首页 > 最新文献

2022 2nd International Conference on Artificial Intelligence (ICAI)最新文献

英文 中文
Real Time Face Recognition Based Attendance System For University Classroom 基于人脸识别的实时大学课堂考勤系统
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773650
Hajrah Sultan, Muhammad Hamza Zafar, Saba Anwer, Asim Waris, Haris Ijaz, Moaz Sarwar
Over past few years there have been significant improvements in the field of artificial intelligence. In presented paper an automatic attendance marking setup based on the concept of face recognition has been proposed. Presented system not only mark the attendance but make an excel sheet to keep the record safe. This system successfully identifies the faces from different directions as well. First an HD 1080p camera captures the face images and then after noise reduction, histogram-oriented gradient (HOG) technique is used to detect the fascial features. Dlib face recognition API has been used in this system with 97.38 % accuracy of face recognition. System can recognize all the students present in the frame and make the record of all those students whose features matches with the database. Presented system is also capable of recognizing the students' face from multiple directions. This system can also be implemented to formulate a full proof surveillance set up in certain organization based on the concept of face recognition.
在过去的几年里,人工智能领域取得了重大进展。本文提出了一种基于人脸识别的考勤系统。该系统不仅可以记录考勤,还可以制作excel表格,以保证考勤记录的安全性。该系统也成功地识别了来自不同方向的人脸。首先用高清1080p摄像机采集人脸图像,然后进行降噪处理,利用直方图定向梯度(HOG)技术检测人脸的筋膜特征。本系统采用了Dlib人脸识别API,人脸识别准确率为97.38%。系统可以识别出画面中出现的所有学生,并对所有与数据库特征匹配的学生进行记录。该系统还能够从多个方向识别学生的面部。本系统也可以实现基于人脸识别的概念,制定一个在特定机构设置的全证明监控。
{"title":"Real Time Face Recognition Based Attendance System For University Classroom","authors":"Hajrah Sultan, Muhammad Hamza Zafar, Saba Anwer, Asim Waris, Haris Ijaz, Moaz Sarwar","doi":"10.1109/ICAI55435.2022.9773650","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773650","url":null,"abstract":"Over past few years there have been significant improvements in the field of artificial intelligence. In presented paper an automatic attendance marking setup based on the concept of face recognition has been proposed. Presented system not only mark the attendance but make an excel sheet to keep the record safe. This system successfully identifies the faces from different directions as well. First an HD 1080p camera captures the face images and then after noise reduction, histogram-oriented gradient (HOG) technique is used to detect the fascial features. Dlib face recognition API has been used in this system with 97.38 % accuracy of face recognition. System can recognize all the students present in the frame and make the record of all those students whose features matches with the database. Presented system is also capable of recognizing the students' face from multiple directions. This system can also be implemented to formulate a full proof surveillance set up in certain organization based on the concept of face recognition.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123630289","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
SAT: Integrated Multi-agent Blackbox Security Assessment Tool using Machine Learning 使用机器学习的集成多代理黑箱安全评估工具
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773750
Jahanzeb Shahid, Z. Muhammad, Zafar Iqbal, Muhammad Sohaib Khan, Y. Amer, Weisheng Si
The widespread adoption of eCommerce, iBanking, and eGovernment institutions has resulted in an exponential rise in the use of web applications. Due to a large number of users, web applications have become a prime target of cybercriminals who want to steal Personally Identifiable Information (PII) and disrupt business activities. Hence, there is a dire need to audit the websites and ensure information security. In this regard, several web vulnerability scanners are employed for vulnerability assessment of web applications but attacks are still increasing day by day. Therefore, a considerable amount of research has been carried out to measure the effectiveness and limitations of the publicly available web scanners. It is identified that most of the publicly available scanners possess weaknesses and do not generate desired results. In this paper, the evaluation of publicly available web vulnerability scanners is performed against the top ten OWASP11OWASP® The Open Web Application Security Project (OWASP) is an online community that produces comprehensive articles, documentation, methodologies, and tools in the arena of web and mobile security. vulnerabilities and their performance is measured on the precision of their results. Based on these results, we proposed an Integrated Multi-Agent Blackbox Security Assessment Tool (SAT) for the security assessment of web applications. Research has proved that the vulnerabilities assessment results of the SAT are more extensive and accurate.
