Computer Engineering Commons^™

Mobile Robot Path Planning Optimization Problem Using Multi- Objective Genetic Algorithm, Suresh Ks

Theses and Dissertations

Mobile Robot Path Planning problem (MRPPP) is the most prominent research area employed in different real-time environments. The research domain of robotics offers abundant opportunities for researchers in various engineering fields with different dimensions. The automation of physical movements of the robots with intelligence to make dynamic decisions for interacting with the environment opens up a lot of challenges to the research community.

A variety of approaches are employed to solve the Mobile Robot Path Planning Problem (MRPP), which is to derive a feasible collision-free path to reach the destination from the given starting point by avoiding obstacles. The solution …

Development Of Quantum True Random Number Generators And Implementation On Ibm Cloud Lab, Vaishnavi K

Theses and Dissertations

Random numbers are the lifeline of any cryptographic operation in modern computing. Quantum mechanics has the intrinsic ability to generate truly random numbers, making it an ideal alternative for scientific applications that require high-quality randomness. Quantum True Random Number Generators (QTRNGs) can yield real random data to replace random-looking periodic sequences. To construct such a random number generator, this work uses the IBM Q Experience platform called Qiskit.

This research focuses on the development and analysis of quantum-based TRNGs along with their prime characteristics. Qubits and quantum gates are the predominant sources of true randomness on quantum platforms. These inherent …

Design And Test Of Asynchronous Systems Using The Link And Joint Model, Ebelechukwu Esimai

Dissertations and Theses

Asynchronous circuits offer numerous advantages, including low energy consumption and good composability and scalability. However, they remain meagerly adopted in the mainstream semiconductor industry. One reason is the limited number of design tools available to help designers navigate design complexity, particularly the myriad of asynchronous implementation styles.

This dissertation focuses on managing the myriad of asynchronous implementation styles by utilizing a circuit-neutral model, called Links and Joints, and embedding this Link-Joint approach into a design flow. Although years of past work have already laid the groundwork, the work in this dissertation identifies and addresses key missing pieces.

First, the …

A Distributed And Hybrid Ai-Based Security Framework For 5g Real-Time Applications, Ali Ghubaish

McKelvey School of Engineering Graduate Student Theses & Dissertations

This dissertation develops a multifaceted security framework tailored for 5G-enabled real-time Internet of medical things (IoMT) systems to significantly enhance the security infrastructure within healthcare environments. The framework pivots around three core technological advancements: the development of the Light feature Engineering based on the Mean Decrease in Accuracy (LEMDA), the construction of a 5G testbed that serves as a distributed intrusion detection system (IDS), and the implementation of a hybrid deep reinforcement learning (HDRL) method. LEMDA represents a breakthrough in data processing for IoMT systems. By intelligently reducing data complexity, LEMDA enhances the speed and accuracy of threat detection mechanisms, …

A Deep Learning Framework For Blockage Mitigation In Mmwave Wireless, Ahmed Hazaa Almutairi

Dissertations and Theses

Millimeter-Wave (mmWave) communication is a key technology to enable next generation wireless systems. However, mmWave systems are highly susceptible to blockages, which can lead to a substantial decrease in signal strength at the receiver. Identifying blockages and mitigating them is thus a key challenge to achieve next generation wireless technology goals, such as enhanced mobile broadband (eMBB) and Ultra-Reliable and Low-Latency Communication (URLLC). This thesis proposes several deep learning (DL) frameworks for mmWave wireless blockage detection, mitigation, and duration prediction. First, we propose a DL framework to address the problem of identifying whether the mmWave wireless channel between two devices …

Analysis Of Inequality In Household Internet Utilization And Policy Implications, Shanisara Chamwong, Thoedsak Chomtohsuwan, Narissara Charoenphandhu

Journal of Demography

This research investigates the pervasive inequality in household internet access and use that contributes to the digital divide. As the internet becomes an integral part of daily life, variations in access and use carry significant implications for social and economic opportunities. A quantitative approach is applied, analyzing data from The National Statistical Office of Thailand to capture a comprehensive understanding of inequality in household internet access and use, as measured by the Gini coefficient. Five aspects of internet access and use are considered as the determinants of inequality, including internet connectivity, internet affordability, internet quality, device availability, and flexibility and …

Deep Clustering Of Tabular Data By Weighted Gaussian Distribution Learning, Shourav B. Rabbani, Ivan V. Medri, Manar D. Samad

