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The autonomous navigation of mobile robots contains three parts: map building, global localization, and path planning. Precise pose data directly affect the accuracy of global localization. However, the cumulative error problems of sensors and various estimation strategies cause the pose to have a large gap in data accuracy. To address these problems, this paper proposes a pose calibration method based on localization and point cloud registration, which is called L-PCM. Firstly, the method obtains the odometer and IMU (inertial measurement unit) data through the sensors mounted on the mobile robot and uses the UKF (unscented Kalman filter) algorithm to filter and fuse the odometer data and IMU data to obtain the estimated pose of the mobile robot. Secondly, the AMCL (adaptive Monte Carlo localization) is improved by combining the UKF fusion model of the IMU and odometer to obtain the modified global initial pose of the mobile robot. Finally, PL-ICP (point to line-iterative closest point) point cloud registration is used to calibrate the modified global initial pose to obtain the global pose of the mobile robot. Through simulation experiments, it is verified that the UKF fusion algorithm can reduce the influence of cumulative errors and the improved AMCL algorithm can optimize the pose trajectory. The average value of the position error is about 0.0447 m, and the average value of the angle error is stabilized at about 0.0049 degrees. Meanwhile, it has been verified that the L-PCM is significantly better than the existing AMCL algorithm, with a position error of about 0.01726 m and an average angle error of about 0.00302 degrees, effectively improving the accuracy of the pose. [ABSTRACT FROM AUTHOR]

Ransomware poses a significant threat by encrypting files or systems demanding a ransom be paid. Early detection is essential to mitigate its impact. This paper presents an Uncertainty-Aware Dynamic Early Stopping (UA-DES) technique for optimizing Deep Belief Networks (DBNs) in ransomware detection. UA-DES leverages Bayesian methods, dropout techniques, and an active learning framework to dynamically adjust the number of epochs during the training of the detection model, preventing overfitting while enhancing model accuracy and reliability. Our solution takes a set of Application Programming Interfaces (APIs), representing ransomware behavior as input we call "UA-DES-DBN". The method incorporates uncertainty and calibration quality measures, optimizing the training process for better more accurate ransomware detection. Experiments demonstrate the effectiveness of UA-DES-DBN compared to more conventional models. The proposed model improved accuracy from 94% to 98% across various input sizes, surpassing other models. UA-DES-DBN also decreased the false positive rate from 0.18 to 0.10, making it more useful in real-world cybersecurity applications. [ABSTRACT FROM AUTHOR]