Artificial Intelligence and Robotics Commons^™

Insights From Darpa’S Program Funding Layout In Artificial Intelligence, Zheng Su, Ning He, Qi Han, Qi Zhang, Xiaocheng Jiang

Bulletin of Chinese Academy of Sciences (Chinese Version)

Artificial intelligence, as a disruptor in the new wave of technological revolution and industrial transformation, had already become a focal point of strategic planning for the U.S. Defense Advanced Research Projects Agency (DARPA) as early as the 1960s. To explore the patterns of DARPA’s project funding allocation in the field of artificial intelligence, this study conducts an in-depth analysis of the agency’s budget reports from fiscal years from 2015 to 2025. The study identifies the following characteristics of DARPA’s project funding framework in the field of artificial intelligence: (1) distinctive application orientation; (2) highly flexible funding system; and (3) close …

Interventional Radiology's Exploration Into Artificial Intelligence, Raymond Nguyen

Master's Projects and Capstones

Background: Artificial intelligence (AI) has become more prominent in our daily lives in recent years. This includes various aspects of healthcare. Interventional radiology (IR) is one of these specialties that has taken strides in understanding how AI can be leveraged for patient care. This literature review aims to understand what areas will be most impacted by AI in IR and how it will influence both the patient and interventional radiologist.

Methods: Twenty-six publications from 2019-2024 were selected from PubMed and Scopus. Publications were sourced through a combination of keywords, subject headings (MeSH terms), and citation searching.

Results: This literature review …

Parallax-Tolerant Image Stitching With Geometric Structure Protection For Unmanned Ship Visual Perception, Zhilin Yang, Yong Yin, Rukai Zhang, Qianfeng Jing, Sen Jiang, Wenfeng Zhu

Journal of System Simulation

Abstract: In order to address the artifacts caused by misalignment in maritime image stitch with low texture and large parallax, a geometric structure parallax-tolerant image stitch algorithm based on point-line feature registration and optimal seam fusion is proposed. Line segment features are introduced into the traditional homography transformation based on point features, and potential coplanar local line segments are merged into global line segments to provide accurate alignment conditions for seam line fusion. In the image fusion stage, the energy function of seam cutting method is designed by using the color difference and gradient difference of tanh measure and introducing …

An Improved Cat Swarm Optimization For Heterogeneous Multiple Mobile Robots, Liang Kang, Yi Du, Lihua Yin

Journal of System Simulation

Abstract: At present, it is difficult to achieve the real homogeneity of the members of the multiple mobile robots. The existing swarm intelligence algorithm is also difficult to accommodate the heterogeneity of the team. Focusing on the heterogeneous cooperation of multiple mobile robots, the concept of mother and child robots is proposed. In order to realize the application of swarm intelligence algorithm in heterogeneous multiple mobile robots, the basic cat swarm algorithm is improved. The subdomain and neighborhood of cat swarm are defined, and eight improvements of cat swarm algorithm are proposed, including priority of search direction, extended trajectory tracking …

Research On Path Optimization Algorithm In Dynamic Routing Environment, Xin Xie, Xiaobing Hu, Hang Zhou

Journal of System Simulation

Abstract: In a real dynamic routing environment, static path optimization (SPO) and traditional dynamic path optimization (DPO) tend to encounter issues such as detours, reversals and high computational complexity due to frequent real-time optimization calculation. To address these problems, a novel restart co-evolutionary path optimization (RCEPO) method based on the ripple-spreading algorithm (RSA) is proposed. This method integrates the path optimization process with the dynamic changes of the routing network environment to enhance the effectiveness of path optimization. Moreover, the path reoptimization calculation is performed only when the dynamic changes in the routing environment exceed the predicted range, thereby reducing …

Parametric Identification Of Ship Maneuvering Motion Response Model Based On Square Root Cubature Kalman Filtering, Qinghao Li, Junsheng Ren, Yan Hua

Journal of System Simulation

Abstract: The system identification algorithm, based on the square root cubature Kalman filter (SRCKF) is proposed to address issues such as low accuracy, poor robustness, and weak generalization ability encountered by the extended Kalman filter (EKF) algorithm in parameters identification of ship maneuvering motion models. This algorithm, within the framework of CKF, replaces the original covariance matrix with its root mean square and utilizes triangular decomposition for prediction and update to enhance identification stability. The EKF is used as a comparison algorithm to identify the parameters of the second-order nonlinear response model of a ship with rudder angles that comply …