电子商务、电子银行和电子政务机构的广泛采用导致了web应用程序使用的指数级增长。由于用户数量庞大,网络应用程序已成为网络犯罪分子窃取个人身份信息(PII)和破坏商业活动的主要目标。因此,迫切需要对网站进行审计,以确保信息安全。在这方面,一些web漏洞扫描器被用于web应用程序的漏洞评估,但攻击仍然日益增加。因此,已经进行了大量的研究来衡量公开可用的web扫描仪的有效性和局限性。可以确定的是,大多数公开可用的扫描器都有弱点,不能产生期望的结果。开放web应用程序安全项目(OWASP)是一个在线社区,在web和移动安全领域产生全面的文章、文档、方法和工具。漏洞及其性能是根据其结果的精确度来衡量的。在此基础上,我们提出了一种集成多代理黑箱安全评估工具(SAT),用于web应用程序的安全评估。研究证明,SAT的漏洞评估结果更为广泛和准确。
{"title":"SAT: Integrated Multi-agent Blackbox Security Assessment Tool using Machine Learning","authors":"Jahanzeb Shahid, Z. Muhammad, Zafar Iqbal, Muhammad Sohaib Khan, Y. Amer, Weisheng Si","doi":"10.1109/ICAI55435.2022.9773750","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773750","url":null,"abstract":"The widespread adoption of eCommerce, iBanking, and eGovernment institutions has resulted in an exponential rise in the use of web applications. Due to a large number of users, web applications have become a prime target of cybercriminals who want to steal Personally Identifiable Information (PII) and disrupt business activities. Hence, there is a dire need to audit the websites and ensure information security. In this regard, several web vulnerability scanners are employed for vulnerability assessment of web applications but attacks are still increasing day by day. Therefore, a considerable amount of research has been carried out to measure the effectiveness and limitations of the publicly available web scanners. It is identified that most of the publicly available scanners possess weaknesses and do not generate desired results. In this paper, the evaluation of publicly available web vulnerability scanners is performed against the top ten OWASP11OWASP® The Open Web Application Security Project (OWASP) is an online community that produces comprehensive articles, documentation, methodologies, and tools in the arena of web and mobile security. vulnerabilities and their performance is measured on the precision of their results. Based on these results, we proposed an Integrated Multi-Agent Blackbox Security Assessment Tool (SAT) for the security assessment of web applications. Research has proved that the vulnerabilities assessment results of the SAT are more extensive and accurate.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127962865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A Usability and Accuracy Measurement of Smartphones Face Recognition 智能手机人脸识别的可用性和准确性测量
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773408
Ammar Haider, Nosheen Sabahat
Smartphones are now omnipresent in all aspects of our lives. Innovation interconnects people towards sparing information, accessing data and personal information on smartphones. However, there is continuously a security threat. For this reason, modern smartphones have utilized face recognition feature to authenticate the users. Smartphone manufacturers claim that the face recognition technology is dependable, trustable, and secure. This research is done to test the usability measurement and accuracy analysis of face recognition by experiencing the user experiments on 200 participants, within lab swot, along with user experience and adoption decision. We explore the five usability components and fourteen diverse face behaviours and representation to authentication.
