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Key derivation function: key-hash based computational extractor and stream based pseudorandom expander 密钥衍生功能:基于密钥哈希值的计算提取器和基于流的伪随机扩展器
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2249
Chai Wen Chuah, Nur Ziadah Harun, Isredza Rahmi A. Hamid
The key derivation function is a specific cryptographic algorithm that transforms private string and public strings into one or more cryptographic keys. The cryptographic keys are essential for protecting electronic data during transmission on the internet. This function is designed based on a computational extractor and pseudorandom expander and is typically constructed using various cryptography ciphers such as stream ciphers, keyed-hash message authentication codes, and block ciphers. Having secure and efficient key derivation function designs is essential in the development of numerous security systems. A vulnerable key derivation function could potentially give attackers the ability to compromise an otherwise secure cryptosystem. This research proposes a different approach by combining two different cryptography ciphers to develop key derivation functions. The findings demonstrate that a computational extractor utilizing keyed-hash message authentication codes and a pseudorandom expander using stream ciphers maintain the highest level of security while also providing efficiency benefits in terms of execution time compared to existing key derivation function schemes.
密钥推导函数是一种特定的加密算法,可将私人字符串和公共字符串转换成一个或多个加密密钥。加密密钥对于保护互联网传输过程中的电子数据至关重要。该功能基于计算提取器和伪随机扩展器设计,通常使用流密码、密钥哈希信息验证码和块密码等各种密码学密码来构建。安全高效的密钥推导函数设计对于众多安全系统的开发至关重要。易受攻击的密钥推导函数有可能使攻击者有能力破坏原本安全的密码系统。这项研究提出了一种不同的方法,即结合两种不同的密码学密码来开发密钥导出函数。研究结果表明,与现有的密钥推导函数方案相比,利用密钥哈希信息验证码的计算提取器和利用流密码的伪随机扩展器既能保持最高级别的安全性,又能在执行时间方面提高效率。
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引用次数: 0
Predicting student success in MOOCs: a comprehensive analysis using machine learning models 预测学生在 MOOC 中的成功:利用机器学习模型进行综合分析
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2221
Hosam A. Althibyani
Background This study was motivated by the increasing popularity of Massive Open Online Courses (MOOCs) and the challenges they face, such as high dropout and failure rates. The existing knowledge primarily focused on predicting student dropout, but this study aimed to go beyond that by predicting both student dropout and course results. By using machine learning models and analyzing various data sources, the study sought to improve our understanding of factors influencing student success in MOOCs. Objectives The primary aim of this research was to develop accurate predictions of students’ course outcomes in MOOCs, specifically whether they would pass or fail. Unlike previous studies, this study took into account demographic, assessment, and student interaction data to provide comprehensive predictions. Methods The study utilized demographic, assessment, and student interaction data to develop predictive models. Two machine learning methods, logistic regression, and random forest classification were employed to predict students’ course outcomes. The accuracy of the models was evaluated based on four-class classification (predicting four possible outcomes) and two-class classification (predicting pass or fail). Results and Conclusions The study found that simple indicators, such as a student’s activity level on a given day, could be as effective as more complex data combinations or personal information in predicting student success. The logistic regression model achieved an accuracy of 72.1% for four-class classification and 92.4% for 2-class classification, while the random forest classifier achieved an accuracy of 74.6% for four-class classification and 95.7% for two-class classification. These findings highlight the potential of machine learning models in predicting and understanding students’ course outcomes in MOOCs, offering valuable insights for improving student engagement and success in online learning environments.
