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Comparative analysis of navigation algorithms for mobile robot

Journal of Ambient Intelligence and Humanized Computing 2024年第12期15卷 3861-3871页

作者： Heng, Han Ghazali, Mohamad Hazwan Mohd Rahiman, Wan School of Electrical and Electronic Engineering Universiti Sains Malaysia Engineering Campus Penang Nibong Tebal14300 Malaysia Universiti Sains Malaysia Engineering Campus Penang Nibong Tebal14300 Malaysia Daffodil Robotics Lab Department of Computer Science and Engineering Daffodil International University Dhaka1216 Bangladesh

Various applications, including space exploration, transportation, factories, and the military, demand the presence of mobile robots. In those applications, navigation algorithms are essential for enabling mobile robots to operate efficiently and safely in static and dynamic environments. Due to the numerous navigation algorithms available, choosing a suitable and robust one for a specific mobile robot application can be challenging. Therefore, there is a pressing need to conduct a comparative analysis to evaluate the performance and adaptability of different navigation algorithms. This article presents a comparative study of five distinct algorithms in the domain of path planning, which are rapidly random tree (RRT), A*, genetic algorithm (GA), ant colony optimization (ACO), and particle swarm optimization (PSO). The investigation was conducted on three distinct maps, and the strengths and weaknesses of each algorithm are demonstrated. Findings show that increasing the step distance and number of iteration parameters will result in an increase in the planning time. Consequently, the obtained path lengths are also reduced except for the PSO algorithm. Findings show that in the three different environments considered in this paper, the GA exhibits better performance, where a 90% reduction in the planning time is achieved while obtaining the same path length as the A* algorithm, which is the shortest path. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Particle swarm optimization (PSO)

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Computational Approach for Automated Segmentation and Classification of Region of Interest in Lateral Breast Thermograms

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computers, Materials & Continua 2024年第9期80卷 4749-4765页

作者： Dennies Tsietso Abid Yahya Ravi Samikannu Basit Qureshi Muhammad Babar Department of Electrical Computer and Telecommunications EngineeringBotswana International University of Science and TechnologyPalapyePrivate Bag 16Botswana College of Computer and Information Sciences Prince Sultan UniversityRiyadh11586Saudi Arabia Robotics and Internet of Things Lab Prince Sultan UniversityRiyadh11586Saudi Arabia

Breast cancer is one of the major health issues with high mortality rates and a substantial impact on patients and healthcare systems *** computer-Aided Diagnosis(CAD)tools,based on breast thermograms,have been developed for early detection of this ***,accurately segmenting the Region of Interest(ROI)fromthermograms remains *** paper presents an approach that leverages image acquisition protocol parameters to identify the lateral breast region and estimate its bottomboundary using a second-degree *** proposed method demonstrated high efficacy,achieving an impressive Jaccard coefficient of 86%and a Dice index of 92%when evaluated against manually created ground *** features were extracted from each view’s ROI,with significant features selected via Mutual Information for training Multi-Layer Perceptron(MLP)and K-Nearest Neighbors(KNN)*** findings revealed that the MLP classifier outperformed the KNN,achieving an accuracy of 86%,a specificity of 100%,and an Area Under the Curve(AUC)of *** consistency of the method across both sides of the breast suggests its viability as an auto-segmentation ***,the classification results suggests that lateral views of breast thermograms harbor valuable features that can significantly aid in the early detection of breast cancer.

关键词： Breast cancer CAD machine learning ROI segmentation thermography

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EnStack: An Ensemble Stacking Framework of Large Language Models for Enhanced Vulnerability Detection in Source Code

EnStack: An Ensemble Stacking Framework of Large Language Mo...

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2024 IEEE International Conference on Big Data, BigData 2024

作者： Ridoy, Shahriyar Zaman Shaon, Md. Shazzad Hossain Cuzzocrea, Alfredo Akter, Mst Shapna North South University Department of Electrical and Computer Engineering Dhaka Bangladesh Oakland University Department of Computer Science and Engineering RochesterMI48309 United States University of Calabria IDEA Lab Rende Italy Oakland University Department of Computer Science MI United States