智能手机现在在我们生活的方方面面无处不在。创新使人们在智能手机上节约信息,获取数据和个人信息。然而,安全威胁一直存在。因此,现代智能手机已经利用人脸识别功能来验证用户。智能手机制造商声称面部识别技术是可靠、可信和安全的。本研究通过在实验室swot中对200名参与者进行用户实验,以及用户体验和采用决策,来测试人脸识别的可用性测量和准确性分析。我们探索了五个可用性组件和十四种不同的面部行为和身份验证的表示。
{"title":"A Usability and Accuracy Measurement of Smartphones Face Recognition","authors":"Ammar Haider, Nosheen Sabahat","doi":"10.1109/ICAI55435.2022.9773408","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773408","url":null,"abstract":"Smartphones are now omnipresent in all aspects of our lives. Innovation interconnects people towards sparing information, accessing data and personal information on smartphones. However, there is continuously a security threat. For this reason, modern smartphones have utilized face recognition feature to authenticate the users. Smartphone manufacturers claim that the face recognition technology is dependable, trustable, and secure. This research is done to test the usability measurement and accuracy analysis of face recognition by experiencing the user experiments on 200 participants, within lab swot, along with user experience and adoption decision. We explore the five usability components and fourteen diverse face behaviours and representation to authentication.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121621075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Robust Artificial Intelligence Approach to Stabilize and Control Propeller Driven Hybrid UGV 螺旋桨驱动混合UGV稳定与控制的鲁棒人工智能方法
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773375
Bushra Rasheed, M. Usama, Asmara Safdar
Hybrid Unmanned Ground Vehicle (HUGV) can drive on any terrain including walls and fly as well, using the multi directional thrust force of propellers. In the era of industrial revolution, hybrid UGVs need to be autonomous with intelligent decision making capabilities. During wall climbing of hybrid UGVs, stability is essential and depends on real time feedback from multiple sensors. To increase stability and control, it is proposed that PID control loops should be replaced by AI based algorithms that reduce the decision time and mathematical complexity. For autonomous movement in any terrain using the proposed model, intelligent UGVs can map and localize simultaneously.They can make intelligent decisions about mode of movement i.e. driving on ground or wall, steering on ground or wall, flying and maneuvering by using real time sensor readings. Integration of the proposed AI models with HUGV can be applied to many areas which are hard for humans to access, for instance; inspection of large structures, bio & nuclear hazard environments, planetary exploration & magnetic fields detection.
混合动力无人地面飞行器(HUGV)利用螺旋桨的多向推力,可以在包括墙壁在内的任何地形上行驶和飞行。在工业革命时代,混合动力ugv需要具备自主性和智能决策能力。在混合动力ugv爬壁过程中,稳定性是至关重要的,它依赖于多个传感器的实时反馈。为了提高稳定性和控制性,建议用基于AI的算法取代PID控制回路,以减少决策时间和数学复杂度。对于任意地形的自主运动,智能ugv可以同时进行地图和定位。他们可以通过使用实时传感器读数做出关于运动模式的智能决策,即在地面或墙壁上驾驶,在地面或墙壁上转向,飞行和机动。所提出的人工智能模型与HUGV的集成可以应用于许多人类难以进入的领域,例如;大型结构检测、生物和核危害环境检测、行星探测和磁场检测。
{"title":"Robust Artificial Intelligence Approach to Stabilize and Control Propeller Driven Hybrid UGV","authors":"Bushra Rasheed, M. Usama, Asmara Safdar","doi":"10.1109/ICAI55435.2022.9773375","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773375","url":null,"abstract":"Hybrid Unmanned Ground Vehicle (HUGV) can drive on any terrain including walls and fly as well, using the multi directional thrust force of propellers. In the era of industrial revolution, hybrid UGVs need to be autonomous with intelligent decision making capabilities. During wall climbing of hybrid UGVs, stability is essential and depends on real time feedback from multiple sensors. To increase stability and control, it is proposed that PID control loops should be replaced by AI based algorithms that reduce the decision time and mathematical complexity. For autonomous movement in any terrain using the proposed model, intelligent UGVs can map and localize simultaneously.They can make intelligent decisions about mode of movement i.e. driving on ground or wall, steering on ground or wall, flying and maneuvering by using real time sensor readings. Integration of the proposed AI models with HUGV can be applied to many areas which are hard for humans to access, for instance; inspection of large structures, bio & nuclear hazard environments, planetary exploration & magnetic fields detection.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134302204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive Neural-Sliding Mode Control of a Quadrotor Vehicle with Uncertainties and Disturbances Compensation 具有不确定性和扰动补偿的四旋翼飞行器自适应神经滑模控制
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773561
Mati Ullah, Chunhui Zhao, Hamid Maqsood, Alam Nasir, M. Humayun, Mahmood Ul Hassan, Faiz Alam
This paper addresses the quadrotor vehicle control problem in the presence of parametric uncertainties and exogenous disturbances by introducing a finite-time extended disturbance observer-based adaptive neural sliding mode control (FTEDO-ANSMC) approach. The proposed FTEDO makes the controller robust to exogenous disturbances while eliminating the chattering issue in the control input. The designed SMC utilizes an adaptive neural network to tune its parameters online while a sliding mode concept-based weight update law is employed in the neural network to auto-update its weight parameters instead of conventional error-based weight update law without increasing the computational complexities, thereby enhancing the network's learning speed. The stability of the proposed control strategy is verified via Lyapunov theory. The simulation results of the proposed control strategy and its comparison with the conventional control strategy confirm its validity and efficacy.
