2023 9th International Conference on Automation, Robotics and Applications (ICARA)最新文献

Distributed Optimisation under a Weight-unbalanced Digraph 权重不平衡有向图下的分布式优化

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125755

P. Pradhan, Arijit Sen, Mangal Kothari, K. Rajawat

引用次数: 0

A Deep Reinforcement Learning Visual Servoing Control Strategy for Target Tracking Using a Multirotor UAV 多旋翼无人机目标跟踪的深度强化学习视觉伺服控制策略

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125971

Andreas Mitakidis, Sotirios N. Aspragkathos, Fotis Panetsos, G. Karras, K. Kyriakopoulos

引用次数: 0

Cyber Security for Surgical Remote Intelligent Robotic Systems 外科远程智能机器人系统的网络安全

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10126050

Alexandra Bernadotte

{"title":"Cyber Security for Surgical Remote Intelligent Robotic Systems","authors":"Alexandra Bernadotte","doi":"10.1109/ICARA56516.2023.10126050","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10126050","url":null,"abstract":"This paper highlights the progress toward securing teleoperating devices over the past ten years of active technology development. The relevance of this issue lies in the widespread development of teleoperating systems with a small number of systems allowed for operations. Anomalous behavior of the operating device, caused by a disruption in the normal functioning of the system modules, can be associated with remote attacks and exploitation of vulnerabilities, which can lead to fatal consequences. There are regulations and mandates from licensing agencies such as the US Food and Drug Administration (FDA) that place restrictions on the architecture and components of teleoperating systems. These requirements are also evolving to meet new cybersecurity threats. In particular, consumers and safety regulatory agencies are attracted by the threat of compromising hardware modules along with software insecurity. Recently, detailed security frameworks and protocols for teleoperating devices have appeared. However, a matter of intelligent autonomous controllers for analyzing anomalous and suspicious actions in the system remain unattended, as well as emergency protocols from the point of cybersecurity view. This work provides a new approach for the intraoperative cybersecurity of intelligent teleoperative surgical systems, taking into account modern requirements for implementing into the Surgical Remote Intelligent Robotic System LevshAI. The proposed principal security model allows a surgeon or autonomous agent to manage the operation process during various attacks.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116726566","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

Extending the Target-Search Algorithm for Kilobots by Adding Random Walk Behavior 添加随机漫步行为的Kilobots目标搜索算法扩展

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125694

Michael Troxler, Rolf Dornberger, T. Hanne

引用次数: 0

JUST TELL ME: A Robot-assisted E-health Solution for People with Lower-extremity Disability JUST TELL ME:机器人辅助的下肢残疾人电子医疗解决方案

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125947

Alexander Coutras, Omar Obidat, Michelle Zhu, Weitian Wang

引用次数: 0

Cooperative Optimal Control of UAVs Based on Brain-Attention Mechanism Neural Network 基于脑注意机制神经网络的无人机协同最优控制

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125837

Ziyuan Ma, Huajun Gong, Xinhua Wang

引用次数: 0

Fused Swish-ReLU Efficient-Net Model for Deepfakes Detection 融合Swish-ReLU高效网络模型的深度伪造检测

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125801

Hafsa Ilyas, A. Javed, Muteb Aljasem, Mustafa Alhababi

{"title":"Fused Swish-ReLU Efficient-Net Model for Deepfakes Detection","authors":"Hafsa Ilyas, A. Javed, Muteb Aljasem, Mustafa Alhababi","doi":"10.1109/ICARA56516.2023.10125801","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125801","url":null,"abstract":"With the rapid development of sophisticated deepfakes generation methods, the realism of fake content has reached the level where it becomes difficult for human eyes to identify such high-quality fake images/videos, thus increasing the demand for developing deepfakes detection methods. The diversity in deepfakes images/videos in terms of ethnicity, illumination condition, skin tone, age, background setting, and generation algorithms makes the detection task quite difficult. To better address the aforementioned challenges, we present a novel Swish-ReLU Efficient-Net (SRE-Net) that is robust to the identification of deepfakes generated using different face-swap and face-reenactment techniques. More precisely, we fused two EfficienNet-b0 models, one with the ReLU and the other with the Swish activation function along with layer freezing to achieve better detection results. Our SRE-Net attained the average accuracy and precision of 96.5% and 97.07% on the FaceForensics++ dataset, and 88.41% and 91.28% on the DFDC-preview dataset. The high detection results demonstrate the effectiveness of SRE-Net while detecting the deepfakes generated using different manipulation algorithms.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114747703","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

Toward Computationally Efficient Path Generation and Push Planning for Robotic Nonprehensile Manipulation 机器人不可抓握操作的高效路径生成与推进规划研究

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125726

A. Elibol, N. Chong

{"title":"Toward Computationally Efficient Path Generation and Push Planning for Robotic Nonprehensile Manipulation","authors":"A. Elibol, N. Chong","doi":"10.1109/ICARA56516.2023.10125726","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125726","url":null,"abstract":"Robots have been involved in our daily life more and more. This involvement comes along with a necessity for endowing robots to interact with real-world objects that are novel to them. Among many others, pushing is one of the important tasks for robotic arms (or manipulators) as it has been widely used in the pipeline of the more complicated tasks (e.g., grasping, singulation, reorienting, and similar other tasks.), In this paper, we present simple yet efficient path generation and push planning algorithms for pushing an object from a given point to a target point in the given grid map with static obstacles. Our path generation module aims to generate waypoints taking into account obstacles and quantizing them into circular regions in order to reduce the computational cost. The path is formed using the waypoints by minimizing the designed cost function. We also define a cost function for planning pushing steps aiming to both minimize the number of pushing actions and deviation from the path generated. We present comparative numerical results using simulated data. Our preliminary findings show promising results leaving room for further improvements.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114811760","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

Robot-Assisted Orthopedic Surgery Bone Pose Identification Using Task-Specific Capability Maps 使用任务特定能力图的机器人辅助骨科手术骨姿势识别

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10126064

J. R. Roldan, M. Jung, Feimo Shen, D. Milutinović

引用次数: 0

Developing an Agent-Based Simulation Model for Predicting Technology Acceptance at Border Crossing Points 基于agent的边境口岸技术接受度预测仿真模型研究

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125714

Sarang Shaikh, Sule YAYILGAN YILDIRIM

{"title":"Developing an Agent-Based Simulation Model for Predicting Technology Acceptance at Border Crossing Points","authors":"Sarang Shaikh, Sule YAYILGAN YILDIRIM","doi":"10.1109/ICARA56516.2023.10125714","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125714","url":null,"abstract":"In this paper, we are focusing on the use of agent-based approach to generate simulations of various scenarios for border crossing points and making technology acceptance predictions. This paper is related to the Horizon 2020 project METICOS11https://meticos-project.eu/, for which we are extracting user (traveler and border control staff) perceptions from sources such as online social networks e.g., Twitter, Web, Interviews, Questionnaires etc. However, for the scope of this paper we have only included the synthetic data for the experiments to validate the proposed simulation model. The existing studies made a strong justification for choosing this approach to model the defined problem. To the best of our knowledge, this paper is a first research study focusing on defining how agent-based modeling and simulation can be used to model border crossing scenarios and predicting the acceptance of the border control technologies by explaining travelers' profile based on synthetic data, perceptions based on manual rules. This is important for stakeholders who take decisions related to what technologies to place at the border crossing points and what features such technologies should have to improve throughputs and traveler and border staff satisfaction.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129829928","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