This paper investigates the development and optimization of control algorithms for mobile robotics, with a keen focus on their implementation in Field-Programmable Gate Arrays (FPGAs). It delves into both classical control approaches such as PID and modern techniques including deep learning, addressing their application in sectors ranging from industrial automation to medical care. The study highlights the practical challenges and advancements in embedding these algorithms into FPGAs, which offer significant benefits for mobile robotics due to their high-speed processing and parallel computation capabilities. Through an analysis of various control strategies, the paper showcases the improvements in robot performance, particularly in navigation and obstacle avoidance. It emphasizes the critical role of FPGAs in enhancing the efficiency and adaptability of control algorithms in dynamic environments. Additionally, the research discusses the difficulties in benchmarking and evaluating the performance of these algorithms in real-world applications, suggesting a need for standardized evaluation criteria. The contribution of this work lies in its comprehensive examination of control algorithms' potential in FPGA-based mobile robotics, offering insights into future research directions for improving robotic autonomy and operational efficiency.

As an effective algorithm for solving complex optimization problems, artificial bee colony (ABC) algorithm has shown to be competitive, but the same as other population-based algorithms, it is poor at balancing the abilities of global searching in the whole solution space (named as exploration) and quick searching in local solution space which is defined as exploitation. For improving the performance of ABC, an adaptive group collaborative ABC (AgABC) algorithm is introduced where the population in different phases is divided to specific groups and different search strategies with different abilities are assigned to the members in groups, and the member or strategy which obtains the best solution will be employed for further searching. Experimental results on benchmark functions show that the proposed algorithm with dynamic mechanism is superior to other algorithms in searching accuracy and stability. Furthermore, numerical experiments show that the proposed method can generate the optimal solution for the complex scheduling problem.

One of the main requirements of tumor extraction is the annotation and segmentation of tumor boundaries correctly. For this purpose, we present a threefold deep learning architecture. First classifiers are implemented with a deep convolutional neural network(CNN) andsecond a region-based convolutional neural network (R-CNN) is performed on the classified images to localize the tumor regions of interest. As the third and final stage, the concentratedtumor boundary is contoured for the segmentation process by using the Chan-Vesesegmentation algorithm. As the typical edge detection algorithms based on gradients of pixel intensity tend to fail in the medical image segmentation process, an active contour algorithm defined with the level set function is proposed. Specifically, Chan- Vese algorithm was applied to detect the tumor boundaries for the segmentation process. To evaluate the performance of the overall system, Dice Score,Rand Index (RI), Variation of Information (VOI), Global Consistency Error (GCE), Boundary Displacement Error (BDE), Mean absolute error (MAE), and Peak Signal to Noise Ratio (PSNR) werecalculated by comparing the segmented boundary area which is the final output of the proposed, against the demarcations of the subject specialists which is the gold standard. Overall performance of the proposed architecture for both glioma and meningioma segmentation is with average dice score of 0.92, (also, with RI of 0.9936, VOI of 0.0301, GCE of 0.004, BDE of 2.099, PSNR of 77.076 and MAE of 52.946), pointing to high reliability of the proposed architecture.

Traffic forecasting is an important prerequisite for the application of intelligent transportation systems in urban traffic networks. The existing works adopted RNN and CNN/GCN, among which GCRN is the state of art work, to characterize the temporal and spatial correlation of traffic flows. However, it is hard to apply GCRN to the large scale road networks due to high computational complexity. To address this problem, we propose to abstract the road network into a geometric graph and build a Fast Graph Convolution Recurrent Neural Network (FastGCRNN) to model the spatial-temporal dependencies of traffic flow. Specifically, We use FastGCN unit to efficiently capture the topological relationship between the roads and the surrounding roads in the graph with reducing the computational complexity through importance sampling, combine GRU unit to capture the temporal dependency of traffic flow, and embed the spatiotemporal features into Seq2Seq based on the Encoder-Decoder framework. Experiments on large-scale traffic data sets illustrate that the proposed method can greatly reduce computational complexity and memory consumption while maintaining relatively high accuracy.

Most topic models are constructed under the assumption that documents follow a multinomial distribution. The Poisson distribution is an alternative distribution to describe the probability of count data. For topic modelling, the Poisson distribution describes the number of occurrences of a word in documents of fixed length. The Poisson distribution has been successfully applied in text classification, but its application to topic modelling is not well documented, specifically in the context of a generative probabilistic model. Furthermore, the few Poisson topic models in literature are admixture models, making the assumption that a document is generated from a mixture of topics. In this study, we focus on short text. Many studies have shown that the simpler assumption of a mixture model fits short text better. With mixture models, as opposed to admixture models, the generative assumption is that a document is generated from a single topic. One topic model, which makes this one-topic-per-document assumption, is the Dirichlet-multinomial mixture model. The main contributions of this work are a new Gamma-Poisson mixture model, as well as a collapsed Gibbs sampler for the model. The benefit of the collapsed Gibbs sampler derivation is that the model is able to automatically select the number of topics contained in the corpus. The results show that the Gamma-Poisson mixture model performs better than the Dirichlet-multinomial mixture model at selecting the number of topics in labelled corpora. Furthermore, the Gamma-Poisson mixture produces better topic coherence scores than the Dirichlet-multinomial mixture model, thus making it a viable option for the challenging task of topic modelling of short text.