Computer Science Faculty Research

Deep learning methods are primarily proposed for supervised learning of images or text with limited applications to clustering problems. In contrast, tabular data with heterogeneous features pose unique challenges in representation learning, where deep learning has yet to replace traditional machine learning. This paper addresses these challenges in developing one of the first deep clustering methods for tabular data: Gaussian Cluster Embedding in Autoencoder Latent Space (G-CEALS). G-CEALS is an unsupervised deep clustering framework for learning the parameters of multivariate Gaussian cluster distributions by iteratively updating individual cluster weights. The G-CEALS method presents average rank orderings of 2.9(1.7) and 2.8(1.7) …

Unveiling Anomalies: A Survey On Xai-Based Anomaly Detection For Iot, Esin Eren, Feyza Yildirim Okay, Suat Özdemi̇r

Turkish Journal of Electrical Engineering and Computer Sciences

In recent years, the rapid growth of the Internet of Things (IoT) has raised concerns about the security and reliability of IoT systems. Anomaly detection is vital for recognizing potential risks and ensuring the optimal functionality of IoT networks. However, traditional anomaly detection methods often lack transparency and interpretability, hindering the understanding of their decisions. As a solution, Explainable Artificial Intelligence (XAI) techniques have emerged to provide human-understandable explanations for the decisions made by anomaly detection models. In this study, we present a comprehensive survey of XAI-based anomaly detection methods for IoT. We review and analyze various XAI techniques, including …

Text-To-Sql: A Methodical Review Of Challenges And Models, Ali Buğra Kanburoğlu, Faik Boray Tek

Turkish Journal of Electrical Engineering and Computer Sciences

This survey focuses on Text-to-SQL, automated translation of natural language queries into SQL queries. Initially, we describe the problem and its main challenges. Then, by following the PRISMA systematic review methodology, we survey the existing Text-to-SQL review papers in the literature. We apply the same method to extract proposed Text-to-SQL models and classify them with respect to used evaluation metrics and benchmarks. We highlight the accuracies achieved by various models on Text-to-SQL datasets and discuss execution-guided evaluation strategies. We present insights into model training times and implementations of different models. We also explore the availability of Text-to-SQL datasets in non-English …

Security Fusion Method Of Physical Fitness Training Data Based On The Internet Of Things, Bin Zhou

Turkish Journal of Electrical Engineering and Computer Sciences

Physical fitness training, an important way to improve physical fitness, is the basic guarantee for forming combat effectiveness. At present, the evaluation types of physical fitness training are mostly conducted manually. It has problems such as low efficiency, high consumption of human and material resources, and subjective factors affecting the evaluation results. ”Internet+” has greatly expanded the traditional network from the perspective of technological convergence and network coverage objects. It has expedited and promoted the rapid development of Internet of Things (IoT) technology and its applications. The IoT with many sensor nodes shows the characteristics of acquisition information redundancy, node …

Dpafy-Gcaps: Denoising Patch-And-Amplify Gabor Capsule Network For The Recognition Of Gastrointestinal Diseases, Henrietta Adjei Pokuaa, Adeboya Felix Adekoya, Benjamin Asubam Weyori, Owusu Nyarko-Boateng

Turkish Journal of Electrical Engineering and Computer Sciences

Deep learning (DL) models have performed tremendously well in image classification. This good performance can be attributed to the availability of massive data in most domains. However, some domains are known to have few datasets, especially the health sector. This makes it difficult to develop domain-specific high-performing DL algorithms for these fields. The field of health is critical and requires accurate detection of diseases. In the United States Gastrointestinal diseases are prevalent and affect 60 to 70 million people. Ulcerative colitis, polyps, and esophagitis are some gastrointestinal diseases. Colorectal polyps is the third most diagnosed malignancy in the world. This …

Joint Control Of A Flying Robot And A Ground Vehicle Using Leader-Follower Paradigm, Ayşen Süheyla Bağbaşi, Ali Emre Turgut, Kutluk Bilge Arikan

Turkish Journal of Electrical Engineering and Computer Sciences

In this study, a novel control framework for the collaboration of an aerial robot and a ground vehicle that is connected via a taut tether is proposed. The framework is based on a leader-follower paradigm. The leader follows a desired trajectory while the motion of the follower is controlled by an admittance controller using an extended state observer to estimate the tether force. Additionally, a velocity estimator is also incorporated to accurately assess the leader’s velocity. An essential feature of our system is its adaptability, enabling role switching between the robots when needed. Furthermore, the synchronization performance of the robots …