A Method Based On Deep Learning For Assisting Sins/Dvl Integrated Navigation, Xinghong Kuang, Aowei Huang

Journal of System Simulation

Abstract: The navigation and positioning accuracy of an Autonomous Underwater Vehicle (AUV) affects the efficiency of the AUV to a certain extent, and since GNSS cannot be used underwater, the integrated navigation system of Strapdown Inertial Navigation System/ Doppler Velocity Log (SINS/DVL) has been widely favored. However, DVL will fail in some cases, and if DVL is isolated directly, the system will become a pure inertial navigation system, which seriously affects the accuracy of navigation and positioning. In order to cope with the situation that DVL is missing in some beams, a DLinear-Informer assisted integrated navigation algorithm is proposed. Through …

Dynamic Data Driven Simulation: An Overview, Xu Xie, Xiaogang Qiu, Yizheng Bao, Kai Xu

Journal of System Simulation

Abstract: Dynamic data driven simulation is a simulation paradigm which integrates simulation and data together. This paradigm continuously feeds real-time data into the simulation, enabling the simulation be dynamically adjusted by the data, which thus improves the simulation-based estimation and prediction capability. Due to this integration, the dynamic data driven simulation can estimate system states and predict future state evolution more accurately. This paper reviews the origins and basic concept of dynamic data driven simulation, and introduces several simulation paradigms originated from the idea of "integrating models with data", and identifies the linkages and differences among them. The particle filterbased …

Study On Robust Chance Constrained Optimization Of Multi-Energy Supply System Based On Wind And Solar Power Combined Output Simulation, Zhe Bao, Wei Li, Xiaofang Zhang, Zongyuan An, Ye Xu

Journal of System Simulation

Abstract: In order to effectively avoid potential imbalance between supply and demand caused by the uncertainty of wind and solar power outputs, and promote the sustained development of the multi-energy supply system, a robust chance-constrained optimization model is developed for identifying optimal operation strategies under complexities and uncertainties through incorporating Copula theory, chance-constrained programming, and robust programming within a general framework. The results show that this model can not only accurately characterize the distribution probability of combined outputs of wind and solar power and formulate the operational strategies under low default risk conditions, but also reduce the proportion of highrisk …

Research On Digital Twins Technology In Cyberspace Security, Qiankun Ren, Xinli Xiong, Jingju Liu, Qian Yao

Journal of System Simulation

Abstract: Combined with digital twins and cyber-space modeling and simulation, the network digital twins (NDT) technology with in-deep research can enable the development of diverse techniques of cyber security. The basic concept and research history of NDT are summarized, and a taxonomy is proposed to survey applications of NDT. A cyber security-oriented network digital twin model (CyS-NDT) is concluded through the literature. The relationship between the internal security problem of NDT and the method of enabling network security technology is discussed to prospect further challenges and opportunities.

Hybrid Evolutionary Multi-Objective Optimization Algorithm For Vehicle Routing Problem With Simultaneous Delivery And Pickup, Wenqiang Zhang, Xiaomeng Wang, Xiaoxiao Zhang, Guohui Zhang

Journal of System Simulation

Abstract: In order to provide reasonable and effective decision support for logistics enterprises in vehicle distribution route planning, a hybrid evolutionary multi-objective optimization algorithm combining a multi-region mixed-sampling strategy for global search and a local search based on individual route sequence differences is proposed for the problem. A reasonable mathematical model is constructed and the global search strategy is used to make the population individuals to converge quickly to the Pareto front from multiple directions, and the local search strategy is employed to guide the poorly performing individuals in the population to evolve towards the direction of better performing individuals, …

Estimation Of The Berthing Parameter Of Unmanned Surface Vessels Based On 3d Lidar, Haichao Wang, Yong Yin, Qianfeng Jing, Lin Cong

Journal of System Simulation

Abstract: Accurate estimation of berthing parameters is a prerequisite for unmanned surface vessel autonomous berthing. A method for berthing parameter estimation is proposed based on shipborne 3D LiDAR. The method consists of two main modules: ship pose estimation and berthing state estimation. In the berthing position estimation module, raw point cloud data undergoes preprocessing algorithms aims at downsampling and removing outliers. Point cloud registration algorithms are employed to determine the vessel's position during the berthing process. The berthing state estimation module extracts berth boundary information by using the MSAC algorithm, and on the basis of this information, calculates the berthing …

