Enhanced Route navigation control system for turtlebot using human-assisted mobility and 3-D SLAM optimization.

An autonomous, power-assisted Turtlebot is presented in this paper in order to enhance human mobility. The turtlebot moves from its initial position to its final position at a predetermined speed and acceleration. We propose an intelligent navigation system that relies solely on individual instructions. When there is no individual present, the Turtlebot remains stationary. Turtlebot utilizes a rotating Kinect sensor in order to perceive its path. Various angles were examined in order to demonstrate the effectiveness of the system in experiments conducted on a U-shaped experimental pathway. The Turtlebot was used as an experimental device during these trials. Based on the U-shaped path, deviations from different angles were measured to evaluate its performance. SLAM (Simultaneous Localization and Mapping) experiments were also explored. We divided the SLAM problem into components and implemented the Kalman filter on the experimental path to address it. The Kalman filter focused on localization and mapping challenges, utilizing mathematical processes considering both the system's knowledge and the measurement tool. This approach allowed us to achieve the most accurate system state estimation possible. The significance of this work extends beyond the immediate application, as it lays the groundwork for advancements in wheelchair navigation research by Dynamic Control. The experiments conducted on a U-shaped pathway not only validate the efficacy of our algorithm but also provide valuable insights into the intricacies of navigating in both forward and reverse directions. These insights are pivotal for refining the navigation algorithm, ultimately contributing to the development of more robust and user-friendly systems for individuals with mobility challenges. The data used for this purpose included actuator input, vehicle location, robot movement sensors, and sensor readings representing the world state. The study provides a strong foundation for future wheelchair navigation research by Dynamic Control. Consequently, we found that navigating the Turtlebot in the reverse direction resulted in a 5%-6% increase in diversion compared to forward navigation, providing valuable insight into further improvement of the navigation algorithm.

Distinctive approach in brain tumor detection and feature extraction using biologically inspired DWT method and SVM.

Brain tumors result from uncontrolled cell growth, potentially leading to fatal consequences if left untreated. While significant efforts have been made with some promising results, the segmentation and classification of brain tumors remain challenging due to their diverse locations, shapes, and sizes. In this study, we employ a combination of Discrete Wavelet Transform (DWT) and Principal Component Analysis (PCA) to enhance performance and streamline the medical image segmentation process. Proposed method using Otsu's segmentation method followed by PCA to identify the most informative features. Leveraging the grey-level co-occurrence matrix, we extract numerous valuable texture features. Subsequently, we apply a Support Vector Machine (SVM) with various kernels for classification. We evaluate the proposed method's performance using metrics such as accuracy, sensitivity, specificity, and the Dice Similarity Index coefficient. The experimental results validate the effectiveness of our approach, with recall rates of 86.9%, precision of 95.2%, F-measure of 90.9%, and overall accuracy. Simulation of the results shows improvements in both quality and accuracy compared to existing techniques. In results section, experimental Dice Similarity Index coefficient of 0.82 indicates a strong overlap between the machine-extracted tumor region and the manually delineated tumor region.

Enhancing IoT Security through a Green and Sustainable Federated Learning Platform: Leveraging Efficient Encryption and the Quondam Signature Algorithm.

This research paper introduces a novel paradigm that synergizes innovative algorithms, namely efficient data encryption, the Quondam Signature Algorithm (QSA), and federated learning, to effectively counteract random attacks targeting Internet of Things (IoT) systems. The incorporation of federated learning not only fosters continuous learning but also upholds data privacy, bolsters security measures, and provides a robust defence mechanism against evolving threats. The Quondam Signature Algorithm (QSA) emerges as a formidable solution, adept at mitigating vulnerabilities linked to man-in-the-middle attacks. Remarkably, the QSA algorithm achieves noteworthy cost savings in IoT communication by optimizing communication bit requirements. By seamlessly integrating federated learning, IoT systems attain the ability to harmoniously aggregate and analyse data from an array of devices while zealously guarding data privacy. The decentralized approach of federated learning orchestrates local machine-learning model training on individual devices, subsequently amalgamating these models into a global one. Such a mechanism not only nurtures data privacy but also empowers the system to harness diverse data sources, enhancing its analytical capabilities. A thorough comparative analysis scrutinizes varied cost-in-communication schemes, meticulously weighing both encryption and federated learning facets. The proposed approach shines by virtue of its optimization of time complexity through the synergy of offline phase computations and online phase signature generation, hinged on an elliptic curve digital signature algorithm-based online/offline scheme. In contrast, the Slow Block Move (SBM) scheme lags behind, necessitating over 25 rounds, 1500 signature generations, and an equal number of verifications. The proposed scheme, fortified by its marriage of federated learning and efficient encryption techniques, emerges as an embodiment of improved efficiency and reduced communication costs. The culmination of this research underscores the intrinsic benefits of the proposed approach: marked reduction in communication costs, elevated analytical prowess, and heightened resilience against the spectrum of attacks that IoT systems confront.

