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  • Open Access


    AI Safety Approach for Minimizing Collisions in Autonomous Navigation

    Abdulghani M. Abdulghani, Mokhles M. Abdulghani, Wilbur L. Walters, Khalid H. Abed*

    Journal on Artificial Intelligence, Vol.5, pp. 1-14, 2023, DOI:10.32604/jai.2023.039786

    Abstract Autonomous agents can explore the environment around them when equipped with advanced hardware and software systems that help intelligent agents minimize collisions. These systems are developed under the term Artificial Intelligence (AI) safety. AI safety is essential to provide reliable service to consumers in various fields such as military, education, healthcare, and automotive. This paper presents the design of an AI safety algorithm for safe autonomous navigation using Reinforcement Learning (RL). Machine Learning Agents Toolkit (ML-Agents) was used to train the agent with a proximal policy optimizer algorithm with an intrinsic curiosity module (PPO + ICM). This training aims to improve AI… More >

  • Open Access


    Analyse des empreintes guidée par un modèle de connaissances pour la compréhension des dynamiques de navigation maritime côtière

    Wissame Laddada1 , Éric Saux2

    Revue Internationale de Géomatique, Vol.31, No.1, pp. 111-133, 2022, DOI:10.3166/RIG31.111-133

    Abstract The spatial footprints, historical or acquired in real time, help to understand the dynamics of their carriers. In a context of coastal maritime navigation, the research presented details the approach of setting up a knowledge model aimed at a semantic analysis of ship footprints. This model is defined on the basis of knowledge gathered from experts in this field, supplemented by textual and graphic descriptions. After having described these navigation principles, we present the stages leading to such a knowledge model. The research is completed by the formalization of rules relating to the visibility of landmarks. Finally, a reasoning leads… More >

  • Open Access


    INS-GNSS Integrated Navigation Algorithm Based on TransGAN

    Linxuan Wang1,*, Xiangwei Kong1, Hongzhe Xu2, Hong Li1

    Intelligent Automation & Soft Computing, Vol.37, No.1, pp. 91-110, 2023, DOI:10.32604/iasc.2023.035876

    Abstract With the rapid development of autopilot technology, a variety of engineering applications require higher and higher requirements for navigation and positioning accuracy, as well as the error range should reach centimeter level. Single navigation systems such as the inertial navigation system (INS) and the global navigation satellite system (GNSS) cannot meet the navigation requirements in many cases of high mobility and complex environments. For the purpose of improving the accuracy of INS-GNSS integrated navigation system, an INSGNSS integrated navigation algorithm based on TransGAN is proposed. First of all, the GNSS data in the actual test process is applied to establish… More >

  • Open Access


    Analysis and Design of Surgical Instrument Localization Algorithm

    Siyu Lu1, Jun Yang1, Bo Yang1, Zhengtong Yin2, Mingzhe Liu3,*, Lirong Yin4, Wenfeng Zheng1,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.1, pp. 669-685, 2023, DOI:10.32604/cmes.2023.027417

    Abstract With the help of surgical navigation system, doctors can operate on patients more intuitively and accurately. The positioning accuracy and real-time performance of surgical instruments are very important to the whole system. In this paper, we analyze and design the detection algorithm of surgical instrument location mark, and estimate the posture of surgical instrument. In addition, we optimized the pose by remapping. Finally, the algorithm of location mark detection proposed in this paper and the posture analysis data of surgical instruments are verified and analyzed through experiments. The final result shows a high accuracy. More >

  • Open Access


    Real-Time Indoor Path Planning Using Object Detection for Autonomous Flying Robots

    Onder Alparslan*, Omer Cetin

    Intelligent Automation & Soft Computing, Vol.36, No.3, pp. 3355-3370, 2023, DOI:10.32604/iasc.2023.035689

    Abstract Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area. One of the simplest and most efficient algorithms, the artificial potential field algorithm (APF), may provide real-time navigation in those places but fall into local minimum in some cases. To overcome this problem and to present alternative escape routes for a robot, possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm. This study utilized a proposed sensor fusion method and an improved object classification method for… More >

