Computer Sciences Commons^™

Robotic Multi-Object Grasping From A Pile: Techniques And Algorithms For Enhanced Dexterity, Tianze Chen

USF Tampa Graduate Theses and Dissertations

As robots become increasingly integrated into real-world applications such as warehousing, fulfillment centers, and manufacturing, the need for efficient and adaptable robotic systems grows. One of the key challenges is enabling robots to grasp multiple objects simultaneously, as this significantly boosts the efficiency of tasks like batch picking, sorting, and object transferring, reducing both time and energy consumption. This dissertation presents a comprehensive multi-object grasping (MOG) pipeline that includes pre-grasp selection, end-pose selection, grasping synergy calculation, and a data-driven model for estimating the number of objects being grasped. Central to this work is the development of the Experience Forest structure, …

Exploring Factors That Influence Artificial Intelligence Adoption In Banks And Credit Unions, Vijaya S. Tumma

USF Tampa Graduate Theses and Dissertations

The importance of Artificial Intelligence (AI) is exploding in the banking sector, fueled by enhanced productivity, improved efficiencies, and personalized services to the consumers. For credit unions, the adoption of AI technologies presents opportunities and challenges. This research explores the factors influencing AI adoption in the banking sector through the lens of Unified Theory of Acceptance and Use of Technology (UTAUT) framework. This study aims to explore the influence of key aspects of UTAUT model, Performance Expectancy (PE), Effort Expectancy (EE), Social Influence (SI), and Facilitating Conditions (FC) on the intention of AI adoption among credit unions, banks, and their …

Intersections Of Living And Machine Agencies: Art-Based Models Of Adaptive Conversation With The More-Than-Human World, Carlos Castellanos

Tradition Innovations in Arts, Design, and Media Higher Education

Today’s AI systems are not built to have reciprocal interplay with their environments and thus they demonstrate little interest in emergence, adaptation or developing mutually productive relationships with the natural world. Is a different kind of AI possible? How can artists contribute to its development? In this essay, I will discuss ways in which the arts might help guide us towards a new kind of AI, built upon adaptive conversation (i.e. shared construction of meaning) with nature. I will discuss how can work with AI while also challenging its prevailing ontology, and even suggest alternative ontologies and epistemologies. I will …

A Method For Key Node Identification In Operational Target System Based On War Gaming, Yongfu Zhang, Yang Liu, He Yuan

Journal of System Simulation

Abstract: The identification of key nodes in an operational target system is an important basis for combat command decision-making. Due to the lack of experimental verification of key node identification in the current operational target system in a campaign-level dynamic confrontation environment, a complex network model of operational target system with large-scale entities and complex interaction relationship was constructed by taking integrated air defense network as an example, with the help of the data derived from the large joint war gaming; the characteristics of wargame data were considered, and the value characteristics of combat targets and network structure characteristics were …

Platform Path Optimization Method Based On Cumulative Detection Probability Of Sonar Search, Xiang Wei, Xingxuan Liu, Dianzheng Fu, Tianji Yang, Jiaxuan Yang

Journal of System Simulation

Abstract: To address the lack of research on the optimal path of mobile search platform to search for moving targets, this paper proposes a path optimization method of mobile search platform based on cumulative search probability theory. Based on the cumulative detection probability (CDP), one of the important criteria of sensor performance evaluation, a single-peak CDP calculation formula is constructed by using a time series correlation model, namely the (λ, σ) process model. A set of target motion scenarios are constructed, and the trajectory probability of target scenarios and their CDP at different time are corrected by Bayesian posterior probability. …

Modeling For Decision Support Of Flight Ground Support Process, Zhiwei Xing, Ruiwen Yu, Biao Li, Zhaoxin Chen

Journal of System Simulation

Abstract: Aiming at the problems of insufficient decision-making ability and low operational efficiency of the flight ground support process, a decision support model of the flight ground support process based on the department of defense architecture framework (DoDAF) is proposed. Starting from the support operation, support resources, and the relationship between them, the quantitative description of the flight ground support process is performed. DoDAF and the model-based systems engineering (MBSE) modeling method are combined to establish a decision support model of the flight ground support process. The decision utility function is established to analyze the utility value of the comprehensive …