ISBN: (纸本)9798350362480

Automated detection of software vulnerabilities is critical for enhancing security, yet existing methods often struggle with the complexity and diversity of modern codebases. In this paper, we propose a novel ensemble stacking approach that synergizes multiple pre-trained large language models (LLMs) - CodeBERT, GraphCodeBERT, and UniXcoder - to improve vulnerability detection in source code. Our method uniquely combines the semantic understanding of CodeBERT, the structural code representations of GraphCodeBERT, and the cross-modal capabilities of UniXcoder. By fine-tuning these models on the Draper VDISC dataset and integrating their predictions using meta-classifiers such as Logistic Regression, Support Vector Machines (SVM), Random Forest, and XGBoost, we effectively capture complex code patterns that individual models may miss. The meta-classifiers aggregate the strengths of each model, enhancing overall predictive performance. Our ensemble demonstrates significant performance gains over existing methods, with notable improvements in accuracy, precision, recall, F1-score, and AUC-score. This advancement addresses the challenge of detecting subtle and complex vulnerabilities in diverse programming contexts. The results suggest that our ensemble stacking approach offers a more robust and comprehensive solution for automated vulnerability detection, potentially influencing future AI-driven security practices. © 2024 IEEE.

关键词： Decision trees

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Theoretical analysis and design of a dual-wavelength and selectable all-optical broadband QDs semiconductor optical amplifier (QDs-SOA) with inhomogeneous broadening

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Optical and Quantum Electronics 2025年第2期57卷 1-26页

作者： Eyvazi, Mahdiyeh Yadipour, Reza Rostami, Ali Rostami, Parisa Mirtagioglu, Hamid Faculty of Electrical and Computer Engineering University of Tabriz Tabriz*** Iran Faculty of Electrical and Computer Engineering University of Tabriz Tabriz*** Iran SP-EPT Lab ASEPE Company Industrial Park of Advanced Technologies Tabriz Iran Faculty of Medicine Tabriz University of Medical Science Tabriz Iran Department of Statistics Faculty of Science and Literature University of Bitlis Eren Bitlis Turkey

This study delves into the significant role played by Quantum Dot Semiconductor Optical Amplifiers (QD-SOAs) in meeting the ever-growing bandwidth demands. QD-SOAs offer a unique blend of cost-effectiveness, integration capabilities, wide bandwidth, rapid responsiveness, robust power output, stability, and spectral adaptability, driving notable advancements in optical communication systems. In this work, we introduce a novel two-wavelength amplifier structure based on Quantum Dot Semiconductor Optical Amplifiers (QD-SOAs) that utilizes quantum dots of different sizes to achieve efficient amplification at specific mid-infrared wavelengths. This innovative approach, which incorporates quantum dots with varying sizes, enables enhanced performance by optimizing the amplification process for each specific wavelength. Furthermore, this work demonstrates the use of tailored optical pumping mechanisms that enhance the carrier recovery process and reduce carrier relaxation times in the active region. This novel optical pumping technique leads to a significant increase in the efficiency and speed of the amplifier, distinguishing this study from others in the field. Simulation results provide detailed insights into the complex interplay between carrier interactions and gain spectra, offering a comprehensive understanding of QD-SOA operational dynamics. The proposed Quantum Dot Semiconductor Optical Amplifier (QD-SOA) achieves significant advancements in optical communication, offering maximum amplification rates of 26.9 and 19.9 times for QD1 and QD2, respectively, and bandwidths of 12 THz and 15 THz. The study highlights the role of quantum dot size, homogeneous and inhomogeneous broadening, and optical pumping in enhancing gain and performance, demonstrating the potential of QD-SOAs for high-gain, wide-bandwidth applications in photonic systems. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Semiconductor quantum dots

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COVID-19 Classification from X-Ray Images:An Approach to Implement Federated Learning on Decentralized Dataset

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computers, Materials & Continua 2023年第5期75卷 3883-3901页

作者： Ali Akbar Siddique S.M.Umar Talha M.Aamir Abeer D.Algarni Naglaa F.Soliman Walid El-Shafai Department of Telecommunication Engineering Sir Syed University of Engineering&TechnologyKarachi75300Pakistan Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Security Engineering Lab Computer Science DepartmentPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt

The COVID-19 pandemic has devastated our daily lives,leaving horrific repercussions in its *** to its rapid spread,it was quite difficult for medical personnel to diagnose it in such a big *** who test positive for Covid-19 are diagnosed via a nasal PCR *** comparison,polymerase chain reaction(PCR)findings take a few hours to a few *** PCR test is expensive,although the government may bear expenses in certain ***,subsets of the population resist invasive testing like ***,chest X-rays or computerized Vomography(CT)scans are preferred in most cases,and more importantly,they are non-invasive,inexpensive,and provide a faster response *** advances in Artificial Intelligence(AI),in combination with state-of-the-art methods,have allowed for the diagnosis of COVID-19 using chest *** article proposes a method for classifying COVID-19 as positive or negative on a decentralized dataset that is based on the Federated learning *** order to build a progressive global COVID-19 classification model,two edge devices are employed to train the model on their respective localized dataset,and a 3-layered custom Convolutional Neural Network(CNN)model is used in the process of training the model,which can be deployed from the *** two edge devices then communicate their learned parameter and weight to the server,where it aggregates and updates the *** proposed model is trained using an image dataset that can be found on *** are more than 13,000 X-ray images in Kaggle Database collection,from that collection 9000 images of Normal and COVID-19 positive images are *** edge node possesses a different number of images;edge node 1 has 3200 images,while edge node 2 has *** is no association between the datasets of the various nodes that are included in the *** doing it in this manner,each of the nodes will have access to a separate image collection that has no correl

