Reviewerly/exHarmony huggingface dataset:
Towards motion planning of humanoids using a fuzzy embedded neural network approach

This research work focuses on navigational strategy of humanoid robots in complex environments using a fuzzy embedded neural network based controller. The obstacle distances are measured from robot’s current position and referred as front obstacle distance, right obstacle distance and left obstacle distance. These obstacle distances are served as input variables to the neural network model, and target angle is obtained as output parameter. The target angle obtained from neural network is fed to the Mamdani fuzzy system along with the obstacle distances as input variables to obtain the effective target angle for the humanoid robot. A Petri-net controller is embedded with developed neuro-fuzzy controller to perform dynamic path analysis in complex workspaces Single as well as multiple humanoid robots are used to analyze simulation and experimental navigation in different complex environments using developed neuro-fuzzy-petri-net controller. Various simulations are carried out using V-REP simulation software and similar scenario as per simulation is developed under laboratory conditions for various experimental navigation. The results from both the scenarios are related and are found to be in good covenant with each other having permissible range of errors. Simulation and experimental results in relation to navigational parameters shows the robustness of the developed controller. Surface plots and contour plots developed from the designed controller shows the effectiveness and efficacy in achieving global path during motion planning through optimizing target angle. To validate the results and to find out the effectiveness, the developed controller is compared with existing techniques such as IDQ and substantial progress of 16.66% in relation to path length is observed.
Exporting Russian Higher Education in the Conditions of a New Reality

The article addresses the mechanism to raise the competitiveness and attractiveness of the Russian higher education in the international educational market through the development of educational services exporting. Currently, the Russian universities have made progress in international students engagement. According to date for 2021, there are 310 thousand of international students studying at Russian universities, which is approximately 8% of the total amount of students. These figures have been achieved due to the large national strategic projects implementation in the sphere of higher education internationalization. In 2021, the Government of the Russian Federation set a new goal to increase the number of international students motivated to study at Russian universities by 50 per cent. In the conditions of the COVID-19 pandemic, achieving the target figures is possible with the use of the modern tools for the university brand promotion in the world educational space.
Arbitrarily shaped scene text detection with dynamic convolution

Arbitrarily shaped scene text detection has witnessed great development in recent years, and text detection using segmentation has been proven to an effective approach. However, problems caused by the diverse attributes of text instances, such as shapes, scales, and presentation styles (dense or sparse), persist. In this paper, we propose a novel text detector, termed DText, which can effectively formulate an arbitrarily shaped scene text detection task based on dynamic convolution. Our method can dynamically generate independent text-instance-aware convolutional parameters for each text instance from multi-features thus overcoming some intractable limitations of arbitrary text detection, such as the splitting of similar adjacent text, which poses challenges to fixed instance-shared convolutional parameters-based methods. Unlike standard segmentation methods relying on regions-of-interest bounding boxes, DText focuses on enhancing the flexibility of the network to retain details of instances from diverse resolutions while effectively improving prediction accuracy. Moreover, we propose encoding the shape and position information according to the characteristics of the text instance, termed text-shape sensitive position embedding. Thus, it can provide explicit shape and position information to the generator of the dynamic convolution parameters. Experiments on five benchmarks (Total-Text, SCUT-CTW1500, MSRA-TD500, ICDAR2015, and MLT) showed that our method achieves superior detection performance.
SC-UDA: Style and Content Gaps aware Unsupervised Domain Adaptation for Object Detection

Current state-of-the-art object detectors can have significant performance drop when deployed in the wild due to domain gaps with training data. Unsupervised Domain Adaptation (UDA) is a promising approach to adapt detectors for new domains/environments without any expensive label cost. Previous mainstream UDA works for object detection usually focused on image-level and/or feature-level adaptation by using adversarial learning methods. In this work, we show that such adversarial-based methods can only reduce domain style gap, but cannot address the domain content gap that is also important for object detectors. To overcome this limitation, we propose the SC-UDA framework to concurrently reduce both gaps: We propose fine-grained domain style transfer to reduce the style gaps with finer image details preserved for detecting small objects; Then we leverage the pseudo label-based self-training to reduce content gaps; To address pseudo label error accumulation during self-training, novel optimizations are proposed, including uncertainty-based pseudo labeling and imbalanced mini-batch sampling strategy. Experiment results show that our approach consistently outperforms prior state-of-the-art methods (up to 8.6%, 2.7% and 2.5% mAP on three UDA benchmarks).
Cleaning Noisy Labels by Negative Ensemble Learning for Source-Free Unsupervised Domain Adaptation