研究背景 这项研究的动机是,大规模开放在线课程(MOOCs)越来越受欢迎,但也面临着一些挑战,如辍学率和失败率较高。现有的知识主要集中在预测学生辍学率上,但本研究旨在通过预测学生辍学率和课程成绩来超越这一点。通过使用机器学习模型和分析各种数据源,本研究试图加深我们对影响学生在 MOOCs 中取得成功的因素的理解。研究目标 本研究的主要目的是准确预测学生在 MOOC 课程中的学习效果,特别是预测他们是通过还是失败。与以往的研究不同,本研究考虑了人口统计学、评估和学生互动数据,以提供全面的预测。方法 本研究利用人口统计学、评估和学生互动数据来开发预测模型。采用逻辑回归和随机森林分类两种机器学习方法来预测学生的课程结果。根据四级分类(预测四种可能的结果)和两级分类(预测及格或不及格)对模型的准确性进行了评估。结果和结论 研究发现,在预测学生成功方面,简单的指标(如学生某天的活动量)与更复杂的数据组合或个人信息一样有效。逻辑回归模型的四级分类准确率为 72.1%,两级分类准确率为 92.4%,而随机森林分类器的四级分类准确率为 74.6%,两级分类准确率为 95.7%。这些研究结果凸显了机器学习模型在预测和了解学生在MOOCs中的课程成果方面的潜力,为提高学生在在线学习环境中的参与度和成功率提供了宝贵的见解。
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引用次数: 0
Hybrid computing framework security in dynamic offloading for IoT-enabled smart home system 物联网智能家居系统动态卸载中的混合计算框架安全性
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2211
Sheharyar Khan, Zheng Jiangbin, Farhan Ullah, Muhammad Pervez Akhter, Sohrab Khan, Fuad A. Awwad, Emad A.A. Ismail
In the distributed computing era, cloud computing has completely changed organizational operations by facilitating simple access to resources. However, the rapid development of the IoT has led to collaborative computing, which raises scalability and security challenges. To fully realize the potential of the Internet of Things (IoT) in smart home technologies, there is still a need for strong data security solutions, which are essential in dynamic offloading in conjunction with edge, fog, and cloud computing. This research on smart home challenges covers in-depth examinations of data security, privacy, processing speed, storage capacity restrictions, and analytics inside networked IoT devices. We introduce the Trusted IoT Big Data Analytics (TIBDA) framework as a comprehensive solution to reshape smart living. Our primary focus is mitigating pervasive data security and privacy issues. TIBDA incorporates robust trust mechanisms, prioritizing data privacy and reliability for secure processing and user information confidentiality within the smart home environment. We achieve this by employing a hybrid cryptosystem that combines Elliptic Curve Cryptography (ECC), Post Quantum Cryptography (PQC), and Blockchain technology (BCT) to protect user privacy and confidentiality. Additionally, we comprehensively compared four prominent Artificial Intelligence anomaly detection algorithms (Isolation Forest, Local Outlier Factor, One-Class SVM, and Elliptic Envelope). We utilized machine learning classification algorithms (random forest, k-nearest neighbors, support vector machines, linear discriminant analysis, and quadratic discriminant analysis) for detecting malicious and non-malicious activities in smart home systems. Furthermore, the main part of the research is with the help of an artificial neural network (ANN) dynamic algorithm; the TIBDA framework designs a hybrid computing system that integrates edge, fog, and cloud architecture and efficiently supports numerous users while processing data from IoT devices in real-time. The analysis shows that TIBDA outperforms these systems significantly across various metrics. In terms of response time, TIBDA demonstrated a reduction of 10–20% compared to the other systems under varying user loads, device counts, and transaction volumes. Regarding security, TIBDA’s AUC values were consistently higher by 5–15%, indicating superior protection against threats. Additionally, TIBDA exhibited the highest trustworthiness with an uptime percentage 10–12% greater than its competitors. TIBDA’s Isolation Forest algorithm achieved an accuracy of 99.30%, and the random forest algorithm achieved an accuracy of 94.70%, outperforming other methods by 8–11%. Furthermore, our ANN-based offloading decision-making model achieved a validation accuracy of 99% and reduced loss to 0.11, demonstrating significant improvements in resource utilization and system performance.