本文通过引入一种基于有限时间扩展扰动观测器的自适应神经滑模控制(FTEDO-ANSMC)方法,解决了存在参数不确定性和外源干扰的四旋翼飞行器控制问题。提出的FTEDO使控制器对外源干扰具有鲁棒性,同时消除了控制输入中的抖振问题。所设计的SMC利用自适应神经网络在线调整其参数,同时在不增加计算复杂度的情况下,采用基于滑模概念的权值更新律代替传统的基于误差的权值更新律自动更新其权值参数,从而提高了网络的学习速度。通过李亚普诺夫理论验证了所提控制策略的稳定性。仿真结果验证了该控制策略的有效性,并与传统控制策略进行了比较。
{"title":"Adaptive Neural-Sliding Mode Control of a Quadrotor Vehicle with Uncertainties and Disturbances Compensation","authors":"Mati Ullah, Chunhui Zhao, Hamid Maqsood, Alam Nasir, M. Humayun, Mahmood Ul Hassan, Faiz Alam","doi":"10.1109/ICAI55435.2022.9773561","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773561","url":null,"abstract":"This paper addresses the quadrotor vehicle control problem in the presence of parametric uncertainties and exogenous disturbances by introducing a finite-time extended disturbance observer-based adaptive neural sliding mode control (FTEDO-ANSMC) approach. The proposed FTEDO makes the controller robust to exogenous disturbances while eliminating the chattering issue in the control input. The designed SMC utilizes an adaptive neural network to tune its parameters online while a sliding mode concept-based weight update law is employed in the neural network to auto-update its weight parameters instead of conventional error-based weight update law without increasing the computational complexities, thereby enhancing the network's learning speed. The stability of the proposed control strategy is verified via Lyapunov theory. The simulation results of the proposed control strategy and its comparison with the conventional control strategy confirm its validity and efficacy.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115240503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Team of Tiny ANNs: A Way Towards Cost-Efficient Scalable Deep Learning 微型人工神经网络团队:实现经济高效的可扩展深度学习的方法
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773451
Hamad Younis, Muhammad Hassan, Shahzad Younis, Muhammad Shafique
Deep neural networks (DNNs) have latterly accomplished enormous success in various image recognition tasks. Although, training large DNN models are computationally expensive and memory intensive. So the natural idea is to do network compression and acceleration without significantly diminishing the performance of the model. In this paper, we propose a rapid and accurate method of training a neural network that has a small computation time and fewer parameters. The features are extracted using the Discrete Wavelet Transform (DWT) method. A voting-based classifier comprising a team of tiny artificial neural networks is proposed. The proposed classifier combines all the classification votes from the different sub-bands (models) to obtain the final class label, thus, achieving a similar classification accuracy of standard neural network architecture. The experiments were illustrated on benchmark data-sets of MNIST and EMNIST. On MNIST dataset, the trained models achieve the highest accuracy of 93.16 % for original and 90.44 % for Low-Low (LL) sub-band images. On the EMNIST dataset, accuracy of 90.13% for original and 87.40% for LL sub-band images has been obtained, respectively.