Conventional Unsupervised Domain Adaptation (UDA) methods presume source and target domain data to be simultaneously available during training. Such an assumption may not hold in practice, as source data is often inaccessible (e.g., due to privacy reasons). On the contrary, a pre-trained source model is usually available, which performs poorly on target due to the well-known domain shift problem. This translates into a significant amount of misclassifications, which can be interpreted as structured noise affecting the inferred target pseudo-labels. In this work, we cast UDA as a pseudo-label refinery problem in the challenging source-free scenario. We propose Negative Ensemble Learning (NEL) technique, a unified method for adaptive noise filtering and progressive pseudo-label refinement. NEL is devised to tackle noisy pseudo-labels by enhancing diversity in ensemble members with different stochastic (i) input augmentation and (ii) feedback. The latter is achieved by leveraging the novel concept of Disjoint Residual Labels, which allow propagating diverse information to the different members. Eventually, a single model is trained with the refined pseudo-labels, which leads to a robust performance on the target domain. Extensive experiments show that the proposed method achieves state-of-the-art performance on major UDA benchmarks, such as Digit5, PACS, Visda-C, and DomainNet, without using source data samples at all.
Whole slide image registration via multi-stained feature matching

In the recent decade, medical image registration and fusion process has emerged as an effective application to follow up diseases and decide the necessary therapies based on the conditions of patient. For many of the considerable diagnostic analyses, it is common practice to assess two or more different histological slides or images from one tissue sample. A specific area analysis of two image modalities requires an overlay of the images to distinguish positions in the sample that are organized at a similar coordinate in both images. In particular cases, there are two common challenges in digital pathology: first, dissimilar appearances of images resulting due to staining variances and artifacts; second, large image size. In this paper, we develop algorithm to overcome the fact that scanners from different manufacturers have variations in the images. We propose whole slide image registration algorithm where adaptive smoothing is employed to smooth the stained image. A modified scale-invariant feature transform is applied to extract common information and a joint distance helps to match keypoints correctly by eliminating position transformation error. Finally, the registered image is obtained by utilizing correct correspondences and the interpolation of color intensities. We validate our proposal using different images acquired from surgical resection samples of lung cancer (adenocarcinoma). Extensive feature matching with apparently increasing correct correspondences and registration performance on several images demonstrate the superiority of our method over state-of-the-art methods. Our method potentially improves the matching accuracy that might be beneficial for computer-aided diagnosis in biobank applications.
Technology empowerment: A path to poverty alleviation for Chinese women from the perspective of development communication

By 2020, China had won a comprehensive victory in poverty alleviation, having completed the largest poverty alleviation task in human history and provided a Chinese solution to poverty alleviation worldwide. From the perspective of development communication and through the case study approach, this paper focuses on the practice of poverty alleviation conducted by Chinese rural left-behind women with the help of Internet technology. Furthermore, the paper summarizes three main forms of women's poverty alleviation, including the model of Internet celebrities using social media to sell local products; the model of the government taking the lead in building an online learning, training and sales platform; and the model combining government guidance, enterprise empowerment and media promotion. This paper explores the paths to poverty alleviation and the sustainable development of poor Chinese women in rural areas. It also provides a reference for the future practice of women's poverty alleviation for developing countries and regions.
ClockIDS: A Real-Time Vehicle Intrusion Detection System Based on Clock Skew

Although intelligent connected vehicles (ICVs) can better assist drivers and improve their driving experience, they have huge network security problems and are frequently attacked. This is because the vehicle network is connected to the Internet, which expands the attack surface of ICV, and attackers have more ways to launch attacks. In recent years, many security experts fight against attackers and propose various types of vehicle intrusion detection systems (IDSs) to protect the controller area network (CAN). However, with the continuous enhancement of attack means, especially the appearance of the masquerade attack, most IDSs are no longer applicable. In this article, we design a new fingerprint-based vehicle IDS to protect the CAN, called ClockIDS. It establishes a unique fingerprint for each electronic control unit (ECU) based on clock skew. On this basis, ClockIDS realizes the functions of intrusion detection and attack source identification by utilizing the empirical rule and dynamic time warping. It neither occupies the bandwidth of CAN bus nor needs to modify the CAN protocol. Our experiments on two real vehicles show that ClockIDS can establish a unique fingerprint for ECU without being affected by the size of message period, and can detect three types of attack with a detection accuracy of 98.63%. In addition, this system can identify the attack source, and the average recognition accuracy is 96.77%. Furthermore, ClockIDS has high real-time performance, and the average time cost of each detection is only 1.99 ms.
Spatial-Temporal Transformer for 3D Point Cloud Sequences