在分布式计算时代,云计算通过简化资源访问,彻底改变了组织运营。然而,物联网的快速发展带来了协同计算,从而引发了可扩展性和安全性方面的挑战。为了充分发挥物联网(IoT)在智能家居技术中的潜力,仍然需要强大的数据安全解决方案,这对于结合边缘计算、雾计算和云计算进行动态卸载至关重要。本研究针对智能家居面临的挑战,对联网物联网设备内部的数据安全、隐私、处理速度、存储容量限制和分析进行了深入研究。我们介绍了可信物联网大数据分析(TIBDA)框架,作为重塑智能生活的综合解决方案。我们的主要重点是缓解普遍存在的数据安全和隐私问题。TIBDA 融合了强大的信任机制,优先考虑数据隐私和可靠性,以确保智能家居环境中的安全处理和用户信息保密。为此,我们采用了一种混合密码系统,该系统结合了椭圆曲线密码学(ECC)、后量子密码学(PQC)和区块链技术(BCT),以保护用户隐私和机密性。此外,我们还全面比较了四种著名的人工智能异常检测算法(隔离林、局部离群因子、单类 SVM 和椭圆包络)。我们利用机器学习分类算法(随机森林、k-近邻、支持向量机、线性判别分析和二次判别分析)来检测智能家居系统中的恶意和非恶意活动。此外,研究的主要部分是在人工神经网络(ANN)动态算法的帮助下,TIBDA 框架设计了一个混合计算系统,该系统集成了边缘、雾和云架构,在实时处理物联网设备数据的同时,还能有效支持众多用户。分析表明,TIBDA 在各种指标上都明显优于这些系统。就响应时间而言,在不同的用户负载、设备数量和交易量条件下,TIBDA比其他系统缩短了10-20%。在安全性方面,TIBDA 的 AUC 值始终比其他系统高出 5-15%,这表明其对威胁的防护能力更强。此外,TIBDA 还表现出最高的可信度,其正常运行时间百分比比竞争对手高出 10-12%。TIBDA 的隔离森林算法准确率达到 99.30%,随机森林算法准确率达到 94.70%,比其他方法高出 8-11%。此外,我们基于 ANN 的卸载决策模型的验证准确率达到了 99%,损耗降低到了 0.11,在资源利用率和系统性能方面都有显著提高。
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引用次数: 0
Pre-touch reaction is preferred over post-touch reaction in interaction with displayed agent 与展示剂互动时,触前反应优于触后反应
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2277
Masahiro Shiomi
A pre-touch reaction, which is a response before a physical contact, is an essential factor for natural human-agent interaction. Although numerous studies have investigated the effectiveness of pre-touch reaction design for virtual agents in virtual reality (VR) environments and robots in physical environments, one area remains underexplored: displayed agents, i.e., on-screen computer graphics agents. To design an appropriate pre-touch reaction for such a displayed agent, this article focused on the display’s physical boundary as a criterion for the pre-touch reaction of the agent. This article developed a displayed agent system that can detect both the touch events on the screen and the pre-touch behaviors of the interacting people around the display. This study examined the effectiveness of the pre-touch reactions of the displayed agent by the developed system in experiments with human participants. The findings revealed that people significantly preferred pre-touch reactions over post-touch reactions in the context of perceived feelings.
