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Machine Learning for Unmanned Aerial Vehicles Navigation: An Overview

SN computer science 2024年第2期5卷 256页

作者： Fagundes-Junior, Leonardo A. de Carvalho, Kevin B. Ferreira, Ricardo S. Brandão, Alexandre S. Núcleo de Especialização em Robótica Department of Electrical Engineering Graduate Program in Computer Science Federal University of Viçosa-UFV Av. Petter Henry Rolfs MG Viçosa 36570-900 Brazil

Unmanned aerial vehicles (UAVs) are a valuable source of data for a wide range of real-time applications, due to their functionality, availability, adaptability, and maneuverability. Working as mobile sensors, they can provide a cost-effective solution for extremely complex tasks, such as inspection, air-to-ground communications, search and rescue, surveillance, among others. Nevertheless, the robots needs to navigate in quite distinct environments and in different dynamism levels, usually facing unpredicted situations, very often using limited sensing and computing capabilities. A large number of solutions to this problem has been featured by the scientific community in the last years, some of them based on machine-learning (ML) methods. Due to its great capability to deal with big data and complexity, as well as its speedy and high-accuracy processing, the ML framework has been used to improve existing technologies and control techniques. In this context, its adoption in several UAV navigation strategies is expected to provide solutions for various problems where UAVs are used in real-time applications. Thus, in order to contextualize the most recent advances, this work provides a detailed survey of relevant researches in which ML techniques have been used in UAV navigation to improve some functional aspects, such as energy-efficiency, communication, execution time, resource management, obstacle avoidance, and path planning. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2024.

关键词： Autonomous navigation Path planning UAV-based solutions Visual-based navigation

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Heart Disease Prediction Using Novel Ensemble and Blending Based Cardiovascular Disease Detection Networks: EnsCVDD-Net and BlCVDD-Net

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IEEE Access 2024年 12卷 109230-109254页

作者： Khan, Hira Javaid, Nadeem Bashir, Tariq Akbar, Mariam Alrajeh, Nabil Aslam, Sheraz Department of Electrical and Computer Engineering COMSATS University Islamabad Islamabad44000 Pakistan Department of Computer Science COMSATS University Islamabad Islamabad44000 Pakistan International Graduate School of Artificial Intelligence National Yunlin University of Science and Technology Yunlin Douliu64002 Taiwan Department of Biomedical Technology College of Applied Medical Sciences King Saud University Riyadh11633 Saudi Arabia Cyprus University of Technology Limassol3036 Cyprus

Cardiovascular Diseases (CVDs) have emerged as a significant physiological condition, being a primary contributor to mortality. Timely and precise diagnosis of heart disease is crucial to safeguard patients from additional harm. Recent studies show that the usage of data driven approaches, such as Deep Learning (DL) and Machine Learning (ML) techniques, in the field of medical science is highly useful in accurately diagnosing heart disease in less time. However, statistical learning and traditional ML approaches require feature engineering to generate robust and effective features from data, which are then used in the prediction models. In the case of large complex data, both processes pose many challenges. Whereas, DL techniques are capable of learning features automatically from the data and are effective at handling large and intricate datasets while outperforming the ML models. This study focuses on the accurate prediction of CVDs, considering the patient’s health and socio-economic conditions while mitigating the challenges presented by imbalanced data. The Adaptive Synthetic Sampling Technique is used for data balancing, while the Point Biserial Correlation Coefficient is used as a feature selection technique. In this study, two DL models, Ensemble based Cardiovascular Disease Detection Network (EnsCVDD-Net) and Blending based Cardiovascular Disease Detection Network (BlCVDD-Net), are proposed for accurate prediction and classification of CVDs. EnsCVDD-Net is made by applying an ensemble technique to LeNet and Gated Recurrent Unit (GRU), and BlCVDD-Net is made by blending LeNet, GRU and Multilayer Perceptron. SHapley Additive exPlanations is used to provide a clear understanding of the influence different factors have on CVD diagnosis. The network’s performance is evaluated on the basis of various performance metrics. The results indicate that the EnsCVDD-Net outperforms all base models with 88% accuracy, 88% F1-score, 91% precision, 85% recall, and 777s execu

关键词： Heart

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Privacy-Aware and AI Techniques for Healthcare Based on K-Anonymity Model in Internet of Things