Effective learning of spatial-temporal information within a point cloud sequence is highly important for many down-stream tasks such as 4D semantic segmentation and 3D action recognition. In this paper, we propose a novel frame-work named Point Spatial-Temporal Transformer (PST <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> ) to learn spatial-temporal representations from dynamic 3D point cloud sequences. Our PST <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> consists of two major modules: a Spatio-Temporal Self-Attention (STSA) module and a Resolution Embedding (RE) module. Our STSA module is introduced to capture the spatial-temporal context in-formation across adjacent frames, while the RE module is proposed to aggregate features across neighbors to enhance the resolution of feature maps. We test the effectiveness our PST <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> with two different tasks on point cloud sequences, i.e., 4D semantic segmentation and 3D action recognition. Extensive experiments on three benchmarks show that our PST <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> outperforms existing methods on all datasets. The effectiveness of our STSA and RE modules have also been justified with ablation experiments.
Fall detection system based on infrared array sensor and multi-dimensional feature fusion

In recent years, with the acceleration of the aging of the population, the safety of the elderly living alone has attracted great attention, and the falls have become one of the main factors leading to elderly casualties. In order to obtain a high precision and low cost fall detection system for the elderly, a fall detection system based on infrared array sensor and multi-dimensional feature fusion is proposed in this paper. First, we propose a new data acquisition method using infrared array sensor, which effectively enlarges the detection area. Then the personnel positioning is performed before fall detection, which can ensure real-time detection while reducing computational complexity. In addition, a sliding window algorithm is developed and four representative features of a fall are extracted from the collected data, which is fitful to the online detection. Among them, the four characteristics include the change in the center of mass of the falling process, the change in the speed, the change in the area of the person, and the change in variance. Finally, based on the refined features, the support vector machine (SVM) classifier is introduced to identify falls and improve the classification accuracy. The experimental results validate that the proposed fall detection system shows good fall detection accuracy and great practicability.
OCRA – An ontology for collaborative robotics and adaptation

Industrial collaborative robots will be used in unstructured scenarios and a large variety of tasks in the near future. These robots shall collaborate with humans, who will add uncertainty and safety constraints to the execution of industrial robotic tasks. Hence, trustworthy collaborative robots must be able to reason about their collaboration's requirements (e.g., safety), as well as the adaptation of their plans due to unexpected situations. A common approach to reasoning is to represent the knowledge of interest using logic-based formalisms, such as ontologies. However, there is not an established ontology defining notions such as collaboration or adaptation yet. In this article, we propose an Ontology for Collaborative Robotics and Adaptation (OCRA), which is built around two main notions: collaboration, and plan adaptation. OCRA ensures a reliable human-robot collaboration, since robots can formalize, and reason about their plan adaptations and collaborations in unstructured collaborative robotic scenarios. Furthermore, our ontology enhances the reusability of the domain's terminology, allowing robots to represent their knowledge about different collaborative and adaptive situations. We validate our formal model, first, by demonstrating that a robot may answer a set of competency questions using OCRA. Second, by studying the formalization's performance in limit cases that include instances with incongruent and incomplete axioms. For both validations, the example use case consists in a human and a robot collaborating on the filling of a tray.
DAQ: Channel-Wise Distribution-Aware Quantization for Deep Image Super-Resolution Networks

Since the resurgence of deep neural networks (DNNs), image super-resolution (SR) has recently seen a huge progress in improving the quality of low resolution images, however at the great cost of computations and resources. Recently, there has been several efforts to make DNNs more efficient via quantization. However, SR demands pixel-level accuracy in the system, it is more difficult to perform quantization without significantly sacrificing SR performance. To this end, we introduce a new ultra-low precision yet effective quantization approach specifically designed for SR. In particular, we observe that in recent SR networks, each channel has different distribution characteristics. Thus we propose a channel-wise distribution-aware quantization scheme. Experimental results demonstrate that our proposed quantization, dubbed Distribution-Aware Quantization (DAQ), manages to greatly reduce the computational and resource costs without the significant sacrifice in SR performance, compared to other quantization methods.
Advanced digital signatures for preserving privacy and trust management in hierarchical heterogeneous IoT: Taxonomy, capabilities, and objectives