Morphological diagnosis of hematologic malignancy using feature fusion-based deep convolutional neural network.

Leukemia is a cancer of white blood cells characterized by immature lymphocytes. Due to blood cancer, many people die every year. Hence, the early detection of these blast cells is necessary for avoiding blood cancer. A novel deep convolutional neural network (CNN) 3SNet that has depth-wise convolution blocks to reduce the computation costs has been developed to aid the diagnosis of leukemia cells. The proposed method includes three inputs to the deep CNN model. These inputs are grayscale and their corresponding histogram of gradient (HOG) and local binary pattern (LBP) images. The HOG image finds the local shape, and the LBP image describes the leukaemia cell's texture pattern. The suggested model was trained and tested with images from the AML-Cytomorphology_LMU dataset. The mean average precision (MAP) for the cell with less than 100 images in the dataset was 84%, whereas for cells with more than 100 images in the dataset was 93.83%. In addition, the ROC curve area for these cells is more than 98%. This confirmed proposed model could be an adjunct tool to provide a second opinion to a doctor.

Inferring linear-B cell epitopes using 2-step metaheuristic variant-feature selection using genetic algorithm.

Linear-B cell epitopes (LBCE) play a vital role in vaccine design; thus, efficiently detecting them from protein sequences is of primary importance. These epitopes consist of amino acids arranged in continuous or discontinuous patterns. Vaccines employ attenuated viruses and purified antigens. LBCE stimulate humoral immunity in the body, where B and T cells target circulating infections. To predict LBCE, the underlying protein sequences undergo a process of feature extraction, feature selection, and classification. Various system models have been proposed for this purpose, but their classification accuracy is only moderate. In order to enhance the accuracy of LBCE classification, this paper presents a novel 2-step metaheuristic variant-feature selection method that combines a linear support vector classifier (LSVC) with a Modified Genetic Algorithm (MGA). The feature selection model employs mono-peptide, dipeptide, and tripeptide features, focusing on the most diverse ones. These selected features are fed into a machine learning (ML)-based parallel ensemble classifier. The ensemble classifier combines correctly classified instances from various classifiers, including k-Nearest Neighbor (kNN), random forest (RF), logistic regression (LR), and support vector machine (SVM). The ensemble classifier came up with an impressively high accuracy of 99.3% as a result of its work. This accuracy is superior to the most recent models that are considered to be state-of-the-art for linear B-cell classification. As a direct consequence of this, the entire system model can now be utilised effectively in real-time clinical settings.

Spatial attention-based residual network for human burn identification and classification.

Diagnosing burns in humans has become critical, as early identification can save lives. The manual process of burn diagnosis is time-consuming and complex, even for experienced doctors. Machine learning (ML) and deep convolutional neural network (CNN) models have emerged as the standard for medical image diagnosis. The ML-based approach typically requires handcrafted features for training, which may result in suboptimal performance. Conversely, DL-based methods automatically extract features, but designing a robust model is challenging. Additionally, shallow DL methods lack long-range feature dependency, decreasing efficiency in various applications. We implemented several deep CNN models, ResNeXt, VGG16, and AlexNet, for human burn diagnosis. The results obtained from these models were found to be less reliable since shallow deep CNN models need improved attention modules to preserve the feature dependencies. Therefore, in the proposed study, the feature map is divided into several categories, and the channel dependencies between any two channel mappings within a given class are highlighted. A spatial attention map is built by considering the links between features and their locations. Our attention-based model BuRnGANeXt50 kernel and convolutional layers are also optimized for human burn diagnosis. The earlier study classified the burn based on depth of graft and non-graft. We first classified the burn based on the degree. Subsequently, it is classified into graft and non-graft. Furthermore, the proposed model performance is evaluated on Burns_BIP_US_database. The sensitivity of the BuRnGANeXt50 is 97.22% and 99.14%, respectively, for classifying burns based on degree and depth. This model may be used for quick screening of burn patients and can be executed in the cloud or on a local machine. The code of the proposed method can be accessed at https://github.com/dhirujis02/Journal.git for the sake of reproducibility.

A robust NIfTI image authentication framework to ensure reliable and safe diagnosis.

Advancements in digital medical imaging technologies have significantly impacted the healthcare system. It enables the diagnosis of various diseases through the interpretation of medical images. In addition, telemedicine, including teleradiology, has been a crucial impact on remote medical consultation, especially during the COVID-19 pandemic. However, with the increasing reliance on digital medical images comes the risk of digital media attacks that can compromise the authenticity and ownership of these images. Therefore, it is crucial to develop reliable and secure methods to authenticate these images that are in NIfTI image format. The proposed method in this research involves meticulously integrating a watermark into the slice of the NIfTI image. The Slantlet transform allows modification during insertion, while the Hessenberg matrix decomposition is applied to the LL subband, which retains the most energy of the image. The Affine transform scrambles the watermark before embedding it in the slice. The hybrid combination of these functions has outperformed previous methods, with good trade-offs between security, imperceptibility, and robustness. The performance measures used, such as NC, PSNR, SNR, and SSIM, indicate good results, with PSNR ranging from 60 to 61 dB, image quality index, and NC all close to one. Furthermore, the simulation results have been tested against image processing threats, demonstrating the effectiveness of this method in ensuring the authenticity and ownership of NIfTI images. Thus, the proposed method in this research provides a reliable and secure solution for the authentication of NIfTI images, which can have significant implications in the healthcare industry.