深度神经网络(dnn)最近在各种图像识别任务中取得了巨大的成功。尽管如此,训练大型DNN模型在计算上是昂贵的,并且占用大量内存。因此,自然的想法是在不显著降低模型性能的情况下进行网络压缩和加速。本文提出了一种计算时间短、参数少的快速、准确的神经网络训练方法。使用离散小波变换(DWT)方法提取特征。提出了一种基于投票的分类器,该分类器由一组微型人工神经网络组成。该分类器将来自不同子带(模型)的所有分类投票组合在一起,从而获得最终的类别标签,从而达到与标准神经网络结构相似的分类精度。在MNIST和EMNIST的基准数据集上进行了实验说明。在MNIST数据集上,训练后的模型对原始图像的准确率为93.16%,对Low-Low (LL)子带图像的准确率为90.44%。在EMNIST数据集上,原始子带图像的准确率为90.13%,LL子带图像的准确率为87.40%。
{"title":"Team of Tiny ANNs: A Way Towards Cost-Efficient Scalable Deep Learning","authors":"Hamad Younis, Muhammad Hassan, Shahzad Younis, Muhammad Shafique","doi":"10.1109/ICAI55435.2022.9773451","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773451","url":null,"abstract":"Deep neural networks (DNNs) have latterly accomplished enormous success in various image recognition tasks. Although, training large DNN models are computationally expensive and memory intensive. So the natural idea is to do network compression and acceleration without significantly diminishing the performance of the model. In this paper, we propose a rapid and accurate method of training a neural network that has a small computation time and fewer parameters. The features are extracted using the Discrete Wavelet Transform (DWT) method. A voting-based classifier comprising a team of tiny artificial neural networks is proposed. The proposed classifier combines all the classification votes from the different sub-bands (models) to obtain the final class label, thus, achieving a similar classification accuracy of standard neural network architecture. The experiments were illustrated on benchmark data-sets of MNIST and EMNIST. On MNIST dataset, the trained models achieve the highest accuracy of 93.16 % for original and 90.44 % for Low-Low (LL) sub-band images. On the EMNIST dataset, accuracy of 90.13% for original and 87.40% for LL sub-band images has been obtained, respectively.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"94 23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129071724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Smooth Gait Generation for Quadrupedal Robots Based on Genetic Algorithm Optimization 基于遗传算法优化的四足机器人平滑步态生成
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773617
Zainullah Khan, Farhat Naseer, Fahad Iqbal Khawaja, Sara Ali, Muhammad Sajid, Y. Ayaz
Gait generation is the process of finding a sequence of robot leg movements, which propel the robot in the desired direction when executed in a certain order. It is an optimization problem where multiple parameters need to be tuned in order to generate an optimal gait. In this paper, we propose a novel technique to improve the gait quality of a quadrupedal robot. In our proposed technique, we create an optimal fitness function for a Genetic Algorithm (GA) optimizer and use a trapezoidal velocity profile for joint movements. Our quadrupedal robot consists of 8 joints, 2 per leg. All joints are actuated by servo motors. The robot joints are controlled using a single layer Artificial Neural Network (ANN) whose inputs are the current robot joint angles and outputs are the target joint angles. The ANN is called every time the joints reach their target positions. A GA is used to optimize the ANN weights. The GA runs for a total of 100 generations over a population size of 10. The fitness function is a combination of the total distance traveled by the robot, and a scaling factor for the fitness value based on the overall joint movements. This discourages the GA from optimizing gaits that tend to an idle state. The controllers are selected based on how well they maximize the fitness function. The simulation of the robot is carried out in Open Dynamics Engine (ODE). The results show that the proposed technique considerably improves the overall fitness of the gait and the total distance traveled by the robot. Moreover, the proposed technique converges to an optimal gait in under 20 generations whereas the existing method takes over 40 generations. Furthermore, the robot joint movement is much smoother in the proposed method hence reducing the jerking in the robot motion.