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IEEE Transactions on engineering Management 2024年 71卷 12448-12462页

作者： Sangaiah, Arun Kumar Javadpour, Amir Ja'fari, Forough Pinto, Pedro Chuang, Huan-Ming National Yunlin University of Science and Technology International Graduate Institute of Artificial Intelligence Douliou64002 Taiwan Lebanese American University Department of Electrical and Computer Engineering Byblos1102 2801 Lebanon Harbin Institute of Technology Department of Computer Science and Technology Shenzhen150001 China Instituto Politécnico de Viana Do Castelo ADiT-Lab Electrotechnics and Telecommunications Department Porto4900-347 Portugal Sharif University of Technology Department of Computer Engineering Tehran11155-9161 Iran National Yunlin University of Science and Technology Department of Information Management Yunlin640 Taiwan

The government and industry have given the recent development of the Internet of Things in the healthcare sector significant respect. Health service providers retain data gathered from many sources and are useful for patient diagnostics and research for pivotal analysis. However, sensitive personal information about a person is contained in healthcare data, which must be protected. Individual privacy protection is a crucial concern for both people and organizations, particularly when those firms must send user data to data centers due to data mining. This article investigated two general states of increasing entropy by changing the entropy of the class set of characteristics based on artificial intelligence and the k-anonymity model in privacy in context, and also three different strategies have been investigated, i.e., the strategy of 'selecting the feature with the lowest number of distinct values,' 'selecting the feature with the lowest entropy,' and 'selecting the feature with the highest entropy.' For future tasks, we can find an optimal strategy that can help us to achieve optimal entropy in the least possible repetition. The results of our work have been compared by lightweight and MH-Internet of Things, FRUIT methods and shown that the proposed method has high efficiency in entropy criteria. © 1988-2012 IEEE.

关键词： Data mining

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

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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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A Novel Deep Multi-Instance Convolutional Neural Network for Disaster Classification From High-Resolution Remote Sensing Images

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IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing 2024年 17卷 2098-2114页

作者： Li, Chengfan Zhang, Zixuan Liu, Lan Kim, Jung Yoon Sangaiah, Arun Kumar the School of Computer Engineering and Science Shanghai University Shanghai200444 China the Key Laboratory of National Geographic Census and Monitoring Ministry of Natural Resources Wuhan University Wuhan430079 China the Key Laboratory for Digital Land and Resources of Jiangxi Province East China University of Technology Nanchang330013 China the School of Electronic and Electrical Engineering Shanghai University of Engineering Science Shanghai201620 China the College of Future Industry Gachon University Seongnam-Si Gyeonggi-do13120 Korea Republic of the International Graduate School of Artificial Intelligence National Yunlin University of Science and Technology Douliu64002 Taiwan the Department of Electrical and Computer Engineering Lebanese American University Byblos11020 Lebanon

—The fully supervised deep convolutional neural network (CNN) cannot detect the discriminant local information that is responsible for spatial transformations in high-resolution remote sensing images. To address the various types and missing labels of natural disasters, a new deep multi-instance convolutional neural network (DMCNN) model for disaster classification in high-resolution remote sensing image is presented in this article. Specifically, based on sample enhancement and atrous spatial pyramid pooling, we first extract and integrate the features via the CNN structure to obtain the instance feature of bags in the image. Besides, introducing a prototype learning layer with distance measure, the instance features extracted from pretrained CNN are mapped into a series of prototype instance features with bag-level. Subsequently, all instance features from prototype and bag take part in disaster detection and image classification. Finally, we conduct extensive experiments on xBD dataset and discussions from qualitative and quantitative aspects. Experimental results show that the proposed DMCNN model achieves better classification accuracy of natural disaster from high-resolution remote sensing images compared to traditional CNNs, and effectively improves the disaster classification performance with weakly supervised from high-resolution remote sensing images. © 2023 The Authors.

关键词： Remote sensing

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DanceOnStage: positioning training of dancing stage performance in virtual reality 6

DanceOnStage: positioning training of dancing stage performa...