关键词： Artificial intelligence deep learning federated learning COVID-19 decentralized image dataset

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Dynamic S-Box Generation Using Novel Chaotic Map with Nonlinearity Tweaking

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computers, Materials & Continua 2023年第5期75卷 3011-3026页

作者： Amjad Hussain Zahid Muhammad Junaid Arshad Musheer Ahmad Naglaa F.Soliman Walid El-Shafai School of Systems and Technology University of Management and TechnologyLahore54700Pakistan Department of Computer Science University of Engineering and TechnologyLahore54700Pakistan Department of Computer Engineering Jamia Millia IslamiaNew Delhi110025India Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Security Engineering Lab Computer Science DepartmentPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt

A substitution box(S-Box)is a crucial component of contemporary cryptosystems that provide data protection in block *** the moment,chaotic maps are being created and extensively used to generate these SBoxes as a chaotic map assists in providing disorder and resistance to combat cryptanalytical *** this paper,the construction of a dynamic S-Box using a cipher key is proposed using a novel chaotic map and an innovative tweaking *** projected chaotic map and the proposed tweak approach are presented for the first time and the use of parameters in their workingmakes both of these dynamic in *** tweak approach employs cubic polynomials while permuting the values of an initial S-Box to enhance its cryptographic *** of the parameters are provided using the cipher key and a small variation in values of these parameters results in a completely different unique *** analysis and exploration confirmed that the projected chaoticmap exhibits a significant amount of chaotic *** security assessment in terms of bijectivity,nonlinearity,bits independence,strict avalanche,linear approximation probability,and differential probability criteria are utilized to critically investigate the effectiveness of the proposed S-Box against several *** proposed S-Box’s cryptographic performance is comparable to those of recently projected S-Boxes for its adaption in real-world security *** comparative scrutiny pacifies the genuine potential of the proposed S-Box in terms of its applicability for data security.

关键词： Substitution-box chaotic map data security tweaking

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An Efficient Intrusion Detection Framework for Industrial Internet of Things Security

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computer Systems Science & engineering 2023年第7期46卷 819-834页

作者： Samah Alshathri Ayman El-Sayed Walid El-Shafai Ezz El-Din Hemdan Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science and Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Lab Computer Science DepartmentPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt

Recently,the Internet of Things(IoT)has been used in various applications such as manufacturing,transportation,agriculture,and healthcare that can enhance efficiency and productivity via an intelligent management console *** the increased use of Industrial IoT(IIoT)applications,the risk of brutal cyber-attacks also *** leads researchers worldwide to work on developing effective Intrusion Detection Systems(IDS)for IoT infrastructure against any malicious ***,this paper provides effective IDS to detect and classify unpredicted and unpredictable severe attacks in contradiction to the IoT infrastructure.A comprehensive evaluation examined on a new available benchmark TON_IoT dataset is *** data-driven IoT/IIoT dataset incorporates a label feature indicating classes of normal and attack-targeting IoT/IIoT ***,this data involves IoT/IIoT services-based telemetry data that involves operating systems logs and IoT-based traffic networks collected from a realistic medium-scale IoT *** is to classify and recognize the intrusion activity and provide the intrusion detection objectives in IoT environments in an efficient ***,several machine learning algorithms such as Logistic Regression(LR),Linear Discriminant Analysis(LDA),K-Nearest Neighbors(KNN),Gaussian Naive Bayes(NB),Classification and Regression Tree(CART),Random Forest(RF),and AdaBoost(AB)are used for the detection intent on thirteen different intrusion *** performance metrics like accuracy,precision,recall,and F1-score are used to estimate the proposed *** experimental results show that the CART surpasses the other algorithms with the highest accuracy values like 0.97,1.00,0.99,0.99,1.00,1.00,and 1.00 for effectively detecting the intrusion activities on the IoT/IIoT infrastructure on most of the employed *** addition,the proposed work accomplishes high performance compared to other recent rela

关键词： Attacks intrusion detection machine learning deep learning industrial IoT TON_IoT dataset

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Impact of Harmonics of Distributed Generators on the Harmonic Profiling of Distribution Networks

Impact of Harmonics of Distributed Generators on the Harmoni...

