Engineering Taipei Taiwan Graduate Institute of Communication Engineering NTU Taipei Taiwan NTU Data Science Degree Program Taipei Taiwan NTU Department of Electrical Engineering Taipei Taiwan Center for Advanced Computing and Imaging in Biomedicine NTU Taipei Taiwan NTU Smart Medicine and Health Informatics Program Taipei Taiwan

ISBN: (纸本)9798331518622

Microsatellite instability (MSI) is a pivotal genetic marker influencing the efficacy of immunotherapy in colorectal cancer. Traditional MSI examination often requires additional genetic or immunohistochemical tests, whereas histology images, widely available in colorectal cancer diagnosis, offer a valuable alternative for MSI prediction. Although Transformer-based models have demonstrated promising outcomes in predicting MSI from histology images, they are hampered by traditional local attention mechanisms that struggle to capture long-range interdependencies and establish a comprehensive global receptive field. In this study, we introduce DiNAT-MSI, a novel framework for histology-based MSI prediction that incorporates the Dilated Neighborhood Attention Transformer (DiNAT). This model enhances global context recognition and substantially expands receptive fields, all without additional computational burden. Our results demonstrate that DiNAT-MSI achieves a superior patientwise AUROC compared to ResNet18 and Swin Transformer, along with commendable explainability. Our work not only illustrates a more accessible diagnostic tool for leveraging histological data but also underscores the potential of Transformerbased models with sophisticated attention designs in advancing precision medicine for colorectal cancer patients. © 2024 IEEE.

关键词： Diseases

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Early Detection and Classification of Melanoma Based on Android MobileNet V2 Convolutional Neural Network

Early Detection and Classification of Melanoma Based on Andr...

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2023 International Seminar on Application for Technology of Information and Communication, iSemantic 2023

作者： Prabandari, Jasmine Iswarini Dyah Sari, Christy Atika Rachmawanto, Eko Hari Irawan, Candra Altamer, Bilal R. Alkhafaji, Mohamed Ayad University of Dian Nuswantoro Study Program in Informatics Engineering Semarang Indonesia University of Dian Nuswantoro Study Program in Information Systems Semarang Indonesia Mosul University Presidency University of Mosul Mosul Iraq National University of Science and Technology Department of Computer Science DhiQar Iraq

ISBN: (纸本)9798350339215

Melanoma is a malignant form of cancer that affects the skin and has a particularly high mortality rate, so it requires early detection to increase the level of safety for users. Diagnosis and detection of skin cancer are usually done through manual screening and visual inspection. This process requires a long time, has high complexity, is subjective, and is prone to errors. CNN is one of the algorithms with advantages in accurate classification. In this research, early detection and classification of melanoma cancer were carried out based on two classes, namely benign and malignant using the Convolutional Neural Network method. Our proposed method yields an accuracy of 81.11% for the validation data. The accuracy results obtained can be improved by using more datasets and increasing the number of layers used. This study uses the CNN method using MobileNet V2 architecture to detect melanoma skin cancer. The class used is benign and malignant. © 2023 IEEE.

关键词： Convolutional neural networks

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Automatic Smart Crawling on Twitter for Weather Information in Indonesia 8

Automatic Smart Crawling on Twitter for Weather Information ...

引用

8th International Conference on computer science and Computational Intelligence, ICCSCI 2023

作者： Purwandari, Kartika Perdana, Reza Bayu Sigalingging, Join W.C. Rahutomo, Reza Pardamean, Bens Bioinformatics and Data Science Research Center Bina Nusantara University Jakarta11480 Indonesia Database Center Division of BMKG Meteorological Climatological and Geophysical Agency Jakarta10720 Indonesia Information Systems Department School of Information Systems Bina Nusantara University Jakarta11480 Indonesia Computer Science Department BINUS Graduate Program - Master of Computer Science Bina Nusantara University Jakarta11480 Indonesia

Although Twitter is a popular platform for social interaction analysis and text data mining, it faces challenges with geolocation automation. To address this problem, the researchers propose the utilization of a Support Vector Machine (SVM) model to develop an automated Twitter crawling system. The system aims to collect data related to weather in Indonesia by employing Twin, a Python-based Twitter scraping software. To overcome null geolocations, the study incorporates aliases created based on the common practice of Indonesian users mentioning the country's location in tweets. The results demonstrate that the SVM model, combined with automated smart crawling, achieves an 85% accuracy rate. © 2023 The Authors. Published by Elsevier B.V.

关键词： smart crawling Social media SVM Twitter weather

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Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learning

arXiv

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arXiv 2024年

作者： Masuya, Nozomu Sato, Hiroshi Yamane, Koki Kusume, Takuya Sakaino, Sho Tsuji, Toshiaki Master's Program in Intelligent and Mechanical Interaction Systems Degree Programs in Systems and Information and Engineering Graduate School of Science and Technology University of Tsukuba Japan Doctoral Program in Intelligent and Mechanical Interaction Systems Degree Programs in Systems and Information and Engineering Graduate School of Science and Technology University of Tsukuba Japan Department of Intelligent Interaction Technologies Institute of Systems and Information Engineering University of Tsukuba Japan Graduate School of Science and Engineering Saitama University Saitama Japan

Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, even with a simple change in speed. Although the field of data augmentation has addressed the lack of data, conventional methods of data augmentation for robot manipulation are limited to simulation-based methods or downsampling for position control. This paper proposes a novel method of data augmentation that is applicable to force control and preserves the advantages of real-world datasets. We applied teaching-playback at variable speeds as real-world data augmentation to increase both the quantity and quality of environmental reactions at variable speeds. An experiment was conducted on bilateral control-based imitation learning using a method of imitation learning equipped with position-force control. We evaluated the effect of real-world data augmentation on two tasks, pick-and-place and wiping, at variable speeds, each from two human demonstrations at fixed speed. The results showed a maximum 55% increase in success rate from a simple change in speed of real-world reactions and improved accuracy along the duration/frequency command by gathering environmental reactions at variable speeds. Copyright © 2024, The Authors. All rights reserved.

关键词： Demonstrations

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ACO with Reinforcement Learning Applied to Rescues Operations on Urban Forests 13

ACO with Reinforcement Learning Applied to Rescues Operation...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Alves, Cláudio Mendonça, Israel De Almeida Guimarães, Vanessa González, Pedro Henrique System Engineering and Computer Science Program Federal University of Rio de Janeiro Rio de Janeiro Brazil Faculty of Advanced Science and Technology Kumamoto University Kumamoto Japan Coppead Graduate Business School Federal University of Rio de Janeiro Rio de Janeiro Brazil

ISBN: (纸本)9798350308365

In the context of smart cities where green infras-tructure is incentived, besides important benefits like regulating temperatures and absorbing pollutants among others, tour by urban forests is a way to experience closer contact with nature near of big urban centers. Eventually, visitors get lost, and helping these people with velocity is important to avoid severe incidents. Normally, rescue operations mobilize firefighters, ex-pensive equipment like helicopters and public resources. Following that idea of reducing search time in rescue operations, this paper considers the Data Mule Routing Problem with Limited Autonomy (DMRP-wLA). To find high-quality solutions, this paper proposes an Ant Colony Optimization algorithm enhanced with Reinforcement Learning to create an adaptive decision-making algorithm. © 2024 IEEE.

关键词： Ant colony optimization

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