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6th IEEE international Conference on Artificial Intelligence and eXtended and Virtual Reality, AIxVR 2024

作者： Wu, Ssu-Hsuan Wang, Kai-Ting Chiang, Chia-Chen Chang, Hsin-Yu Yeh, Cheng-Yun Hu, Min-Chun National Tsing Hua University International Intercollegiate Ph.D.Program Hsinchu Taiwan National Tsing Hua University Master of Computer Science Program Hsinchu Taiwan National Tsing Hua University Interdisciplinary Program of Electrical Engineering and Computer Science Hsinchu Taiwan National Tsing Hua University Interdisciplinary Program of Technology and Art Hsinchu Taiwan National Tsing Hua University Hsinchu Taiwan

ISBN: (纸本)9798350372021

This research aims to create a virtual reality-based practice system that simulates real-stage performance environments, assisting amateur dancers in overcoming stage fright and practicing group choreography that is difficult to achieve during individual practice. In this study, users can engage in performance simulations within the created system using the HTC VIVE virtual reality device. Within the system, we have developed a virtual stage space system that only requires a 2m x 3.5m physical area to simulate a large virtual stage experience. Users can also simulate choreographic positioning with virtual dance partners within this system, providing amateur dancers with group dance rehearsal practice opportunities that are not feasible during solo practice. Additionally, by creating three different audience modes, we aim to help users simulate various audience scenarios they may encounter during a performance. The system includes a recording feature that captures users' simulated performances, allowing them to review their actions and receive feedback after practice. © 2024 IEEE.

关键词： Virtual reality

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Interpretable Machine Learning for Multi-Class Crop Yield Prediction 3

Interpretable Machine Learning for Multi-Class Crop Yield Pr...

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3rd international Conference on Intelligent Cybernetics Technology and Applications, ICICyTA 2023

作者： Nurcahyo, Aldian Heryadi, Yaya Lukas Suparta, Wayan Sonata, Ilvico Bina Nusantara University Compuer Science Binus Graduate Program Jakarta Indonesia Jakarta Indonesia Institut Teknologi Nasional Yogyakarta Faculty of Industrial Technology Department of Electrical Engineering Yogyakarta Indonesia Doctor of Computer Science Bina Nusantara University Binus Graduate Program Compuer Science Departement Jakarta Indonesia

ISBN: (纸本)9798350394559

Crop Yield Analysis and Prediction is a fast-expanding discipline that is critical for optimizing agricultural methods. A lack of trustworthy data is one of the challenges in estimating crop yields. We develop predictive models for 22 different fruits and vegetables data. The goals of this study are to create accurate and interpretable crop recommendation models. We used multiple machine learning (ML) models for multi-class crop production prediction to fulfill our research goal. We thoroughly examined the influence of climate and nutrient factors on crop yield, considering their complex interactions. To improve the dataset, augmented data techniques were applied. Configuring the parameters and fine-tuning the hyperparameters is our technique to increase the model performance. Furthermore, we employ explainable artificial intelligence (XAI) techniques and interpretability tools like Shapley Additive exPlanations (SHAP) to improve the interpretability of our prediction model. Our findings reveal that the XGBoost model has the best performance model with 99.86% accuracy, followed by SVM Poly Kernel with 99.32% and Random Forest with 98.82%. Feature selection and analysis are emphasized, particularly in regional agricultural contexts. This study contributes to the creation of accurate and interpretable crop recommendation models while also addressing the issue of untrustworthy data, providing useful insights for optimizing agricultural practices. © 2023 IEEE.

关键词： Forecasting

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Enhanced Efficiency in Fog Computing: A Fuzzy Data-Driven Machine Selection Strategy

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international Journal of Fuzzy Systems 2024年第1期26卷 368-389页

作者： Zavieh, Hadi Javadpour, Amir Ja’fari, Forough Sangaiah, Arun Kumar Slowik, Adam School of Economics and Statistics Guangzhou University Guangzhou510006 China Harbin Institute of Technology Shenzhen China Department of Computer Engineering Sharif University of Technology Tehran Iran International Graduate School of AI National Yunlin University of Science and Technology Douliu Taiwan Department of Electronics and Computer Science Koszalin University of Technology Koszalin Poland ADiT-Lab Electrotechnics and Telecommunications Department Instituto Politécnico de Viana do Castelo Porto4900–347 Portugal Department of Electrical and Computer Engineering Lebanese American University Byblos Lebanon