Stereo-Image-Based Ground-Line Prediction And Obstacle Detection, Emre Güngör, Ahmet Özmen

Turkish Journal of Electrical Engineering and Computer Sciences

In recent years, vision systems have become essential in the development of advanced driver assistance systems or autonomous vehicles. Although deep learning methods have been the center of focus in recent years to develop fast and reliable obstacle detection solutions, they face difficulties in complex and unknown environments where objects of varying types and shapes are present. In this study, a novel non-AI approach is presented for finding the ground-line and detecting the obstacles in roads using v-disparity data. The main motivation behind the study is that the ground-line estimation errors cause greater deviations at the output. Hence, a novel …

Deep Learning-Based Breast Cancer Diagnosis With Multiview Of Mammography Screening To Reduce False Positive Recall Rate, Meryem Altın Karagöz, Özkan Ufuk Nalbantoğlu, Derviş Karaboğa, Bahriye Akay, Alper Baştürk, Halil Ulutabanca, Serap Doğan, Damla Coşkun, Osman Demi̇r

Turkish Journal of Electrical Engineering and Computer Sciences

Breast cancer is the most prevalent and crucial cancer type that should be diagnosed early to reduce mortality. Therefore, mammography is essential for early diagnosis owing to high-resolution imaging and appropriate visualization. However, the major problem of mammography screening is the high false positive recall rate for breast cancer diagnosis. High false positive recall rates psychologically affect patients, leading to anxiety, depression, and stress. Moreover, false positive recalls increase costs and create an unnecessary expert workload. Thus, this study proposes a deep learning based breast cancer diagnosis model to reduce false positive and false negative rates. The proposed model has …

Signer-Independent Sign Language Recognition With Feature Disentanglement, İnci̇ Meli̇ha Baytaş, İpek Erdoğan

Turkish Journal of Electrical Engineering and Computer Sciences

Learning a robust and invariant representation of various unwanted factors in sign language recognition (SLR) applications is essential. One of the factors that might degrade the sign recognition performance is the lack of signer diversity in the training datasets, causing a dependence on the singer’s identity during representation learning. Consequently, capturing signer-specific features hinders the generalizability of SLR systems. This study proposes a feature disentanglement framework comprising a convolutional neural network (CNN) and a long short-term memory (LSTM) network based on adversarial training to learn a signer-independent sign language representation that might enhance the recognition of signs. We aim to …

Ri2ap: Robust And Interpretable 2d Anomaly Prediction In Assembly Pipelines, Chathurangi Shyalika, Kaushik Roy, Renjith Prasad, Fadi El Kalach, Yuxin Zi, Priya Mittal, Vignesh Narayanan, Ramy Harik, Amit Sheth

Publications

Predicting anomalies in manufacturing assembly lines is crucial for reducing time and labor costs and improving processes. For instance, in rocket assembly, premature part failures can lead to significant financial losses and labor inefficiencies. With the abundance of sensor data in the Industry 4.0 era, machine learning (ML) offers potential for early anomaly detection. However, current ML methods for anomaly prediction have limitations, with F1 measure scores of only 50% and 66% for prediction and detection, respectively. This is due to challenges like the rarity of anomalous events, scarcity of high-fidelity simulation data (actual data are expensive), and the complex …

Learning Proximal Operators With Gaussian Process And Adaptive Quantization In Distributed Optimization, Aldo Duarte Vera Tudela

LSU Doctoral Dissertations

In networks consisting of agents communicating with a central coordinator and working together to solve a global optimization problem in a distributed manner, the agents are often required to solve private proximal minimization subproblems. Such a setting often requires a further decomposition method to solve the global distributed problem, resulting in extensive communication overhead. In networks where communication is expensive, it is crucial to reduce the communication overhead of the distributed optimization scheme. Integrating Gaussian processes (GP) as a learning component to the Alternating Direction Method of Multipliers (ADMM) has proven effective in learning each agent's local proximal operator to …

Effects Of A Wi-Fi Link On The Performance Of A Path Following Autonomous Ground Vehicle, Anthony Iwejuo, Austin Cagle, Billy Kihei, Ph.D.