触前反应是物理接触前的反应,是自然的人机交互的一个重要因素。尽管已有大量研究调查了虚拟现实(VR)环境中虚拟代理和物理环境中机器人的触前反应设计的有效性,但有一个领域仍未得到充分探索:显示代理,即屏幕上的计算机图形代理。为了给这种显示代理设计适当的触前反应,本文将重点放在显示屏的物理边界上,以此作为代理触前反应的标准。本文开发的显示代理系统既能检测屏幕上的触摸事件,又能检测显示屏周围交互人员的预触摸行为。本研究通过以人类参与者为对象的实验,检验了所开发系统对显示代理的预触反应的有效性。研究结果表明,与触摸后的反应相比,人们更喜欢触摸前的反应。
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引用次数: 0
Representation of negative numbers: point estimation tasks using multi-reference sonification mappings 负数的表示:使用多参考声化映射的点估算任务
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2275
Zico Pratama Putra, Deni Setiawan
In this study, we examine different approaches to the presentation of Y coordinates in mobile auditory graphs, including the representation of negative numbers. These studies involved both normally sighted and visually impaired users, as there are applications where normally sighted users might employ auditory graphs, such as the unseen monitoring of stocks, or fuel consumption in a car. Multi-reference sonification schemes are investigated as a means of improving the performance of mobile non-visual point estimation tasks. The results demonstrated that both populations are able to carry out point estimation tasks with a good level of performance when presented with auditory graphs using multiple reference tones. Additionally, visually impaired participants performed better on graphs represented in this format than normally sighted participants. This work also implements the component representation approach for negative numbers to represent the mapping by using the same positive mapping reference for the digit and adding a sign before the digit which leads to a better accuracy of the polarity sign. This work contributes to the areas of the design process of mobile auditory devices in human-computer interaction and proposed a methodological framework related to improving auditory graph performance in graph reproduction.
在本研究中,我们研究了在移动听觉图形中呈现 Y 坐标的不同方法,包括负数的表示。这些研究既涉及视力正常的用户,也涉及视力受损的用户,因为在一些应用中,视力正常的用户可能会使用听觉图形,例如看不见的股票监控或汽车油耗。研究将多参考声化方案作为提高移动非视觉点估算任务性能的一种手段。研究结果表明,在使用多参考音调的听觉图形呈现时,两种人群都能以良好的成绩完成点估算任务。此外,与视力正常的参与者相比,视障参与者在这种形式的图形上表现得更好。这项工作还实现了负数的分量表示法,通过对数字使用相同的正数映射参考来表示映射,并在数字前添加一个符号,从而提高了极性符号的准确性。这项工作为人机交互中移动听觉设备的设计过程领域做出了贡献,并提出了一个与提高图形再现中的听觉图形性能有关的方法框架。
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引用次数: 0
Reconstruction of super-resolution from high-resolution remote sensing images based on convolutional neural networks 基于卷积神经网络的高分辨率遥感图像超分辨率重构
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2218
Yang Liu, Hu Xu, Xiaodong Shi
In this study, a novel algorithm named the Edge-enhanced Generative Adversarial Network (EGAN) is proposed to address the issues of noise corruption and edge fuzziness in the super-resolution of remote sensing images. To build upon the baseline model called Deep Blind Super-Resolution GAN (DBSR-GAN), an edge enhancement module is introduced to enhance the edge information of the images. To enlarge the receptive field of the algorithm, the Mask branch within the edge enhancement structure is further optimized. Moreover, the loss of image consistency is introduced to guide edge reconstruction, and subpixel convolution is employed for upsampling, thus resulting in sharper edge contours and more consistent stylized results. To tackle the low utilization of global information and the reconstruction of super-resolution artifacts in remote sensing images, an alternative algorithm named Nonlocal Module and Artifact Discrimination EGAN (END-GAN) is proposed. The END-GAN introduces a nonlocal module based on the EGAN in the feature extraction stage of the algorithm, enabling better utilization of the internal correlations of remote sensing images and enhancing the algorithm’s capability to extract global target features. Additionally, a method discriminating artifacts is implemented to distinguish between artifacts and reals in reconstructed images. Then, the algorithm is optimized by introducing an artifact loss discrimination alongside the original loss function. Experimental comparisons on two datasets of remote sensing images, NWPUVHR-10 and UCAS-AOD, demonstrate significant improvements in the evaluation indexes when the proposed algorithm is under investigation.