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2023 IEEE Texas Power and Energy Conference, TPEC 2023

作者： Rahman, Syed Khan, Irfan Ahmad Iqbal, Atif Texas A&M University Electrical & Computer Engineering Department College Station United States Lab Galveston United States Qatar University Department of Electrical Engineering Doha Qatar

ISBN: (纸本)9781665490719

Distributed generators (DGs) have emerged as a go-to solution to accommodate increasing loads, with the existing grid infrastructure. The DG-injected power can be consumed locally, thereby reducing the grid current and improving the voltage profile. The power-electronics interface-based DGs, controlled as current sources, employ a grid-side filter for injecting sinusoidal current into the grid. As the filter is designed to meet IEEE compliance for DG grid integration, the current THD is restricted to less than 5%. Although the compliance is met, these harmonics injected into the grid significantly deteriorate the harmonic profile of the entire grid. This study quantifies the impact of two types of DGs - constant power DGs (Type-1) and varying power DGs (Type-II) on the utility grid. An actual 24-hour data-based IEEE 33-bus distribution network, consisting of both linear and non-linear loads, is used to quantify the DGs' harmonic impact. Post-DGs addition, it is observed that Type-I DGs increase the voltage THD by at least 1% at the farthest nodes, although the pattern remains consistent with that of prior DG addition. However, with Type-II DGs, the profile obtained is further deteriorated and inconsistent and exhibits a strong dependence on the power generation of the DG. © 2023 IEEE.

关键词： Electric load flow

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Fast optical-writing recognition based on two-dimensional photothermoelectric effect assisted with deep learning

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InfoMat 2023年第3期5卷 33-44页

作者： Yujia Zhong Haoyu Fang Yutong Ran Hongwei Zhu State Key Lab of New Ceramics and Fine Processing School of Materials Science and EngineeringTsinghua UniversityBeijingthe People's Republic of China Department of Electrical and Computer Engineering New York UniversityNew YorkNew YorkUSA

The photothermoelectric(PTE)effect enables a simple structure to construct a noncontact and self-powered writing *** detectors based on active materials and one-dimensional(1D)position-sensitive PTE effect have attracted considerable ***,there is no research on applying the 1D position-sensitive PTE effect to a two-dimensional(2D)***,flexible writing devices based on the PTE effect have not been ***,we demonstrate a self-powered flexible optical writing device based on the 2D position-sensitive PTE effect of SnSe thin *** positioning,tracking,and distinguishing of optically written characters have been realized by only measuring the bi-directional output voltages during the writing process.A deep convolutional neural network has been introduced to recognize optically written numbers and characters with high recognition accuracy(92%)and fast processing speed(8.6 ms).The flexible optical-writing device with a simple structure could rapidly and accurately recognize characters in a noncontact fashion using a small amount of training data.

关键词： deep neural network optical writing photothermoelectric effect tin selenide

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Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions for Spatio-Temporally Constrained Safety-Critical Applications 63

Auxiliary-Variable Adaptive Control Lyapunov Barrier Functio...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Liu, Shuo Xiao, Wei Belta, Calin A. Boston University Department of Mechanical Engineering BrooklineMA United States Massachusetts Institute of Technology Computer Science and Artificial Intelligence Lab CambridgeMA United States University of Maryland College Park Department of Electrical and Computer Engineering and the Department of Computer Science MD United States

ISBN: (纸本)9798350316339

Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic Programs (QPs) using Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs). One of the main challenges in this method is that the QPs could easily become infeasible under safety and spatio-temporal constraints with tight control bounds. In our own recent work, we defined Auxiliary-Variable Adaptive CBFs (AVCBFs) to improve the feasibility of the CBF-based QP, while avoiding extensive parameter tuning. In this paper, we consider spatio-temporal constraints as finite-time reachability requirements. In order to satisfy these requirements, we generalize AVCBFs to AuxiliaryVariable Adaptive Control Lyapunov Barrier Functions (AVCLBFs) that work for systems and constraints with arbitrary relative degrees. We show that our method has fewer conflicts with safety and input constraints, and outperforms the state of the art in term of adaptivity and feasibility in solving the QP. We illustrate our approach on an optimal control problem for a unicycle. © 2024 IEEE.

关键词： Lyapunov functions

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