Internet of Things (IoT) systems in different areas, such as manufacturing, transportation, and healthcare, are the convergence of several technologies. There are many concerns about security and privacy drawbacks in IoT systems. Apart from confidentiality supported by encryption primitives, authenticity and non-repudiation are of utmost importance. IoT entities generally use conventional digital signature schemes to achieve imperative goals. However, there are some state-of-the-art digital signatures with more functionalities, IoT-friendly properties, and privacy-preserving features. This survey paper aims to accelerate the adoption of advanced digital signatures. We bridge the gap between the advanced theoretical digital signatures recently designed in cryptographic-oriented papers and the applied IoT systems. It aids researchers in achieving more security, privacy as well as some unique functionality aspects. First, we illustrate the benefits of the hierarchical and heterogeneous IoT architecture supporting the end-edge-fog-cloud continuum accompanying blockchain technology. Second, our survey delves into five state-of-the-art digital signatures, including randomizable, keyless, double-authentication-prevention, sanitizable, and redactable schemes, that are aligned with entities in IoT systems. We provide an outline, taxonomy, comparison table, and diverse IoT-based use cases for each of them. Then, the integration of primitives and the relationship diagrams give guidelines to help select the appropriate advanced digital signatures and highlights how researchers can use them with different IoT entities for preserving privacy and management of trust.
Ovarian Cancer Detection and Classification Using Machine Leaning

Ovarian cancer is one of the leading causes of death among women. It ranks fifth in cancer deaths among women and affects women if all demography and ethnicity. It is important to accurately classify it from tumours hence avoiding false positives for cancer, and hence catered to the patients appropriate needs. In this direction a methodology is designed to classify between Benign Ovarian Tumourand Ovarian Cancer with different machine learning classifiers with different imputation methods, with and without feature selection and deep learning from Kaggle dataset. It was evident that feature selection greatly increased the performance of the Machine learning model through accuracy. Out of all the classifiers Random Forest with median imputation gave the best result. The accuracy of DL model was on-par with the Random Forest classifier and did not show any significant improvement over the traditional machine learning model.
FuzzyAct: A Fuzzy-Based Framework for Temporal Activity Recognition in IoT Applications Using RNN and 3D-DWT

Despite massive research in deep learning, the human activity recognition (HAR) domain still suffers from key challenges in terms of accurate classification and detection. The core idea behind recognizing activities accurately is to assist Internet-of-things (IoT) enabled smart surveillance systems. Thereby, this work is based on the joint use of discrete wavelet transform (DWT) and recurrent neural network (RNN) to classify and detect human activities accurately. Recent approaches on HAR exploit the three-dimensional (3-D) convolutional neural networks (CNNs) to extract spatial information, which adds a computational burden. In our case, features are extracted using 3D-DWT instead of 3-D CNNs, performed in three steps of 1D-DWT to reflect the spatio-temporal features of human action. Given the features, the RNN produces an output label for each video clip taking care of the long-term temporal consistency among close predictions in the output sequence. It is noticed that feature extraction through 3D-DWT essentially recovers the multiple angles of an activity. Many HAR techniques distinguish an activity based on the posture of an image frame rather than learning the transitional relationship between postures in the temporal sequence, resulting in degraded accuracy. To address this problem, in this article, we designed a novel rank-based fuzzy approach that segregates activities precisely by ranking the probabilities of activities based on confidence scores. FuzzyAct achieved an average mean average precision (mAP) of 0.8012 mAP on the ActivityNet dataset, and outperformed the baseline counterparts and other state-of-the-art approaches on benchmark datasets. Finally, we present a mechanism to compress the proposed RNN for edge-enabled IoT applications.
Uncertainty Visualization: Concepts, Methods, and Applications in Biological Data Visualization

This paper provides an overview of uncertainty visualization in general, along with specific examples of applications in bioinformatics. Starting from a processing and interaction pipeline of visualization, components are discussed that are relevant for handling and visualizing uncertainty introduced with the original data and at later stages in the pipeline, which shows the importance of making the stages of the pipeline aware of uncertainty and allowing them to propagate uncertainty. We detail concepts and methods for visual mappings of uncertainty, distinguishing between explicit and implict representations of distributions, different ways to show summary statistics, and combined or hybrid visualizations. The basic concepts are illustrated for several examples of graph visualization under uncertainty. Finally, this review paper discusses implications for the visualization of biological data and future research directions.