步态生成是寻找机器人腿部运动序列的过程,这些运动序列按照一定的顺序执行,推动机器人朝着期望的方向运动。这是一个需要调整多个参数以产生最优步态的优化问题。本文提出了一种改进四足机器人步态质量的新技术。在我们提出的技术中,我们为遗传算法(GA)优化器创建了最优适应度函数,并使用梯形速度剖面进行关节运动。我们的四足机器人由8个关节组成,每条腿2个关节。所有关节由伺服电机驱动。采用单层人工神经网络(ANN)对机器人关节进行控制,其输入为机器人当前关节角度,输出为目标关节角度。每次关节到达目标位置时,都会调用人工神经网络。采用遗传算法优化人工神经网络的权重。遗传算法在种群规模为10的情况下总共运行100代。适应度函数是机器人行走的总距离和基于关节整体运动的适应度值的比例因子的组合。这阻碍了GA优化趋向于空闲状态的步态。控制器的选择是基于它们最大化适应度函数的程度。在开放动力学引擎(ODE)中对机器人进行了仿真。结果表明,该方法显著提高了步态的整体适应度和机器人的总行走距离。此外,该技术收敛到最优步态在20代以内,而现有的方法需要超过40代。此外,该方法使机器人关节运动更加平滑,从而减少了机器人运动中的抖动。
{"title":"Smooth Gait Generation for Quadrupedal Robots Based on Genetic Algorithm Optimization","authors":"Zainullah Khan, Farhat Naseer, Fahad Iqbal Khawaja, Sara Ali, Muhammad Sajid, Y. Ayaz","doi":"10.1109/ICAI55435.2022.9773617","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773617","url":null,"abstract":"Gait generation is the process of finding a sequence of robot leg movements, which propel the robot in the desired direction when executed in a certain order. It is an optimization problem where multiple parameters need to be tuned in order to generate an optimal gait. In this paper, we propose a novel technique to improve the gait quality of a quadrupedal robot. In our proposed technique, we create an optimal fitness function for a Genetic Algorithm (GA) optimizer and use a trapezoidal velocity profile for joint movements. Our quadrupedal robot consists of 8 joints, 2 per leg. All joints are actuated by servo motors. The robot joints are controlled using a single layer Artificial Neural Network (ANN) whose inputs are the current robot joint angles and outputs are the target joint angles. The ANN is called every time the joints reach their target positions. A GA is used to optimize the ANN weights. The GA runs for a total of 100 generations over a population size of 10. The fitness function is a combination of the total distance traveled by the robot, and a scaling factor for the fitness value based on the overall joint movements. This discourages the GA from optimizing gaits that tend to an idle state. The controllers are selected based on how well they maximize the fitness function. The simulation of the robot is carried out in Open Dynamics Engine (ODE). The results show that the proposed technique considerably improves the overall fitness of the gait and the total distance traveled by the robot. Moreover, the proposed technique converges to an optimal gait in under 20 generations whereas the existing method takes over 40 generations. Furthermore, the robot joint movement is much smoother in the proposed method hence reducing the jerking in the robot motion.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132512953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Force Myography based HMI for Classification of Upper Extremity Gestures 基于力肌图的HMI上肢手势分类
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773429
Mustafa Ur Rehman, Kamran Shah, Izhar ul Haq, H. Khurshid
Advancement in the field of rehabilitation has led to develop state-of-art multi-dexterous robotic hands such that to restore Activities of Daily Livings (ADLs) of upper limb amputees. However, these high-tech devices require an effective human-machine interface (HMI) for conversion of musculotendinous activities to myoelectric signals for control and functioning of robotic hands. In this study, a novel force myography (FMG) based HMI, considered as a potential alternate to sEMG, was developed. FMG band having five resistive based pressure sensors was developed for monitoring of change in stiffness of muscles during gestures. This flexible, un-stretchable, and adjustable FMG band is capable to be fastened on any adult forearm regardless of the size and shape of forearm. Voltage divider circuit was used to extract signals from FMG band. Five intact subjects participated in this study and protocol was developed for prediction of five static gestures such as relax, power, precision, supination, and pronation. All of subjects recorded selected gestures for three times. Gestures were classified using linear discriminant analysis (LDA) and support vector machines (SVM). SVM shows higher classification accuracy than LDA. LDA and SVM demonstrated prediction accuracies upto 87.2% and 93.3%, respectively.