With the rapid proliferation of IoT and Cloud networks and the corresponding number of devices, handling incoming requests has become a significant challenge. Task scheduling problems have emerged as a common concern, necessitating the exploration of new methods for request management. This paper proposes a novel approach called the Fuzzy Inverse Markov Data Envelopment Analysis Process (FIMDEAP). Our method combines the strengths of the Fuzzy Inverse Data Envelopment Analysis (FIDEA) and Fuzzy Markov Decision Process (FMDP) techniques to enable the efficient selection of physical and virtual machines while operating in a fuzzy mode. We represent data as triangular fuzzy numbers and employ the alpha-cut method to solve the proposed models. The paper provides a mathematical optimization model for the proposed method and presents a numerical example for illustration. Furthermore, we evaluate the performance of our method in a cloud environment through simulations. The results demonstrate that our approach outperforms existing methods, namely PSO + ACO and FBPSO + FBACO, in terms of key metrics, including energy consumption, execution cost, response time, gain of cost, and makespan. © The Author(s) 2023.

关键词： Markov processes

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On Efficient Processing of Queries for Live Multi-Streaming Soiree Organization

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IEEE Transactions on Services Computing 2023年第4期16卷 2812-2826页

作者： Kankeu Fotsing, C.P. Shen, Chih-Ya Huang, Liang-Hao Chen, Yi-Shin Lee, Wang-Chien Yang, De-Nian International Graduate Program Academia Sinica Social Networks and Human-Centered Computing Program Taipei115 Taiwan National Tsing Hua University Institute of Information Systems and Applications Hsinchu300 Taiwan National Tsing Hua University Department of Computer Science Hsinchu300 Taiwan Academia Sinica Institute of Information Science Taipei115 Taiwan Pennsylvania State University Department of Computer Science and Engineering State CollegePA16801 United States

Real-time social interactions and multi-streaming are two critical features of live streaming services. In this paper, we formulate a new fundamental service query, Social-aware Diverse and Preferred Organization Query (SDSQ), that jointly selects a set of diverse and preferred live streaming channels and a group of socially tight viewers for organization of a live multi-streaming soiree. We prove that SDSQ is NP-hard and inapproximable within any factor, and design SDSSel, a 2-approximation algorithm with a guaranteed error bound. Moreover, we study SDSQ-T, a special case of SDSQ, where the social graph is a threshold graph, and propose TDSSel, a 2-approximation algorithm without any error to SDSQ-T. We propose two pruning strategies, PCP and CDP to boost SDSSel and TDSSel. We further propose a more challenging but practical service query, Generalized Social-aware Maximum Preferred and Diverse Query (GSPQ), a generalization of SDSQ. We design GPDSel, a 4-approximation algorithm for GSPQ with a guaranteed error bound. We propose a strategy to improve the approximation ratios of the proposed algorithms. A user study on Twitch validates SDSQ, and the large-scale experiments on real datasets demonstrate the superiority of the proposed algorithms over several baselines for live-streaming services. © 2008-2012 IEEE.

关键词： Approximation algorithms

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Curriculum-based Reinforcement Learning for an Effective Multi-Agent Path Planning Algorithm in Warehouse Scenarios 15

Curriculum-based Reinforcement Learning for an Effective Mul...

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15th IEEE international Conference on Industry Applications, INDUSCON 2023

作者： de Oliveira, Iure Rosa L. de Carvalho, Kevin B. Brandão, Alexandre S. Graduate Program in Computer Science Universidade Federal de Viçosa Viçosa Brazil Electrical Engineering Department Universidade Federal de Viçosa Viçosa Brazil

ISBN: (纸本)9798350314182

Multi-robot systems can provide substantial increase in efficiency and/or flexibility in different scenarios. Applications in various settings have been studied in the literature, such as disaster management, surveillance, object transportation as well as search-and-rescue. A particular case that can highly benefit from the employment of multiple agents is the logistics in a warehouse scenario. This work proposes an multi-agent Q-learning based algorithm with curriculum learning and transfer learning to perform the path planning process. With progressively more complex stages of training as well as knowledge transfer from one stage to another, the algorithm is capable of achieve high success rates. In order to validate the proposed method, simulations were done to compare it to other combinations of the used techniques, as well as using Q-learning only. Scalability tests were also performed. The proposed method achieved up to 94% success rate after training. © 2023 IEEE.

关键词： Curriculum Learning Mobile Robotics Multi-Agent System Reinforcement Learning Transfer Learning

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