Applications in Noisy and Dynamic Environments

2010 ◽  
pp. 222-244
Author(s):  
E. Parsopoulos Konstantinos ◽  
N. Vrahatis Michael
Keyword(s):  
Real World ◽  
Particle Filtering ◽  
Dynamic Environments ◽  
Experimental Results ◽  
Particle Identification ◽  
Special Importance ◽  
Extensive Literature ◽  
Research Fields ◽  
System States ◽  
Problem Formulations

This chapter discusses the workings of PSO in two research fields with special importance in real-world applications, namely noisy and dynamic environments. Noise simulation schemes are presented and experimental results on benchmark problems are reported. In addition, we present the application of PSO on a simulated real world problem, namely the particle identification by light scattering. Moreover, a hybrid scheme that incorporates PSO in particle filtering methods to estimate system states online is analyzed, and representative experimental results are reported. Finally, the combination of noisy and continuously changing environments is shortly discussed, providing illustrative graphical representations of performance for different PSO variants. The text focuses on providing the basic concepts and problem formulations, and suggesting experimental settings reported in literature, rather than on the bibliographical presentation of the (prohibitively extensive) literature.

Robust and Accurate Monocular Vision-Based Localization in Outdoor Environments of Real-World Robot Challenge

2017 ◽  
Vol 29 (4) ◽  
pp. 685-696 ◽  
Author(s):  
Adi Sujiwo ◽  
Eijiro Takeuchi ◽  
Luis Yoichi Morales ◽  
Naoki Akai ◽  
Hatem Darweesh ◽  
...  
Keyword(s):  
Real World ◽  
Dynamic Environments ◽  
Monocular Vision ◽  
Experimental Results ◽  
Data Sets ◽  
Place Recognition ◽  
Global Localization ◽  
Vision Based Navigation ◽  
Outdoor Environments ◽  
Vision Based Localization

This paper describes our approach to perform robust monocular camera metric localization in the dynamic environments of Tsukuba Challenge 2016. We address two issues related to vision-based navigation. First, we improved the coverage by building a custom vocabulary out of the scene and improving upon place recognition routine which is key for global localization. Second, we established possibility of lifelong localization by using previous year’s map. Experimental results show that localization coverage was higher than 90% for six different data sets taken in different years, while localization average errors were under 0.2 m. Finally, the average of coverage for data sets tested with maps taken in different years was of 75%.

scholarly journals Electronic Phenomena of Transition Metal Oxides

Crystals ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 256
Author(s):  
Christian Rodenbücher ◽  
Kristof Szot
Keyword(s):  
Solid State ◽  
Transition Metal ◽  
Metal Oxides ◽  
Real World ◽  
Transition Metal Oxides ◽  
Major Research ◽  
Research Fields ◽  
Real World Applications

Transition metal oxides with ABO3 or BO2 structures have become one of the major research fields in solid state science, as they exhibit an impressive variety of unusual and exotic phenomena with potential for their exploitation in real-world applications [...]

scholarly journals OFCOD: On the Fly Clustering Based Outlier Detection Framework

Data ◽  
2020 ◽  
Vol 6 (1) ◽  
pp. 1
Author(s):  
Ahmed Elmogy ◽  
Hamada Rizk ◽  
Amany M. Sarhan
Keyword(s):  
Data Mining ◽  
Image Processing ◽  
Intrusion Detection ◽  
Real Time ◽  
Outlier Detection ◽  
Real World ◽  
Medical Data ◽  
Experimental Results ◽  
Real Time Applications ◽  
Real World Datasets

In data mining, outlier detection is a major challenge as it has an important role in many applications such as medical data, image processing, fraud detection, intrusion detection, and so forth. An extensive variety of clustering based approaches have been developed to detect outliers. However they are by nature time consuming which restrict their utilization with real-time applications. Furthermore, outlier detection requests are handled one at a time, which means that each request is initiated individually with a particular set of parameters. In this paper, the first clustering based outlier detection framework, (On the Fly Clustering Based Outlier Detection (OFCOD)) is presented. OFCOD enables analysts to effectively find out outliers on time with request even within huge datasets. The proposed framework has been tested and evaluated using two real world datasets with different features and applications; one with 699 records, and another with five millions records. The experimental results show that the performance of the proposed framework outperforms other existing approaches while considering several evaluation metrics.

scholarly journals Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Korbinian Nottensteiner ◽  
Arne Sachtler ◽  
Alin Albu-Schäffer
Keyword(s):  
Autonomous Robots ◽  
Vision System ◽  
Dynamic Environments ◽  
Bayesian Framework ◽  
Experimental Results ◽  
Robotic Assembly ◽  
Tactile Sensing ◽  
Task Execution ◽  
Industrial Assembly ◽  
Assembly Tasks