End-To-End Motion Planning Of Unmanned Vehicles Based On Multimodal Deep Reinforcement Learning, Kaiyuan Ding, Askar Hamdulla, Bin Zhu, Eksan Firkat, Zhengtang Ma

Journal of System Simulation

Abstract: Since the agent cannot sense the surrounding environment and cannot successfully avoid obstacles, reinforcement learning fails to be generalized to robot motion planning in difficult terrain. Therefore, a solution based on multimodal deep reinforcement learning, which learns to blend proprioceptive states with high-dimensional depth sensor inputs, is proposed for the motion planning of unmanned vehicles. To be specific, proprioceptive states offer contact measurement for immediate reaction, and the unmanned vehicle can learn and forecast environmental changes with its attached visual sensors, proactively navigating around obstacles and uneven terrains numerous time steps ahead. TransProAct (transformer-based proactive action), a unique end-to-end …

Flexible Job Shop Scheduling Method Based On Collaborative Agent Reinforcement Learning Algorithm, Jian Li, Huankun Li, Pengbo He, Huabei Wang, Liping Xu, Kui He

Journal of System Simulation

Abstract: To enhance the efficiency of flexible job shop scheduling, this paper develops a Markov decision process with specific constraints tailored to the scheduling problem. A cooperative agent reinforcement learning method is proposed to solve the problem of concurrent selection of workpieces and machines. During the construction of the Markov decision process, a disjunctive graph is introduced to represent the state characteristics. Two agents are introduced to select the workpieces and machines. The reward parameters governing the entire scheduling process are established by predicting variations in the minimum-maximum completion time across different time points. A GIN(graph isomorphic network) graph neural …

Dual-Resource Constrained Distributed Flexible Scheduling For Aerospace Structural Components, Yufang Wang, Dianqing Zhang, Xiaolin Hua, Binbin Yao, Fan Chen

Journal of System Simulation

Abstract: A dual-resource constrained distributed flexible job-shop scheduling model was established by taking into account the worker constraints of the finishing process and the requirements of distributed multi-factory collaboration in the production of aerospace structural components. A hybrid grey wolf optimization algorithm based on the critical factory was proposed to solve this problem. The model contained four subproblems: factory selection, operation sequencing, machine selection, and worker selection. In view of these four sub-problems, a four-layer coding and a new decoding method were designed to avoid the use conflict of machines and workers. In addition, a new mechanism for hunting and …

Video Label Refinement And Temporal Localization Using Motion Signal Patterns, Jennifer Piane

College of Computing and Digital Media Dissertations

Performing video analysis for activity recognition presents challenges beyond classification, including obtaining class labels and performing temporal localization. One such challenge is precisely labeling a video with class labels having the exact start and end frames of an activity - a difficult task for a human to perform. Moreover, the task of annotating a video at any level of precision can quickly become tedious, impacting the attentiveness of the annotator and resulting in class label errors. Temporally localizing an activity within a video presents a second challenge. This dissertation investigates novel signal and image processing methods for motion features extracted …

Automatic Detection Algorithm For Typical Defects Of Substation Based On Improved Yolov5, Zhongkai Xu, Yanling Liu, Xiaojuan Sheng, Chao Wang, Wenjun Ke

Journal of System Simulation

Abstract: In response to the challenges present in the context of defect recognition in substations, such as complex substation defects and sample imbalance, an improved YOLOv5 algorithm was proposed. The Transformer model was introduced into the YOLOv5 network structure, leveraging the self-attention mechanism to capture long-range dependencies among features. A focal loss-based optimization was employed to improve the loss function, as well as the detection accuracy and robustness of defects of small sample substations. To meet the requirements of substation defect recognition, a dedicated dataset was constructed. A clustering algorithm was applied to the real annotation boxes to generate more …

Object Detection Of Lightweight Transformer Based On Knowledge Distillation, Gaihua Wang, Kehong Li, Qian Long, Jingxuan Yao, Bolun Zhu, Zhengshu Zhou, Xuran Pan

Journal of System Simulation

Abstract: In autonomous driving, the efficiency and accuracy of object detection are significant. Object detection based on Transformer structure has gradually become the mainstream method, eliminating the complex anchor generation and non-maximum suppression (NMS). It has problems of high computing cost and slow convergence. An object detection model of the based lightweight pooling transformer (LPT) is designed, which contains a pooling backbone network and dual pooling attention mechanism. A general knowledge distillation method is intended for the DETR (detection transformer) model, which transfers prediction results, query vector, and features extracted by the teacher as knowledge to the LPT model to …

