In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we devel...In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.展开更多
The potential applications of multimodal physiological signals in healthcare,pain monitoring,and clinical decision support systems have garnered significant attention in biomedical research.Subjective self-reporting i...The potential applications of multimodal physiological signals in healthcare,pain monitoring,and clinical decision support systems have garnered significant attention in biomedical research.Subjective self-reporting is the foundation of conventional pain assessment methods,which may be unreliable.Deep learning is a promising alternative to resolve this limitation through automated pain classification.This paper proposes an ensemble deep-learning framework for pain assessment.The framework makes use of features collected from electromyography(EMG),skin conductance level(SCL),and electrocardiography(ECG)signals.We integrate Convolutional Neural Networks(CNN),Long Short-Term Memory Networks(LSTM),Bidirectional Gated Recurrent Units(BiGRU),and Deep Neural Networks(DNN)models.We then aggregate their predictions using a weighted averaging ensemble technique to increase the classification’s robustness.To improve computing efficiency and remove redundant features,we use Particle Swarm Optimization(PSO)for feature selection.This enables us to reduce the features’dimensionality without sacrificing the classification’s accuracy.With improved accuracy,precision,recall,and F1-score across all pain levels,the experimental results show that the suggested ensemble model performs better than individual deep learning classifiers.In our experiments,the suggested model achieved over 98%accuracy,suggesting promising automated pain assessment performance.However,due to differences in validation protocols,comparisons with previous studies are still limited.Combining deep learning and feature selection techniques significantly improves model generalization,reducing overfitting and enhancing classification performance.The evaluation was conducted using the BioVid Heat Pain Dataset,confirming the model’s effectiveness in distinguishing between different pain intensity levels.展开更多
In this paper, we prove the existence and the global exponential stability of the unique weighted pseudo almost-periodic solution of shunting inhibitory cellular neural networks with mixed time-varying delays comprisi...In this paper, we prove the existence and the global exponential stability of the unique weighted pseudo almost-periodic solution of shunting inhibitory cellular neural networks with mixed time-varying delays comprising different discrete and distributed time delays. Some sufficient conditions are given for the existence and the global exponential stability of the weighted pseudo almost-periodic solution by employing fixed point theorem and differential inequality techniques. The results of this paper complement the previously known ones. Finally, an illustrative example is given to demonstrate the effectiveness of our results.展开更多
Face recognition (FR) technology has numerous applications in artificial intelligence including biometrics, security,authentication, law enforcement, and surveillance. Deep learning (DL) models, notably convolutional ...Face recognition (FR) technology has numerous applications in artificial intelligence including biometrics, security,authentication, law enforcement, and surveillance. Deep learning (DL) models, notably convolutional neuralnetworks (CNNs), have shown promising results in the field of FR. However CNNs are easily fooled since theydo not encode position and orientation correlations between features. Hinton et al. envisioned Capsule Networksas a more robust design capable of retaining pose information and spatial correlations to recognize objects morelike the brain does. Lower-level capsules hold 8-dimensional vectors of attributes like position, hue, texture, andso on, which are routed to higher-level capsules via a new routing by agreement algorithm. This provides capsulenetworks with viewpoint invariance, which has previously evaded CNNs. This research presents a FR model basedon capsule networks that was tested using the LFW dataset, COMSATS face dataset, and own acquired photos usingcameras measuring 128 × 128 pixels, 40 × 40 pixels, and 30 × 30 pixels. The trained model outperforms state-ofthe-art algorithms, achieving 95.82% test accuracy and performing well on unseen faces that have been blurred orrotated. Additionally, the suggested model outperformed the recently released approaches on the COMSATS facedataset, achieving a high accuracy of 92.47%. Based on the results of this research as well as previous results, capsulenetworks perform better than deeper CNNs on unobserved altered data because of their special equivarianceproperties.展开更多
基金The authors extend their appreciation to Prince Sattam bin Abdulaziz University for funding this research work through the project number(PSAU/2024/01/32082).
文摘In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.
基金funded by the Deanship of Graduate Studies and Scientific Research at Jouf University under grant No.(DGSSR-2023-02-02341).
文摘The potential applications of multimodal physiological signals in healthcare,pain monitoring,and clinical decision support systems have garnered significant attention in biomedical research.Subjective self-reporting is the foundation of conventional pain assessment methods,which may be unreliable.Deep learning is a promising alternative to resolve this limitation through automated pain classification.This paper proposes an ensemble deep-learning framework for pain assessment.The framework makes use of features collected from electromyography(EMG),skin conductance level(SCL),and electrocardiography(ECG)signals.We integrate Convolutional Neural Networks(CNN),Long Short-Term Memory Networks(LSTM),Bidirectional Gated Recurrent Units(BiGRU),and Deep Neural Networks(DNN)models.We then aggregate their predictions using a weighted averaging ensemble technique to increase the classification’s robustness.To improve computing efficiency and remove redundant features,we use Particle Swarm Optimization(PSO)for feature selection.This enables us to reduce the features’dimensionality without sacrificing the classification’s accuracy.With improved accuracy,precision,recall,and F1-score across all pain levels,the experimental results show that the suggested ensemble model performs better than individual deep learning classifiers.In our experiments,the suggested model achieved over 98%accuracy,suggesting promising automated pain assessment performance.However,due to differences in validation protocols,comparisons with previous studies are still limited.Combining deep learning and feature selection techniques significantly improves model generalization,reducing overfitting and enhancing classification performance.The evaluation was conducted using the BioVid Heat Pain Dataset,confirming the model’s effectiveness in distinguishing between different pain intensity levels.
文摘In this paper, we prove the existence and the global exponential stability of the unique weighted pseudo almost-periodic solution of shunting inhibitory cellular neural networks with mixed time-varying delays comprising different discrete and distributed time delays. Some sufficient conditions are given for the existence and the global exponential stability of the weighted pseudo almost-periodic solution by employing fixed point theorem and differential inequality techniques. The results of this paper complement the previously known ones. Finally, an illustrative example is given to demonstrate the effectiveness of our results.
基金Princess Nourah bint Abdulrahman University Riyadh,Saudi Arabia with Researchers Supporting Project Number:PNURSP2024R234.
文摘Face recognition (FR) technology has numerous applications in artificial intelligence including biometrics, security,authentication, law enforcement, and surveillance. Deep learning (DL) models, notably convolutional neuralnetworks (CNNs), have shown promising results in the field of FR. However CNNs are easily fooled since theydo not encode position and orientation correlations between features. Hinton et al. envisioned Capsule Networksas a more robust design capable of retaining pose information and spatial correlations to recognize objects morelike the brain does. Lower-level capsules hold 8-dimensional vectors of attributes like position, hue, texture, andso on, which are routed to higher-level capsules via a new routing by agreement algorithm. This provides capsulenetworks with viewpoint invariance, which has previously evaded CNNs. This research presents a FR model basedon capsule networks that was tested using the LFW dataset, COMSATS face dataset, and own acquired photos usingcameras measuring 128 × 128 pixels, 40 × 40 pixels, and 30 × 30 pixels. The trained model outperforms state-ofthe-art algorithms, achieving 95.82% test accuracy and performing well on unseen faces that have been blurred orrotated. Additionally, the suggested model outperformed the recently released approaches on the COMSATS facedataset, achieving a high accuracy of 92.47%. Based on the results of this research as well as previous results, capsulenetworks perform better than deeper CNNs on unobserved altered data because of their special equivarianceproperties.