本研究提出了一种名为 "边缘增强生成对抗网络"(EGAN)的新算法,以解决遥感图像超分辨率中的噪声破坏和边缘模糊问题。在名为 "深度盲超分辨率生成对抗网络"(DBSR-GAN)的基线模型基础上,引入了边缘增强模块,以增强图像的边缘信息。为了扩大算法的感受野,进一步优化了边缘增强结构中的掩码分支。此外,还引入了图像一致性损失来指导边缘重建,并采用子像素卷积进行上采样,从而获得更清晰的边缘轮廓和更一致的风格化结果。针对遥感图像中全局信息利用率低和超分辨率伪影重建的问题,提出了一种名为 "非局部模块和伪影识别 EGAN(END-GAN)"的替代算法。END-GAN在算法的特征提取阶段引入了基于EGAN的非局部模块,从而能够更好地利用遥感图像的内部相关性,增强算法提取全局目标特征的能力。此外,该算法还采用了一种识别伪影的方法,以区分重建图像中的伪影和真实图像。然后,在原始损失函数的基础上引入伪影损失判别,对算法进行优化。在 NWPUVHR-10 和 UCAS-AOD 这两个遥感图像数据集上进行的实验比较表明,在对所提出的算法进行研究时,评价指标有了显著改善。
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引用次数: 0
PSA-HWT: handwritten font generation based on pyramid squeeze attention PSA-HWT:基于金字塔挤压注意力的手写字体生成技术
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-23 DOI: 10.7717/peerj-cs.2261
Hong Zhao, Jinhai Huang, Wengai Li, Zhaobin Chang, Weijie Wang
The generator, which combines convolutional neural network (CNN) and Transformer as its core modules, serves as the primary model for the handwriting font generation network and demonstrates effective performance. However, there are still problems with insufficient feature extraction in the overall structure of the font, the thickness of strokes, and the curvature of strokes, resulting in subpar detail in the generated fonts. To solve the problems, we propose a method for constructing a handwritten font generation model based on Pyramid Squeeze Attention, called PSA-HWT. The PSA-HWT model is divided into two parts: an encoder and a decoder. In the encoder, a multi-branch structure is used to extract spatial information at different scales from the input feature map, achieving multi-scale feature extraction. This helps better capture the semantic information and global structure of the font, aiding the generation model in understanding fine-grained features such as the shape, thickness, and curvature of the font. In the decoder, it uses a self-attention mechanism to capture dependencies across various positions in the input sequence. This helps to better understand the relationship between the generated strokes or characters and the handwritten font being generated, ensuring the overall coherence of the generated handwritten text. The experimental results on the IAM dataset demonstrate that PSA-HWT achieves a 16.35% decrease in Fréchet inception distance (FID) score and a 13.09% decrease in Geometry Score (GS) compared to the current advanced methods. This indicates that PSA-HWT generates handwritten fonts of higher quality, making it more practically valuable.
该生成器以卷积神经网络(CNN)和变换器为核心模块,可作为手写字体生成网络的主要模型,并显示出有效的性能。然而,在字体的整体结构、笔画粗细和笔画弧度等方面仍存在特征提取不足的问题,导致生成的字体细节不够丰富。为了解决这些问题,我们提出了一种基于金字塔挤压注意力的手写字体生成模型的构建方法,称为 PSA-HWT。PSA-HWT 模型分为两部分:编码器和解码器。在编码器中,使用多分支结构从输入特征图中提取不同尺度的空间信息,实现多尺度特征提取。这有助于更好地捕捉字体的语义信息和全局结构,帮助生成模型理解字体的形状、粗细和弧度等细粒度特征。在解码器中,它使用自我关注机制来捕捉输入序列中不同位置的依赖关系。这有助于更好地理解生成的笔画或字符与正在生成的手写字体之间的关系,确保生成的手写文本的整体一致性。在 IAM 数据集上的实验结果表明,与目前的先进方法相比,PSA-HWT 的弗雷谢特起始距离 (FID) 分数降低了 16.35%,几何分数 (GS) 降低了 13.09%。这表明 PSA-HWT 生成的手写字体质量更高,更有实用价值。
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引用次数: 0
DES-YOLO: a novel model for real-time detection of casting surface defects DES-YOLO:用于实时检测铸件表面缺陷的新型模型
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-22 DOI: 10.7717/peerj-cs.2224
Chengjun Wang, Jiaqi Hu, Chaoyu Yang, Peng Hu
Surface defect inspection methods have proven effective in addressing casting quality control tasks. However, traditional inspection methods often struggle to achieve high-precision detection of surface defects in castings with similar characteristics and minor scales. The study introduces DES-YOLO, a novel real-time method for detecting castings’ surface defects. In the DES-YOLO model, we incorporate the DSC-Darknet backbone network and global attention mechanism (GAM) module to enhance the identification of defect target features. These additions are essential for overcoming the challenge posed by the high similarity among defect characteristics, such as shrinkage holes and slag holes, which can result in decreased detection accuracy. An enhanced pyramid pooling module is also introduced to improve feature representation for small defective parts through multi-layer pooling. We integrate Slim-Neck and SIoU bounding box regression loss functions for real-time detection in actual production scenarios. These functions reduce memory overhead and enable real-time detection of surface defects in castings. Experimental findings demonstrate that the DES-YOLO model achieves a mean average precision (mAP) of 92.6% on the CSD-DET dataset and a single-image inference speed of 3.9 milliseconds. The proposed method proves capable of swiftly and accurately accomplishing real-time detection of surface defects in castings.