在康复领域的进步,导致发展国家的最先进的多灵巧机器人手,以恢复上肢截肢者的日常生活活动(ADLs)。然而,这些高科技设备需要一个有效的人机界面(HMI)来将肌肉肌腱活动转换为肌电信号,以控制和发挥机械手的功能。在这项研究中,开发了一种新的基于力肌图(FMG)的HMI,被认为是表面肌电的潜在替代品。FMG腕带具有5个基于电阻的压力传感器,用于监测手势时肌肉僵硬度的变化。这种灵活的,不可拉伸的,可调节的FMG带能够固定在任何成人前臂上,无论前臂的大小和形状。采用分压电路对FMG波段进行信号提取。五个完整的受试者参与了这项研究,并制定了五个静态手势的预测方案,如放松、力量、精确、旋后和旋前。所有的实验对象都记录了三次选定的手势。采用线性判别分析(LDA)和支持向量机(SVM)对手势进行分类。SVM的分类准确率高于LDA。LDA和SVM的预测准确率分别达到87.2%和93.3%。
{"title":"A Force Myography based HMI for Classification of Upper Extremity Gestures","authors":"Mustafa Ur Rehman, Kamran Shah, Izhar ul Haq, H. Khurshid","doi":"10.1109/ICAI55435.2022.9773429","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773429","url":null,"abstract":"Advancement in the field of rehabilitation has led to develop state-of-art multi-dexterous robotic hands such that to restore Activities of Daily Livings (ADLs) of upper limb amputees. However, these high-tech devices require an effective human-machine interface (HMI) for conversion of musculotendinous activities to myoelectric signals for control and functioning of robotic hands. In this study, a novel force myography (FMG) based HMI, considered as a potential alternate to sEMG, was developed. FMG band having five resistive based pressure sensors was developed for monitoring of change in stiffness of muscles during gestures. This flexible, un-stretchable, and adjustable FMG band is capable to be fastened on any adult forearm regardless of the size and shape of forearm. Voltage divider circuit was used to extract signals from FMG band. Five intact subjects participated in this study and protocol was developed for prediction of five static gestures such as relax, power, precision, supination, and pronation. All of subjects recorded selected gestures for three times. Gestures were classified using linear discriminant analysis (LDA) and support vector machines (SVM). SVM shows higher classification accuracy than LDA. LDA and SVM demonstrated prediction accuracies upto 87.2% and 93.3%, respectively.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115271296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Real-Time Anomaly Detection for Smart and Safe City Using Spatiotemporal Deep Learning 基于时空深度学习的智慧平安城市实时异常检测
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773464
Rabia Hasib, Atif Jan, G. Khan
A smart city ensures the safety of its citizens by the reduction of crime and terror threats. Despite intensive efforts to prevent and control anomalous human activities, they still pose a major risk and challenge to the society. This paper presents an automatic recognition of unusual human behavior captured by a CCTV camera in public areas, using spatio-temporal 3D convolutional neural networks. The weakly labeled benchmark dataset has been properly annotated to remove noise for accurately localizing anomalies within videos. This human-related dataset with real crime scenes is then compared to other state-of-the-art techniques such as Pseudo 3D and ResNet 3D. Our experimental results on the newly developed dataset outperforms most competing models in terms of area under the curve (AUC), obtaining 97.39% AUC.
智慧城市通过减少犯罪和恐怖威胁来确保市民的安全。人类异常活动虽然防控力度加大,但仍对社会构成重大风险和挑战。本文介绍了一种利用时空三维卷积神经网络对公共场所闭路电视摄像机捕捉到的异常行为进行自动识别的方法。对弱标记基准数据集进行了适当的注释,以消除噪声,从而准确地定位视频中的异常。然后将与真实犯罪现场相关的人类数据集与其他最先进的技术(如Pseudo 3D和ResNet 3D)进行比较。我们在新开发的数据集上的实验结果在曲线下面积(AUC)方面优于大多数竞争模型,获得97.39%的AUC。
{"title":"Real-Time Anomaly Detection for Smart and Safe City Using Spatiotemporal Deep Learning","authors":"Rabia Hasib, Atif Jan, G. Khan","doi":"10.1109/ICAI55435.2022.9773464","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773464","url":null,"abstract":"A smart city ensures the safety of its citizens by the reduction of crime and terror threats. Despite intensive efforts to prevent and control anomalous human activities, they still pose a major risk and challenge to the society. This paper presents an automatic recognition of unusual human behavior captured by a CCTV camera in public areas, using spatio-temporal 3D convolutional neural networks. The weakly labeled benchmark dataset has been properly annotated to remove noise for accurately localizing anomalies within videos. This human-related dataset with real crime scenes is then compared to other state-of-the-art techniques such as Pseudo 3D and ResNet 3D. Our experimental results on the newly developed dataset outperforms most competing models in terms of area under the curve (AUC), obtaining 97.39% AUC.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116695790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design of an Advance Intrusion Detection System for IoT Networks 面向物联网网络的高级入侵检测系统设计