A Hybrid Genetic Search Algorithm For Capacitated Electric Vehicle Routing Problem, Dongyao Jin, Mi Liu, Yena Zhu, Yijiang Zhao

Journal of System Simulation

Abstract: The capacitated electric vehicle routing problem (CEVRP) is an NP-hard combinatorial optimization problem in logistics distribution, aiming to minimize the total delivery distance of electric vehicles while satisfying carrying capacity and battery charge constraints. A hybrid genetic search algorithm is proposed to solve CEVRP by decomposing it into two subproblems: capacitated vehicle routing problem (CVRP) and fixed-route vehicle charging problem (FRVCP). A coding scheme with a two-layer chromosome structure is designed to represent the decision variables of these two subproblems. A Split operation is employed to generate vehicle routes for solving CVRP, and five neighborhood search operators, including Relocate, …

Traffic Sign Recognition Model With Long-Tail Distribution Based On Yolox-Tiny, Yunpeng Wu, Yingxiong Fu, Lijun Shen, Feng Cui

Journal of System Simulation

Abstract: Accurate recognition of traffic signs plays an important role in the field of intelligent driving. Traffic sign training datasets with long-tail distribution increase the difficulty of traffic sign recognition. A traffic sign recognition model with long-tail distribution based on YOLOX-Tiny was proposed to improve the poor performance of the model trained on long-tail distribution datasets. A long-tail traffic sign dataset was created based on the TT100K_2021 (tsinghua-tencent 100K 2021) dataset. YOLOX-Tiny was chosen as the underlying model by considering picture numbers in datasets, sample distribution, and model size. Equalization loss v2 (EQL v2) was used as classification loss to …

Real-Time Lidar Slam Algorithm Based On Distribution Optimal Registration, Weigang Li, Chuxiang Yu, Yongqiang Wang, Shaofeng Zou

Journal of System Simulation

Abstract: When scanning the surrounding environment, a lidar will generate some cluttered and sparse point cloud, which will cause excessive distribution fitting errors and correlation distances in the registration process, thus affecting the accuracy of the registration algorithm and the effect of simultaneous localization and mapping (SLAM). To address this problem, a real-time lidar SLAM algorithm based on distribution optimal registration is proposed. An eigenspectrum filter is designed, which takes the normalized minimum eigenvalue as the filtering object to filter out the points that do not match the set distribution in order to reduce the distribution fitting error. Secondly, a …

Research On Green Job Shop Scheduling Based On Herd Immunity Optimizer, Xunde Ma, Li Bi, Junjie Wang

Journal of System Simulation

Abstract: In view of the green flexible job shop scheduling problem where machines have multiple speeds, a green flexible job shop scheduling model under multiple speeds was constructed to minimize the makespan and total energy consumption under different speeds. A discrete coronavirus herd immunity optimizer (DCHIO) was proposed for a solution. A discrete individual updating method was introduced for the relatively large solution space of the multi-speed problem, based on which a population updating mechanism with multi-scale joint search was proposed to search the solution space quickly and uniformly. A dynamic mutation operation was designed to enhance the population diversity …

Agv Scheduling Problem At Automated Terminals Based On Improved Dqn Algorithm, Chengji Liang, Shidong Zhang, Yu Wang, Bin Lu

Journal of System Simulation

Abstract: A future tasks considering deep Q-network (F-DQN) algorithm was proposed to output realtime scheduling results of automated guided vehicles (AGVs) at automated terminals. This algorithm combined the advantages of real-time scheduling and static scheduling, improving the system status by considering static future task information when making real-time decisions, so as to obtain a better scheduling solution. In this study, the actual layout and equipment conditions of the Yangshan phase IV automated terminal were considered, and a series of simulation experiments were conducted using the Plant Simulation software. The experimental results show that the F-DQN algorithm can effectively solve the …

Global-Local Fusion For Efficient 3d Object Detection, Bin Lu, Minghan Wang, Yang Sun, Zhenyu Yang