事实证明,表面缺陷检测方法可有效解决铸件质量控制任务。然而,传统的检测方法往往难以对具有相似特征和微小尺度的铸件表面缺陷进行高精度检测。本研究介绍了一种用于检测铸件表面缺陷的新型实时方法 DES-YOLO。在 DES-YOLO 模型中,我们加入了 DSC-Darknet 骨干网络和全局关注机制 (GAM) 模块,以增强对缺陷目标特征的识别。这些新增功能对于克服缩孔和渣孔等缺陷特征之间的高度相似性所带来的挑战至关重要,因为这种相似性可能导致检测精度降低。此外,我们还引入了增强型金字塔汇集模块,通过多层汇集来改进小型缺陷部件的特征表示。我们集成了 Slim-Neck 和 SIoU 边框回归损失函数,以便在实际生产场景中进行实时检测。这些函数降低了内存开销,实现了铸件表面缺陷的实时检测。实验结果表明,DES-YOLO 模型在 CSD-DET 数据集上的平均精度 (mAP) 达到 92.6%,单图像推理速度为 3.9 毫秒。事实证明,所提出的方法能够快速、准确地完成铸件表面缺陷的实时检测。
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引用次数: 0
Research on marine flexible biological target detection based on improved YOLOv8 algorithm 基于改进型 YOLOv8 算法的海洋柔性生物目标探测研究
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-22 DOI: 10.7717/peerj-cs.2271
Yu Tian, Yanwen Liu, Baohang Lin, Peng Li
To address the challenge of suboptimal object detection outcomes stemming from the deformability of marine flexible biological entities, this study introduces an algorithm tailored for detecting marine flexible biological targets. Initially, we compiled a dataset comprising marine flexible biological subjects and developed a Contrast Limited Adaptive Histogram Equalization (CLAHE) algorithm, supplemented with a boundary detection enhancement module, to refine underwater image quality and accentuate the distinction between the images’ foregrounds and backgrounds. This enhancement mitigates the issue of foreground-background similarity encountered in detecting marine flexible biological entities. Moreover, the proposed adaptation incorporates a Deformable Convolutional Network (DCN) network module in lieu of the C2f module within the YOLOv8n algorithm framework, thereby augmenting the model’s proficiency in capturing geometric transformations and concentrating on pivotal areas. The Neck network module is enhanced with the RepBi-PAN architecture, bolstering its capability to amalgamate and emphasize essential characteristics of flexible biological targets. To advance the model’s feature information processing efficiency, we integrated the SimAM attention mechanism. Finally, to diminish the adverse effects of inferior-quality labels within the dataset, we advocate the use of WIoU (Wise-IoU) as a bounding box loss function, which serves to refine the anchor boxes’ quality assessment. Simulation experiments show that, in comparison to the conventional YOLOv8n algorithm, our method markedly elevates the precision of marine flexible biological target detection.