Research On Virtual Simulation Testing Technology For Intelligent Navigation Collision Avoidance Decision-Making And Planning, Jialun Liu, Fan Yang, Lingli Xie, Shijie Li, Tengfei Wang

Journal of System Simulation

Abstract: This paper studies virtual simulation testing technology for intelligent navigation collision avoidance decision-making and planning. The application requirements of intelligent navigation in cargo ships are introduced, and the current research status of collision avoidance decision-making strategies, path planning algorithms and decision-making planning testing technology are analyzed. For the intelligent navigation collision avoidance decision-making and planning capabilities of cargo ships, an intelligent navigation collision avoidance decision-making and planning algorithm is proposed based on the encounter situation division in the collision avoidance rules, combined with the quaternary ship field and Bezier curve interpolation theory. A simulation testing method for decision-making planning …

Digital Twin Method Of Stress Field Of Deep Submersible Spherical Shell Based On Simulation Database, Yu Cao, Jie Li, Fang Wang, Zhixiang Liu, Xueliang Wang

Journal of System Simulation

Abstract: This paper presents a method for predicting the stress field of deep diving spherical shells based on simulation databases and digital twin technology. By establishing simulation databases of stress field distribution of pressure-resistant spherical shells under different scales and loads, virtual sensing monitoring of stress states in other parts of the vessel is realized through finite sensor layout of pressureresistant shells on the submersible. Based on the DT(digital twin) technology, a three-level virtual structure layer is constructed. The Level-1 DT layer realizes the spatial mapping and cloud image display from the finite element simulation model to the digital model. …

Section Point Cloud Denoising Method Based On Enhanced Dbscan And Distance Consensus Evaluation, Chengpeng Ge, Dong Zhao, Rui Wang, Qinghua Ma

Journal of System Simulation

Abstract: A denoising method based on the improved DBSCAN(density-based spatial clustering of applications with noise) algorithm is proposed to address the problem of removing noise points in point cloud data. The statistical filtering method is applied to pre-screen isolated outliers and remove largescale noise from the point cloud. The DBSCAN algorithm is optimized to reduce computational time complexity and achieve adaptive parameter adjustment, thereby dividing the point cloud into normal clusters, suspected clusters and abnormal clusters, and immediately removing abnormal clusters. Distance consensus assessment is applied, and suspect clusters are further evaluated. By calculating the distance between the suspected point …

High-Resolution Image Reconstruction Of Ect Region Of Interest Based On Finite Element Simulation, Lifeng Zhang, Da Chen

Journal of System Simulation

Abstract: High-resolution image reconstruction of interest region is one of the research hotspots of electrical capacitance tomography (ECT) technology. The ECT model with uniform electrode distribution only has a high sensitivity coefficient at the boundary position of the reconstructed field and is not suitable for imaging regions of interest. In order to improve the sensitivity distribution in the region of interest and improve image resolution, a high-resolution image reconstruction method of ECT region of interest based on finite element simulation is proposed, and the electrode distribution is optimized according to the conformal transformation theory. Simulation experiments are conducted, and the …

Uav Dynamic Path Planning Algorithm Combined With Dynamic Window Approach, Bin Liu, Ying Lan, Wentao Huang, Qinqin Fan

Journal of System Simulation

Abstract: To solve the problem of the poor search for optimal performance and obstacle avoidance ability of path planning algorithms in complex dynamic environments, a UAV dynamic path planning algorithm combined with dynamic window approach (UAV-DPPA-DWA) is proposed. In the UAVDPPA- DWA algorithm, a novel elliptic tangent graph algorithm based on the evaluation of offset degree and obstacle distance is proposed to obtain the optimal guidance path for the UAV in static environments. If the UAV detects moving obstacles, a localized obstacle avoidance trajectory will be generated using the dynamic window method with adaptive parameters. Otherwise, the UAV will continue …

Fusion Of Improved A* And Dynamic Window Approach For Mobile Robot Path Planning, Rongshen Lai, Lei Dou, Zhiyong Wu, Shuai Sun