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

Review Summary Generation in Online Systems: Frameworks for Supervised and Unsupervised Scenarios

2021 ◽  
Vol 15 (3) ◽  
pp. 1-33
Author(s):  
Wenjun Jiang ◽  
Jing Chen ◽  
Xiaofei Ding ◽  
Jie Wu ◽  
Jiawei He ◽  
...  
Keyword(s):  
Decision Making ◽  
Real World ◽  
Text Summarization ◽  
Experimental Results ◽  
Product Review ◽  
Comprehensive Review ◽  
Online Systems ◽  
Real World Datasets ◽  
Different Characteristics

In online systems, including e-commerce platforms, many users resort to the reviews or comments generated by previous consumers for decision making, while their time is limited to deal with many reviews. Therefore, a review summary, which contains all important features in user-generated reviews, is expected. In this article, we study “how to generate a comprehensive review summary from a large number of user-generated reviews.” This can be implemented by text summarization, which mainly has two types of extractive and abstractive approaches. Both of these approaches can deal with both supervised and unsupervised scenarios, but the former may generate redundant and incoherent summaries, while the latter can avoid redundancy but usually can only deal with short sequences. Moreover, both approaches may neglect the sentiment information. To address the above issues, we propose comprehensive Review Summary Generation frameworks to deal with the supervised and unsupervised scenarios. We design two different preprocess models of re-ranking and selecting to identify the important sentences while keeping users’ sentiment in the original reviews. These sentences can be further used to generate review summaries with text summarization methods. Experimental results in seven real-world datasets (Idebate, Rotten Tomatoes Amazon, Yelp, and three unlabelled product review datasets in Amazon) demonstrate that our work performs well in review summary generation. Moreover, the re-ranking and selecting models show different characteristics.

scholarly journals A New No Equilibrium Fractional Order Chaotic System, Dynamical Investigation, Synchronization, and Its Digital Implementation

Inventions ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 49
Author(s):  
Zain-Aldeen S. A. Rahman ◽  
Basil H. Jasim ◽  
Yasir I. A. Al-Yasir ◽  
Raed A. Abd-Alhameed ◽  
Bilal Naji Alhasnawi
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Chaotic System ◽  
Real World ◽  
Experimental Results ◽  
Chaotic Attractors ◽  
State Variables ◽  
Digital Implementation ◽  
Dynamical Behaviors ◽  
Real World Applications

In this paper, a new fractional order chaotic system without equilibrium is proposed, analytically and numerically investigated, and numerically and experimentally tested. The analytical and numerical investigations were used to describe the system’s dynamical behaviors including the system equilibria, the chaotic attractors, the bifurcation diagrams, and the Lyapunov exponents. Based on the obtained dynamical behaviors, the system can excite hidden chaotic attractors since it has no equilibrium. Then, a synchronization mechanism based on the adaptive control theory was developed between two identical new systems (master and slave). The adaptive control laws are derived based on synchronization error dynamics of the state variables for the master and slave. Consequently, the update laws of the slave parameters are obtained, where the slave parameters are assumed to be uncertain and are estimated corresponding to the master parameters by the synchronization process. Furthermore, Arduino Due boards were used to implement the proposed system in order to demonstrate its practicality in real-world applications. The simulation experimental results were obtained by MATLAB and the Arduino Due boards, respectively, with a good consistency between the simulation results and the experimental results, indicating that the new fractional order chaotic system is capable of being employed in real-world applications.

scholarly journals GazeEMD: Detecting Visual Intention in Gaze-Based Human-Robot Interaction

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 68
Author(s):  
Lei Shi ◽  
Cosmin Copot ◽  
Steve Vanlanduit
Keyword(s):  
Cognitive Load ◽  
Real World ◽  
Robotic Manipulator ◽  
Similarity Score ◽  
Human Robot Interaction ◽  
Experimental Results ◽  
The Other ◽  
Robot Interaction ◽  
Run Length ◽  
The Real

In gaze-based Human-Robot Interaction (HRI), it is important to determine human visual intention for interacting with robots. One typical HRI interaction scenario is that a human selects an object by gaze and a robotic manipulator will pick up the object. In this work, we propose an approach, GazeEMD, that can be used to detect whether a human is looking at an object for HRI application. We use Earth Mover’s Distance (EMD) to measure the similarity between the hypothetical gazes at objects and the actual gazes. Then, the similarity score is used to determine if the human visual intention is on the object. We compare our approach with a fixation-based method and HitScan with a run length in the scenario of selecting daily objects by gaze. Our experimental results indicate that the GazeEMD approach has higher accuracy and is more robust to noises than the other approaches. Hence, the users can lessen cognitive load by using our approach in the real-world HRI scenario.