针对海洋柔性生物实体的可变形性导致目标检测结果不理想的挑战,本研究引入了一种专门用于检测海洋柔性生物目标的算法。首先,我们编制了一个包含海洋柔性生物目标的数据集,并开发了一种对比度受限自适应直方图均衡(CLAHE)算法,辅以边界检测增强模块,以改善水下图像质量,突出图像前景与背景之间的区别。这种增强功能可减轻在检测海洋柔性生物实体时遇到的前景-背景相似性问题。此外,在 YOLOv8n 算法框架内,拟议的适应性调整采用了可变形卷积网络(DCN)网络模块来替代 C2f 模块,从而提高了模型捕捉几何变换和集中于关键区域的能力。采用 RepBi-PAN 架构增强了 Neck 网络模块,提高了其综合和强调灵活生物目标基本特征的能力。为了提高模型的特征信息处理效率,我们整合了 SimAM 注意机制。最后,为了减少数据集中劣质标签的不利影响,我们提倡使用 WIoU(Wise-IoU)作为边界框损失函数,以完善锚点框的质量评估。模拟实验表明,与传统的 YOLOv8n 算法相比,我们的方法明显提高了海洋柔性生物目标检测的精度。
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引用次数: 0
Model predictive path integral for decentralized multi-agent collision avoidance 分散式多机器人防撞的模型预测路径积分
IF 3.8 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-08-21 DOI: 10.7717/peerj-cs.2220
Stepan Dergachev, Konstantin Yakovlev
Collision avoidance is a crucial component of any decentralized multi-agent navigation system. Currently, most of the existing multi-agent collision-avoidance methods either do not take into account the kinematic constraints of the agents (i.e., they assume that an agent might change the direction of movement instantaneously) or are tailored to specific kinematic motion models (e.g., car-like robots). In this work, we suggest a novel generalized approach to decentralized multi-agent collision-avoidance that can be applied to agents with arbitrary affine kinematic motion models, including but not limited to differential-drive robots, car-like robots, quadrotors, etc. The suggested approach is based on the seminal sampling-based model predictive control algorithm, i.e., MPPI, that originally solves a single-agent problem. We enhance it by introducing safe distributions for the multi-agent setting that are derived from the Optimal Reciprocal Collision Avoidance (ORCA) linear constraints, an established approach from the multi-agent navigation domain. We rigorously show that such distributions can be found by solving a specific convex optimization problem. We also provide a theoretical justification that the resultant algorithm guarantees safety, i.e., that at each time step the control suggested by our algorithm does not lead to a collision. We empirically evaluate the proposed method in simulation experiments that involve comparison with the state of the art in different setups. We find that in many cases, the suggested approach outperforms competitors and allows solving problem instances that the other methods cannot successfully solve.
避免碰撞是任何分散式多代理导航系统的重要组成部分。目前,大多数现有的多代理防撞方法要么没有考虑代理的运动学约束(即假设代理可能瞬间改变运动方向),要么是针对特定的运动学运动模型(如类车机器人)量身定制的。在这项工作中,我们提出了一种新颖的分散式多代理防撞通用方法,可应用于具有任意仿射运动模型的代理,包括但不限于差动驱动机器人、类车机器人、四旋翼机器人等。建议的方法基于开创性的基于采样的模型预测控制算法,即 MPPI,该算法最初解决的是单个代理问题。我们通过引入多机器人环境下的安全分布来增强该算法,这些安全分布来自于最优互撞避免(ORCA)线性约束,是多机器人导航领域的一种成熟方法。我们严谨地证明,这种分布可以通过解决一个特定的凸优化问题来找到。我们还提供了理论依据,说明由此产生的算法能保证安全性,即在每个时间步,我们算法建议的控制不会导致碰撞。我们在模拟实验中对所提出的方法进行了实证评估,包括在不同设置下与现有技术进行比较。我们发现,在许多情况下,建议的方法都优于竞争对手,并能解决其他方法无法成功解决的问题实例。
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引用次数: 0
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