Semi-Supervised Clustering-Based DANA Algorithm for Data Gathering and Disease Detection in Healthcare Wireless Sensor Networks (WSN).

Wireless sensor networks (WSNs) have emerged as a promising technology in healthcare, enabling continuous patient monitoring and early disease detection. This study introduces an innovative approach to WSN data collection tailored for disease detection through signal processing in healthcare scenarios. The proposed strategy leverages the DANA (data aggregation using neighborhood analysis) algorithm and a semi-supervised clustering-based model to enhance the precision and effectiveness of data collection in healthcare WSNs. The DANA algorithm optimizes energy consumption and prolongs sensor node lifetimes by dynamically adjusting communication routes based on the network's real-time conditions. Additionally, the semi-supervised clustering model utilizes both labeled and unlabeled data to create a more robust and adaptable clustering technique. Through extensive simulations and practical deployments, our experimental assessments demonstrate the remarkable efficacy of the proposed method and model. We conducted a comparative analysis of data collection efficiency, energy utilization, and disease detection accuracy against conventional techniques, revealing significant improvements in data quality, energy efficiency, and rapid disease diagnosis. This combined approach of the DANA algorithm and the semi-supervised clustering-based model offers healthcare WSNs a compelling solution to enhance responsiveness and reliability in disease diagnosis through signal processing. This research contributes to the advancement of healthcare monitoring systems by offering a promising avenue for early diagnosis and improved patient care, ultimately transforming the landscape of healthcare through enhanced signal processing capabilities.

Noise Suppression and Edge Preservation for Low-Dose COVID-19 CT Images Using NLM and Method Noise Thresholding in Shearlet Domain.

In the COVID-19 era, it may be possible to detect COVID-19 by detecting lesions in scans, i.e., ground-glass opacity, consolidation, nodules, reticulation, or thickened interlobular septa, and lesion distribution, but it becomes difficult at the early stages due to embryonic lesion growth and the restricted use of high dose X-ray detection. Therefore, it may be possible for a patient who may or may not be infected with coronavirus to consider using high-dose X-rays, but it may cause more risks. Conclusively, using low-dose X-rays to produce CT scans and then adding a rigorous denoising algorithm to the scans is the best way to protect patients from side effects or a high dose X-ray when diagnosing coronavirus involvement early. Hence, this paper proposed a denoising scheme using an NLM filter and method noise thresholding concept in the shearlet domain for noisy COVID CT images. Low-dose COVID CT images can be further utilized. The results and comparative analysis showed that, in most cases, the proposed method gives better outcomes than existing ones.

Image-based decision making for reliable and proper diagnosing in NIFTI format using watermarking.

Nowadays, advancement in Magnetic Resonance Imaging (MRI) and Computed Tomography Scan (CT-Scan) technologies have defined modern neuroimaging and drastically change the diagnosing of disease in the world healthcare system. These imaging technologies generate NIFTI (Neuroimaging Informatics Technology Initiative) images. Due to COVID-19 last several months CT-Scan has been performed on millions of the CORONA patients, so billions of the NIFTI images have been produced and communicate over the internet for the diagnosing purpose to detect the coronavirus. The communication of these medical images over the internet yielding the major problem of integrity, copyright protection, and other ethical issues for the world health care system. Another critical problem is that; is doctor diagnose the impeccable medical image of the patient because a large amount of COVID-19 patient's data exists. For proper diagnosing it is also necessary to identify impeccable medical image. Therefore, to address these problems a secure and robust watermarking scheme is needed for these images. Various watermarking schemes have been developed for bmp, .jpg, .png, DICOM, and other image formats but the noticeable contribution is not reported for the NIFTI images. In this paper a robust and hybrid watermarking scheme for NIFTI images based on Lifting Wavelet Transform (LWT), MSVD (Multiresolution Singular Value Decomposition) and QR factorization. The combination of LWT, QR, and MSVD helps in retaining the sensitivity of the NIFTI image and improve the robustness of the watermarking scheme. In this scheme, multiple watermarks are inserted across the first slice of the NIFTI image. The proposed watermarking scheme is sustained against various noise attacks and performance is measured in terms of PSNR, SNR, SSIM, Quality of image, and Normalized correlation. Quality of the image is much significant that lie between .99994 to .99998 and SSIM reported from .94 to .99. Whereas the PSNR of the proposed scheme lies between 56.76 to 57.28 db and NC values lie between .9993 to .9998. which shows that the results are better than the existing schemes where PSNR is lies between 32.66 to 52.02 db. Watermarking, NIFTI, MSVD, LWT, QR and Image.