Journal of System Simulation

Abstract: The traditional A* algorithm is computationally simple and has short planning paths, but it still suffers from redundancy of inflection points, low search efficiency and zigzagging planning paths. Aiming at the above problems, a fusion algorithm combining the improved A* algorithm and the improved dynamic window approach is proposed for the path planning of mobile robots. For the problem of redundant inflection points, the key nodes are extracted to effectively remove the useless inflection points; for the problem of low search efficiency, a dynamic weighting factor is introduced into the heuristic function of the evaluation function, which changes the …

A Highly Robust Target Tracking Algorithm Merging Cnn And Transformer, Peijin Liu, Xuefeng Fu, Haofeng Sun, Lin He, Shujie Liu

Journal of System Simulation

Abstract: To address the performance degradation of target tracking algorithms caused by target object deformation, scale variation, fast motion, and occlusion, a highly robust target tracking algorithm that Merging a CNN and Transformer is proposed based on siamese network architecture. In the feature extraction stage, standard convolutions are employed to extract shallow local feature information, while a convolution-like Transformer module is designed in the deep network to model global information. The pixel values in the Transformer are computed using a sliding window significantly reducing computational complexity. In the feature aggregation stage, a multi-head cross-attention module is utilized to construct a …

Gpu Parallel Acceleration Framework For Heuristic Optimization Algorithm, Dongjie Wang, Sixin Wen, Wanzhi Meng, Di Wu

Journal of System Simulation

Abstract: Heuristic optimization algorithm are a type of algorithm that uses large-scale populations for iterative calculations and are widely used to solve all kinds of complex optimization problems. However, such algorithm have the disadvantages of large calculation and long time consumption. To solve this problem, heuristic optimization algorithms are parallelized using GPU and compute unified device architecture (CUDA) to substantially improve computational efficiency. A GPU parallel framework for heuristic optimization algorithm is proposed, which designs an information interaction framework and algorithm parallel optimization strategy with a parallel logical structure, and solves the problem of the dissimilarity of the logical structure …

Digital Twin-Driven Structural Thermal Deformation Compensation System For Radio Telescopes, Zhen Lei, Yuhua Liu, Kai Ding, Haoxiang Chen, Dongwei Li

Journal of System Simulation

Abstract: The structural thermal deformation of large-scale radio telescopes under solar thermal load cannot be measured in real-time and compensated dynamically. To solve this problem, a digital twin-driven structural thermal deformation compensation method and system is studied. Based on the fusion of measured data and simulation data, a temperature field modeling method is proposed. A simulation and prediction model of structural thermal deformation is established, and a dynamic compensation model of structural thermal deformation is built. A digital twin-driven dynamic structural thermal deformation compensation system for radio telescopes is developed. A micro-experimental model is studied to verify the effectiveness of …

Hyperpolarized Magnetic Resonance Imaging, Nuclear Magnetic Resonance Metabolomics, And Artificial Intelligence To Interrogate The Metabolic Evolution Of Glioblastoma, Kang Lin Hsieh, Qing Chen, Travis C Salzillo, Jian Zhang, Xiaoqian Jiang, Pratip K Bhattacharya, Shyan Shams

Faculty, Staff and Student Publications

Glioblastoma (GBM) is a malignant Grade VI cancer type with a median survival duration of only 8-16 months. Earlier detection of GBM could enable more effective treatment. Hyperpolarized magnetic resonance spectroscopy (HPMRS) could detect GBM earlier than conventional anatomical MRI in glioblastoma murine models. We further investigated whether artificial intelligence (A.I.) could detect GBM earlier than HPMRS. We developed a deep learning model that combines multiple modalities of cancer data to predict tumor progression, assess treatment effects, and to reconstruct in vivo metabolomic information from ex vivo data. Our model can detect GBM progression two weeks earlier than conventional MRIs …

In Reply: Can Artificial Intelligence Make The Cut? Dissecting Large Language Model’S Surgical Exam Performance, Adam M. Ostrovsky, Joshua R. Chen, Vishal N. Shah, Babak Abai

Department of Surgery Faculty Papers

No abstract provided.