Pub Date : 2022-03-30 DOI: 10.1109/ICAI55435.2022.9773747
A. Sarwar, Salva Hasan, W. Khan, Salman Ahmed, S. N. K. Marwat
The Internet of Things (IoT) is advancing technology by creating smart surroundings that make it easier for humans to do their work. This technological advancement not only improves human life and expands economic opportunities, but also allows intruders or attackers to discover and exploit numerous methods in order to circumvent the security of IoT networks. Hence, security and privacy are the key concerns to the IoT networks. It is vital to protect computer and IoT networks from many sorts of anomalies and attacks. Traditional intrusion detection systems (IDS) collect and employ large amounts of data with irrelevant and inappropriate attributes to train machine learning models, resulting in long detection times and a high rate of misclassification. This research presents an advance approach for the design of IDS for IoT networks based on the Particle Swarm Optimization Algorithm (PSO) for feature selection and the Extreme Gradient Boosting (XGB) model for PSO fitness function. The classifier utilized in the intrusion detection process is Random Forest (RF). The IoTID20 is being utilized to evaluate the efficacy and robustness of our suggested strategy. The proposed system attains the following level of accuracy on the IoTID20 dataset for different levels of classification: Binary classification 98 %, multiclass classification 83 %. The results indicate that the proposed framework effectively detects cyber threats and improves the security of IoT networks.
物联网(IoT)正在通过创造智能环境来推动技术进步,使人类更容易完成工作。这种技术进步不仅改善了人类的生活,扩大了经济机会,而且还允许入侵者或攻击者发现和利用许多方法,以绕过物联网网络的安全。因此,安全和隐私是物联网网络的关键问题。保护计算机和物联网网络免受各种异常和攻击至关重要。传统的入侵检测系统(IDS)收集和使用大量具有不相关和不适当属性的数据来训练机器学习模型,导致检测时间长,误分类率高。本文提出了一种基于粒子群优化算法(PSO)特征选择和极限梯度增强(XGB)模型的物联网网络入侵检测系统设计方法。入侵检测过程中使用的分类器是随机森林。IoTID20被用来评估我们建议的策略的有效性和稳健性。本文提出的系统在IoTID20数据集上对不同级别的分类达到以下精度水平:二元分类98%,多类分类83%。结果表明,该框架有效地检测了网络威胁,提高了物联网网络的安全性。
{"title":"Design of an Advance Intrusion Detection System for IoT Networks","authors":"A. Sarwar, Salva Hasan, W. Khan, Salman Ahmed, S. N. K. Marwat","doi":"10.1109/ICAI55435.2022.9773747","DOIUrl":"https://doi.org/10.1109/ICAI55435.2022.9773747","url":null,"abstract":"The Internet of Things (IoT) is advancing technology by creating smart surroundings that make it easier for humans to do their work. This technological advancement not only improves human life and expands economic opportunities, but also allows intruders or attackers to discover and exploit numerous methods in order to circumvent the security of IoT networks. Hence, security and privacy are the key concerns to the IoT networks. It is vital to protect computer and IoT networks from many sorts of anomalies and attacks. Traditional intrusion detection systems (IDS) collect and employ large amounts of data with irrelevant and inappropriate attributes to train machine learning models, resulting in long detection times and a high rate of misclassification. This research presents an advance approach for the design of IDS for IoT networks based on the Particle Swarm Optimization Algorithm (PSO) for feature selection and the Extreme Gradient Boosting (XGB) model for PSO fitness function. The classifier utilized in the intrusion detection process is Random Forest (RF). The IoTID20 is being utilized to evaluate the efficacy and robustness of our suggested strategy. The proposed system attains the following level of accuracy on the IoTID20 dataset for different levels of classification: Binary classification 98 %, multiclass classification 83 %. The results indicate that the proposed framework effectively detects cyber threats and improves the security of IoT networks.","PeriodicalId":146842,"journal":{"name":"2022 2nd International Conference on Artificial Intelligence (ICAI)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131384129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
期刊
2022 2nd International Conference on Artificial Intelligence (ICAI)
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1