Journal of System Simulation

Abstract: As the 3D object detection based on point clouds shows an incapacity of feature extraction and incongruity between classification and regression, this research introduces a novel ResCST architecture based on the SECOND network. It incorporates residual connections into the 3D sparse convolutional layer, with the advantages of capturing long-distance dependent relation by SwinTransformer and obtaining local features by convolutional neural network integrated, proposing the CNN-SwinTransformer hybrid model for enhanced feature extraction. It introduces the RCIoU method for the joint optimization of classification and regression tasks. The experimental results show that the model achieves a 3D detection accuracy of 91.21%, …

Optimization Of Crucial Targets For Air Defense Based On Combined Weighting-Topsis Model, Peng Zhang, Ke Feng

Journal of System Simulation

Abstract: To optimize the selection of crucial defended targets in regional air defense operations and improve the selection accuracy, this paper constructs a factor model considering the importance of air defense targets from the perspectives of target value, defense urgency, target vulnerability, and target recovery. Under the optimization of the TOPSIS method through a combination of the ANP and entropy weight methods, tendentious opinions of commanders and the excessive reliance on objective data can be overcome to ensure the factor weighting is more reasonable and accurate; Super Decisions is used to calculate the weights of the ANP method, accelerating data …

Eecbs Multi-Robot Path Planning Based On Variable Suboptimal Factors Of Prioritizing Conflicts, Xingyu Yan, Niya Wang, Jianlin Mao, Zhigang He, Dayan Li

Journal of System Simulation

Abstract: In the process of multi-robot path planning (MRPP), the unavoidable key conflicts between the optimal paths have a significant impact on the efficiency of path solving. To address this issue, an MRPP method based on variable suboptimal factors of prioritizing conflicts (PC) was proposed. Path search was performed at the lower layer of the explicit estimation conflict-based search (EECBS) algorithm; in the upper layer of the EECBS algorithm framework, the PC was determined, and the suboptimal factor of the robot with key conflicts was adaptively increased; by analyzing the distribution of obstacles in the surrounding neighborhoods of key conflicts, …

Slam Dynamic Algorithm Based On Improved Feature Description, Qiang Fu, Xianyun Teng, Yuanfa Ji, Fenghua Ren

Journal of System Simulation

Abstract: The original ORB descriptor algorithm has a low matching accuracy and long matching time, the positioning accuracy and robustness of the SLAM(simultaneous localization and mapping) system are severely disturbed by moving objects in dynamic scenes, and the ORB-SLAM3 system is incapable of constructing dense maps. To address the above problems, this paper proposes an improved ORB-SLAM3 based on the BEBLID descriptor and object detection. A lightweight YOLOv5s dynamic object detection network and dynamic feature removal module are fused with the tracking thread to improve the system's positioning accuracy. Replacing the original feature description algorithm, an improved local image descriptor …

Design And Implementation Of Maritime Unmanned Cross-Domain Collaborative Effectiveness Evaluation System Based On Mlp, Hongyu Hu, Tianzhu Gao, Haitao Gu

Journal of System Simulation

Abstract: In the face of the problem of evaluating the detection capability effectiveness of the maritime unmanned cross-domain collaborative system, it is necessary to study the evaluation indexes and evaluation algorithm. In this paper, the robot's own parameters and environmental parameters are combined to build a calculation model for evaluation indexes, such as detection coverage rate, repeated detection rate, the number of pixels per unit area, and energy as well as an evaluation system for detection capability of the maritime unmanned cross-domain collaborative system. The subjectivity in the evaluation process is reduced, and training data is generated by the availability …

Improvement Of A* Algorithm In Path Planning Of Mobile Robot, Dexin Yao, Hongjun San, Yaru Wang, Haijie Sun, Jiupeng Chen, Xiaoyuan Yang

Journal of System Simulation

Abstract: To solve the problems of excessively redundant nodes, low search efficiency, and excessive path turning angle in the path search of the traditional A* algorithm, an improved A* algorithm is proposed to plan the optimal path. First, the amount of search neighborhood of the A* algorithm is increased to 24 to obtain a more accurate and comprehensive search field. Second, the angle search algorithm is introduced, eliminating the unnecessary nodes in the path search and making the search more target-oriented. Third, the heuristic function is weighted by the exponential attenuation through the relative position of the current point and …