Groundwater Modeling Of The Ogallala Aquifer: Use Of Machine Learning For Model Parameterization And Sustainability Assessment, Tewodros Aboret Tilahun

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

Addressing groundwater depletion problems in heterogeneous aquifer systems is a challenge. The heterogeneous Ogallala Aquifer, a critical source of groundwater in the central United States, has undergone decades of decline in water levels due to pumping. This project aims to build a robust groundwater model to evaluate optimal scenarios for sustainable use of the groundwater resource within a section of the Ogallala aquifer located in the Middle Republican Natural Resources District (MRNRD). This study follows a comprehensive approach involving parameterization, construction, and optimization. The model is parametrized using hydraulic conductivity and recharge values obtained from a random forest-based machine learning …

Digital Scribes: A Possible Solution For Provider Burnout By Reducing Provider Workload, Shannon Storley

Theses and Graduate Projects

Background: Provider burnout is continuing to be a massive problem for our healthcare industry. One major contributor to provider burnout is burdensome administrative tasks associated with documentation of electronic medical records (EMR). This review aims to uncover the applications for artificially intelligent digital scribes as a solution to reduce EMR documentation burden. Purpose: Provider burnout has shown to increase the incidence of major mistakes and decreased patient safety grades. Digital scribes could be a solution in reducing provider burnout by reducing the administrative burden of EMR documentation. Methods: A comprehensive literature review was conducted using articles from PubMed using search …

Enhancing Clinical Relevance Of Pretrained Language Models Through Integration Of External Knowledge: Case Study On Cardiovascular Diagnosis From Electronic Health Records, Qiuhao Lu, Andrew Wen, Thien Nguyen, Hongfang Liu

Faculty, Staff and Student Publications

Background: Despite their growing use in health care, pretrained language models (PLMs) often lack clinical relevance due to insufficient domain expertise and poor interpretability. A key strategy to overcome these challenges is integrating external knowledge into PLMs, enhancing their adaptability and clinical usefulness. Current biomedical knowledge graphs like UMLS (Unified Medical Language System), SNOMED CT (Systematized Medical Nomenclature for Medicine-Clinical Terminology), and HPO (Human Phenotype Ontology), while comprehensive, fail to effectively connect general biomedical knowledge with physician insights. There is an equally important need for a model that integrates diverse knowledge in a way that is both unified and compartmentalized. …

Reless: A Framework For Assessing Safety In Deep Learning Systems, Nan Jia, Anita Raja, Raffi T. Khatchadourian

Publications and Research

Traditionally, software refactoring helps to improve a system's internal structure and enhance its non-functional features, such as reliability and run-time performance, while preserving external behavior including original program semantics. However, in the context of learning-enabled software systems (LESS), e.g., Machine Learning (ML) systems, it is unclear which portions of a software's semantics require preservation at the development phase. This is mainly because (a) the behavior of the LESS is not defined until run-time; and (b) the inherently iterative and non-deterministic nature of ML algorithms. Consequently, there is a knowledge gap in what refactoring truly means in the context of LESS …

Development And Optimization Of A 1-Dimensional Convolutional Neural Network-Based Keyword Spotting Model For Fpga Acceleration, Trysten E. Dembeck

Masters Theses

Spoken Keyword Spotting (KWS) has steadily remained one of the most studied and implemented technologies in human-facing artificially intelligent systems and has enabled them to detect specific keywords in utterances. Modern machine learning models, such as the variants of deep neural networks, have significantly improved the performance and accuracy of these systems over other rudimentary techniques. However, they often demand substantial computational resources, use large parameter spaces, and introduce latencies that limit their real-time applicability and offline use. These speed and memory requirements have become a tremendous problem where faster and more efficient KWS methods dominate and better meet industry …

Artificial Intelligence, Work, And The Future Of Education, Daniel Brown

Library Presentations

No abstract provided.

Contemplating Existence: Ai And The Meaning Of Life, Emily Barnes, James Hutson

Faculty Scholarship

This article explores the intersection of artificial intelligence (AI) with existential philosophy, examining how AI technologies influence human conceptualizations of purpose and meaning. Despite rapid advancements in AI, the domain's implications for existential thought remain underexplored. By integrating interdisciplinary perspectives from psychology, philosophy, and AI ethics, this study elucidates how AI can shape, challenge, or enhance our understanding of life's purpose. It investigates theoretical frameworks and practical implementations of AI engaging in existential questions, analyzing both the capabilities and limitations of AI systems such as ChatGPT in simulating human existential thought. The ethical implications of AI's role in existential inquiries …