Symposium of Student Scholars

As vehicles become more automated and connected, the future of safe and efficient travel will be dependent on efficient wireless networks. Artificial intelligence (AI) demands high power resources and computing resources that can be resource-intensive for mobile robotic systems. A new paradigm involving the remote computing of A.I. can enable robotics that are built lighter and more power efficient. In this study, we compare a locally run artificial intelligence algorithm for autonomous ground vehicle navigation against remote computation through various wireless links to highlight the need for low-latency access to remote computing resources over Wi-Fi network calls. Our findings show …

Dense Video Description Method Based On Multi-Modal Fusion In Transformer Network, Xiang Li, Haifeng Sang

Journal of System Simulation

Abstract: In order to solve the problems that most of the current dense video description models use twostage methods, which have low efficiency, ignore audio and semantic information, and have incomplete description results, a multi-modal and semantic information fusion dense video description method was proposed. An adaptive R(2+1)D network was proposed to extract visual features, a semantic detector was designed to generate semantic information, audio features were added to supplement it, a multi-scale deformable attention module was established, and a parallel prediction head was applied to accelerate the convergence rate and improve the accuracy of the model. The experimental results …

Research On Simulation Model Of Double-Layer Expansion Design Of Expressway, Jiandong Qiu, Yi Tang, Yuxiong Ji, Heng Liu, Junsha Luo

Journal of System Simulation

Abstract: Aiming at the problems that the traditional traffic simulation technology has insufficient evaluation accuracy and little application effect in the three-dimensional composite expansion scenario of expressway, a simulation model construction method for double-layer expansion design of expressway was proposed. The reconstruction and expansion project of Shenzhen Jihe Expressway is selected as the research object, the three simulation model modeling elements, including road network facilities, traffic demand data, and driving behavior model parameters, are sorted out, and the technical process of simulation modeling is proposed. The whole road network including key infrastructure such as interchange, toll station, ramp up and …

A Graph Neural Network Visual Slam Algorithm For Large-Angle View Motion, Jinhui Liu, Mengyuan Chen, Pengpeng Han, Hebao Chen, Yukun Zhang

Journal of System Simulation

Abstract: Aimed at the difficulty of feature point extraction in mobile robots with drastic changes in illumination or sparse texture scenes under large-angle view motion, difficulty in matching features at extreme angles leads to large errors in Epipolar Geometry calculations, a fusion of an improved graph neural network based visual SLAM algorithm (GNN-SLAM) is proposed. The priori location estimation feature extraction network is proposed to achieve fast and uniform detection and description of image feature points by a priori location estimation and to construct real and accurate feature point information. The graph attention mechanism feature matching network is proposed to …

Implementation And Numerical Simulation On Object-Oriented Elastic-Plastic Finite Element Method Based On Python, Henghui Li, Yingxiong Xiao

Journal of System Simulation

Abstract: With the continuous expansion of the application fields of finite element methods, higher requirements are put forward for the scalability of finite element methods. In order to overcome the defects of the traditional finite element methods, a simple and easily extensible object-oriented elasticplastic finite element program framework is proposed based on Python. Combined with the characteristics of Python, we design some finite element classes such as the pre-processing class, the post-processing class, the linear solution class, the stress integration class and the analysis class. By applying the resulting framework to several typical elastic-plastic mechanical problems and comparing the results …

Optimization Of Highway Emergency Lane Control Based On Kriging Genetic Algorithm, Jinjun Tang, Lipeng Hu, Mingyang Li, Xuan Zhang

Journal of System Simulation

Abstract: To address the issue of how to effectively improve the highway operational efficiency and reduce the safety risks under different traffic flow conditions, this study proposed a genetic algorithm based on Kriging agent model is proposed to optimize the emergency lane control strategy. A mathematical optimization model is designed by combining the spatial and temporal characteristics of the emergency lane opening strategy. By introducing Kriging agent model, combining the genetic algorithm to build the optimization framework, and using simulation software to obtain data to train the agent model, the problem of minimizing the total travel time and the total …

Research On Forest Fire Spread Simulation System Based On Osg, Lei Shao, Xiaotian Yan, Jian Liu, Yuming Liu

Journal of System Simulation

Abstract: A novel expended lattice structure of DEM-Cell model incorporating DEM elevation information is proposed, in response to the requirements of extrapolation of trends and hazards of forest fire spread, as well as the need of route selection and real-time path optimization for rescuers. Combining vegetation attributes of meta cells with geographic elevation information, we develop a simulation and fire fighting exercise system that computing the resultant data in real time and converting it into renderable resource, which is directly used by the OSG engines. With the help of the same data structure and the corresponding key algorithms and technologies, …