The Unfairness Of Fair Machine Learning: Leveling Down And Strict Egalitarianism By Default, Brent Mittelstadt, Sandra Wachter, Chris Russell

Michigan Technology Law Review

In recent years, fairness in machine learning (ML), artificial intelligence (AI), and algorithmic decision-making systems has emerged as a highly active area of research and development. To date, most measures and methods to mitigate bias and improve fairness in algorithmic systems have been built in isolation from policymaking and civil societal contexts and lack serious engagement with philosophical, political, legal, and economic theories of equality and distributive justice. Many current measures define “fairness” in simple terms to mean narrowing gaps in performance or outcomes between demographic groups while preserving as much of the original system’s accuracy as possible. This oversimplified …

The Implications Of Chatgpt For Legal Services And Society, Andrew Perlman

Michigan Technology Law Review

On November 30, 2022, OpenAI released a chatbot called ChatGPT.1 To demonstrate the chatbot’s sophistication and its potential implications, both for legal services and society more generally, most of this paper was generated in about an hour through prompts within ChatGPT. Only this abstract, the preface, the outline headers, the footnotes, the epilogue, and the prompts were written by a person. ChatGPT generated the rest of the text with no human editing. To be clear, the responses generated by ChatGPT were imperfect and at times problematic, and the use of an AI tool for law-related services raises a host of …

Seshaiyer: Understanding Non-Linear Dynamics Of Interacting Subpopulations And Implicit Human Behavior Using Physics-Informed Neural Networks, Naima Aubry-Romero, Alonso Ogueda-Oliva, Padmanabhan Seshaiyer

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Predicting And Monitoring Immune Checkpoint Inhibitor Therapy Using Artificial Intelligence In Pancreatic Cancer, Guangbo Yu, Zigeng Zhang, Aydin Eresen, Qiaoming Hou, Farideh Amirrad, Sha Webster, Surya M. Nauli, Vahid Yaghmai, Zhuoli Zhang

Pharmacy Faculty Articles and Research

Pancreatic cancer remains one of the most lethal cancers, primarily due to its late diagnosis and limited treatment options. This review examines the challenges and potential of using immunotherapy to treat pancreatic cancer, highlighting the role of artificial intelligence (AI) as a promising tool to enhance early detection and monitor the effectiveness of these therapies. By synthesizing recent advancements and identifying gaps in the current research, this review aims to provide a comprehensive overview of how AI and immunotherapy can be integrated to develop more personalized and effective treatment strategies. The insights from this review may guide future research efforts …

Holistic & Socially Just Admissions Procedures In An Artificially Intelligent (Ai) World, Lucinda Bratini, Ali Cunningham Abbott, Tracy N. Baker

Faculty and Staff Publications & Presentations

In our ever-evolving social context, the counseling profession continues to center social justice and decolonial praxis in training programs. Simultaneously, we remain attuned to shifts in machine learning and artificial intelligence (AI) which require us to adjust and grow. This roundtable discussion shares the development of a holistic admissions review (HAR) pilot process, which incorporates relational, diversity and social justice values alongside AI innovations and current CACREP considerations.

Ethical Responsibility In The Design Of Artificial Intelligence (Ai) Systems, David K. Mcgraw

International Journal on Responsibility

This article aims to provide an overview of the ethical questions surrounding the responsibilities of designers of artificial intelligence (AI) systems. First, the author delves into the philosophical underpinnings of this responsibility, examining various ethical theories to grasp the moral obligations individuals have towards others and society. The author contends that designers of technology bear the responsibility of considering the broader societal implications of their creations. Subsequently, the author scrutinizes the fundamental question of whether AI systems present unique ethical concerns compared to conventional technologies, pinpointing factors such as complexity, opacity, autonomy, unpredictability, uncertainty, and the potential for significant social …

Simplify Workflows: Ai As A Coding Companion, Tiffany Garrett

Library Scholarship

Artificial Intelligence is on everyone’s minds and has been the topic of the past two Matheson Lectures. But, what is the role of academic health sciences libraries? Moving the theoretical into practical, seven of our colleagues will present real-life case studies. What worked - what didn’t - what would they do differently?

This entry is from one of those case presentations on how a librarian at Roseman University of Health Sciences used AI to complete simple computer programming projects that optimized a few library workflows.