  • Open Access


    Deep Learning Implemented Visualizing City Cleanliness Level by Garbage Detection

    M. S. Vivekanandan1, T. Jesudas2,*

    Intelligent Automation & Soft Computing, Vol.36, No.2, pp. 1639-1652, 2023, DOI:10.32604/iasc.2023.032301

    Abstract In an urban city, the daily challenges of managing cleanliness are the primary aspect of routine life, which requires a large number of resources, the manual process of labour, and budget. Street cleaning techniques include street sweepers going away to different metropolitan areas, manually verifying if the street required cleaning taking action. This research presents novel street garbage recognizing robotic navigation techniques by detecting the city’s street-level images and multi-level segmentation. For the large volume of the process, the deep learning-based methods can be better to achieve a high level of classification, object detection, and accuracy than other learning algorithms.… More >

  • Open Access


    Spatio Temporal Tourism Tracking System Based on Adaptive Convolutional Neural Network

    L. Maria Michael Visuwasam1,*, D. Paul Raj2

    Computer Systems Science and Engineering, Vol.45, No.3, pp. 2435-2446, 2023, DOI:10.32604/csse.2023.024742

    Abstract Technological developments create a lot of impacts in the tourism industry. Emerging big data technologies and programs generate opportunities to enhance the strategy and results for transport security. However, there is a difference between technological advances and their integration into the methods of tourism study. The rising popularity of Freycinet National Park led to a master plan that would not address cultural and environmental issues. This study addresses the gap by using a synthesized application (app) for demographic surveys and Global Navigation Satellite System (GNSS) technology to implement research processes. This article focuses on managing visitors within the famous Freycinet… More >

  • Open Access


    Improved Adaptive Iterated Extended Kalman Filter for GNSS/INS/UWB-Integrated Fixed-Point Positioning

    Qingdong Wu1, Chenxi Li2, Tao Shen2, Yuan Xu2,3,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.3, pp. 1761-1772, 2023, DOI:10.32604/cmes.2022.020545

    Abstract To provide stable and accurate position information of control points in a complex coastal environment, an adaptive iterated extended Kalman filter (AIEKF) for fixed-point positioning integrating global navigation satellite system, inertial navigation system, and ultra wide band (UWB) is proposed. In this method, the switched global navigation satellite system (GNSS) and UWB measurement are used as the measurement of the proposed filter. For the data fusion filter, the expectation-maximization (EM) based IEKF is used as the forward filter, then, the Rauch-Tung-Striebel smoother for IEKF filter’s result smoothing. Tests illustrate that the proposed AIEKF is able to provide an accurate estimation. More >

  • Open Access


    Cooperative Angles-Only Relative Navigation Algorithm for Multi-Spacecraft Formation in Close-Range

    Sha Wang1,2, Chenglong He1, Baichun Gong2,*, Xin Ding2, Yanhua Yuan3

    CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.1, pp. 121-134, 2023, DOI:10.32604/cmes.2022.017470

    Abstract As to solve the collaborative relative navigation problem for near-circular orbiting small satellites in close-range under GNSS denied environment, a novel consensus constrained relative navigation algorithm based on the lever arm effect of the sensor offset from the spacecraft center of mass is proposed. Firstly, the orbital propagation model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics and the line-of-sight measurement under sensor offset condition is modeled in Local Vertical Local Horizontal frame. Secondly, the consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft, based on which… More >

  • Open Access


    Context-Aware Practice Problem Recommendation Using Learners’ Skill Level Navigation Patterns

    P. N. Ramesh1,*, S. Kannimuthu2

    Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3845-3860, 2023, DOI:10.32604/iasc.2023.031329

    Abstract The use of programming online judges (POJs) has risen dramatically in recent years, owing to the fact that the auto-evaluation of codes during practice motivates students to learn programming. Since POJs have greater number of programming problems in their repository, learners experience information overload. Recommender systems are a common solution to information overload. Current recommender systems used in e-learning platforms are inadequate for POJ since recommendations should consider learners’ current context, like learning goals and current skill level (topic knowledge and difficulty level). To overcome the issue, we propose a context-aware practice problem recommender system based on learners’ skill level… More >

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