Hierarchical Guided Enhanced Multi-Objective Firefly Algorithm, Jia Zhao, Zhizhen Lai, Runxiu Wu, Zhihua Cui, Hui Wang

Journal of System Simulation

Abstract: The multi-objective firefly algorithm is easy to produce oscillation and aggregation phenomenon in the solution process, which leads to weak development ability and poor solution accuracy. This paper proposes a hierarchical guided enhanced multi-objective firefly algorithm (HGEMOFA). HGEMOFA builds a hierarchical guidance model, uses non-dominated sorting to obtain different levels of individuals. The individuals in the dominant layer are used to guide the evolution of the individuals in the inferior layer, the guidance direction is clear, the oscillation in the evolution process is solved, the aggregation phenomenon is reduced, and the convergence of the algorithm is enhanced. The Lévy …

Research On Path Planning Of Warehouse Robot With Improved Harris Hawks Algorithm, Xu Lei, Jingyi Chen, Xiaoyang Chen

Journal of System Simulation

Abstract: To improve the path planning efficiency of warehouse mobile robots in static environments, and to solve the problems of slow convergence and local optimum of traditional Harris Hawk (HHO) algorithm in path planning, a Harris Hawk optimization algorithm based on Tent chaotic mapping fused with Cauchy's back-learning variant (TCLHHO) is proposed. The population diversity is increased by Tent Chaotic mapping to speed up convergence. An exponential prey escape energy updating strategy is proposed to balance the global search and local exploitation capabilities of the algorithm. The optimal individual is disturbed by Cauchy mutation operator and inverse learning strategy to …

Research On Collaborative Optimization Method Of Multi-Uav Task Allocation And Path Planning, Peng Xiao, Feng Xie, Haihong Ni, Min Zhang, Zhili Tang, Ni Li

Journal of System Simulation

Abstract: Aiming at the task requirements of multi-UAV to perform multi-target collaborative reconnaissance, a collaborative optimization method of multi-machine and multi-objective task allocation and path planning is proposed. Based on the partheno genetic algorithms (PGA), a cost function combined with the actual path cost is constructed through the Dubins curve. To further reduce the calculation cost, a clustering algorithm based on UAV detection distance is proposed, and the generated clustering point is used as a new waypoint of UAV. The simulation results show that considering the dangerous area and the large number of reconnaissance points, the algorithm can effectively complete …

Tri-Training Algorithm Based On Density Peaks Clustering, Yuhang Luo, Runxiu Wu, Zhihua Cui, Yiying Zhang, Yeshen He, Jia Zhao

Journal of System Simulation

Abstract: Tri-training can effectively improve the generalization ability of classifiers by using unlabeled data for classification, but it is prone to mislabeling unlabeled data, thus forming training noise. Tritraining (Tri-training with density peaks clustering, DPC-TT) algorithm based on density peaks clustering is proposed. The DPC-TT algorithm uses the density peaks clustering algorithm to obtain the class cluster centers and local densities of the training data, and the samples within the truncation distance of the class cluster centers are identified as the samples with better spatial structure, and these samples are labeled as the core data, and the classifier is updated …

Deep Learning Based Local Path Planning Method For Moving Robots, Zesen Liu, Sheng Bi, Chuanhong Guo, Yankui Wang, Min Dong

Journal of System Simulation

Abstract: In order to integrate visual information into the robot navigation process, improve the robot's recognition rate of various types of obstacles, and reduce the occurrence of dangerous events, a local path planning network based on two-dimensional CNN and LSTM is designed, and a local path planning approach based on deep learning is proposed. The network uses the image from camera and the global path to generate the current steering angle required for obstacle avoidance and navigation. A simulated indoor scene is built for training and validating the network. A path evaluation method that uses the total length and the …

Path Planning Of Unmanned Delivery Vehicle Based On Improved Q-Learning Algorithm, Xiaokang Wang, Jie Ji, Yang Liu, Qing He

Journal of System Simulation

Abstract: To solve the traditional Q-learning algorithm for unmanned vehicle path planning suffers from the problems of low planning efficiency and slow convergence speed, for this reason, a path planning algorithm for unmanned delivery vehicles based on the improved Q-learning algorithm is proposed. Learning from the energy iteration principle of the simulated annealing algorithm, adjusts the greedy factor ε to make it change dynamically during the training process, so as to balance the relationship between exploration and utilization, and thus improve the planning efficiency. The reward value in the reward mechanism is changed from a discrete value to a continuous …