Local Graph Edge Partitioning

2021 ◽  
Vol 12 (5) ◽  
pp. 1-25
Author(s):  
Shengwei Ji ◽  
Chenyang Bu ◽  
Lei Li ◽  
Xindong Wu
Keyword(s):  
Real World ◽  
Graph Partitioning ◽  
Large Scale ◽  
Complete Information ◽  
Local Information ◽  
Experimental Results ◽  
Two Stage ◽  
Graph Computation ◽  
Local Graph ◽  
Edge Partitioning

Graph edge partitioning, which is essential for the efficiency of distributed graph computation systems, divides a graph into several balanced partitions within a given size to minimize the number of vertices to be cut. Existing graph partitioning models can be classified into two categories: offline and streaming graph partitioning models. The former requires global graph information during the partitioning, which is expensive in terms of time and memory for large-scale graphs. The latter creates partitions based solely on the received graph information. However, the streaming model may result in a lower partitioning quality compared with the offline model. Therefore, this study introduces a Local Graph Edge Partitioning model, which considers only the local information (i.e., a portion of a graph instead of the entire graph) during the partitioning. Considering only the local graph information is meaningful because acquiring complete information for large-scale graphs is expensive. Based on the Local Graph Edge Partitioning model, two local graph edge partitioning algorithms—Two-stage Local Partitioning and Adaptive Local Partitioning—are given. Experimental results obtained on 14 real-world graphs demonstrate that the proposed algorithms outperform rival algorithms in most tested cases. Furthermore, the proposed algorithms are proven to significantly improve the efficiency of the real graph computation system GraphX.

Predicting the Success of Mediation Requests Using Case Properties and Textual Information for Reducing the Burden on the Court

2021 ◽  
Author(s):  
Hsun-Ping Hsieh ◽  
JiaWei Jiang ◽  
Tzu-Hsin Yang ◽  
Renfen Hu
Keyword(s):  
Real World ◽  
Experimental Results ◽  
Criminal Cases ◽  
Time Saving ◽  
Textual Information ◽  
Negotiation Skill ◽  
Multiple Classifiers ◽  
Legal Case ◽  
Textual Data ◽  
F Measure

The success of mediation is affected by many factors, such as the context of the quarrel, personality of both parties, and the negotiation skill of the mediator, which lead to uncertainty for the predicting work. This paper takes a different approach from previous legal prediction research. It analyzes and predicts whether two parties in a dispute can reach an agreement peacefully through the conciliation of mediation. With the inference result, we can know if the mediation is a more practical and time-saving method to solve the dispute. Existing works about legal case prediction mostly focus on prosecution or criminal cases. In this work, we propose a LSTM-based framework, called LSTMEnsembler, to predict mediation results by assembling multiple classifiers. Among these classifiers, some are powerful for modeling the numerical and categorical features of case information, e.g., XGBoost and LightGBM; and, some are effective for dealing with textual data, e.g., TextCNN and BERT. The proposed LSTMEnsembler aims to not only combine the effectiveness of different classifiers intelligently, but also capture temporal dependencies from previous cases to boost the performance of mediation prediction. Our experimental results show that our proposed LSTMEnsembler can achieve 85.6% for F-measure on real-world mediation data.

SARCP - Exploiting Cyber-Attack Prediction Through Socially-Aware Recommendation

2022 ◽  
Vol 14 (1) ◽  
pp. 0-0
Keyword(s):  
Social Network ◽  
Real World ◽  
Cyber Security ◽  
Betweenness Centrality ◽  
Cyber Attacks ◽  
Experimental Results ◽  
Cyber Attack ◽  
Defence Mechanisms ◽  
Network Measure ◽  
Recommender Algorithm

In the domain of cyber security, the defence mechanisms of networks has traditionally been placed in a reactionary role. Cyber security professionals are therefore disadvantaged in a cyber-attack situation due to the fact that it is vital that they maneuver such attacks before the network is totally compromised. In this paper, we utilize the Betweenness Centrality network measure (social property) to discover possible cyber-attack paths and then employ computation of similar personality of nodes/users to generate predictions about possible attacks within the network. Our method proposes a social recommender algorithm called socially-aware recommendation of cyber-attack paths (SARCP), as an attack predictor in the cyber security defence domain. In a social network, SARCP exploits and delivers all possible paths which can result in cyber-attacks. Using a real-world dataset and relevant evaluation metrics, experimental results in the paper show that our proposed method is favorable and effective.

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