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This paper tackles the challenge of real-time 3D trajectory prediction for UAVs, which is critical for applications such as aerial surveillance and defense. Existing prediction models that rely primarily on position data struggle with accuracy, especially when UAV movements fall outside the position domain used in training. Our research identifies a gap in utilizing velocity estimates, first-order dynamics, to better capture the dynamics and enhance prediction accuracy and generalizability in any position domain. To bridge this gap, we propose a new trajectory prediction method using Gated Recurrent Units (GRUs) within sequence-based neural networks. Unlike traditional methods that rely on RNNs or transformers, this approach forecasts future velocities and positions based on historical velocity data instead of positions. This is designed to enhance prediction accuracy and scalability, overcoming challenges faced by conventional models in handling complex UAV dynamics. The methodology employs both synthetic and real-world 3D UAV trajectory data, capturing a wide range of flight patterns, speeds, and agility. Synthetic data is generated using the Gazebo simulator and PX4 Autopilot, while real-world data comes from the UZH-FPV and Mid-Air drone racing datasets. The GRU-based models significantly outperform state-of-the-art RNN approaches, with a mean square error (MSE) as low as 2 x 10^-8. Overall, our findings confirm the effectiveness of incorporating velocity data in improving the accuracy of UAV trajectory predictions across both synthetic and real-world scenarios, in and out of position data distributions. Finally, we open-source our 5000 trajectories dataset and a ROS 2 package to facilitate the integration with existing ROS-based UAV systems.

In the field of sensor fusion and state estimation for object detection and localization, ensuring accurate tracking in dynamic environments poses significant challenges. Traditional methods like the Kalman Filter (KF) often fail when measurements are intermittent, leading to rapid divergence in state estimations. To address this, we introduce SMART (Sensor Measurement Augmentation and Reacquisition Tracker), a novel approach that leverages high-frequency state estimates from the KF to guide the search for new measurements, maintaining tracking continuity even when direct measurements falter. This is crucial for dynamic environments where traditional methods struggle. Our contributions include: 1) Versatile Measurement Augmentation Using KF Feedback: We implement a versatile measurement augmentation system that serves as a backup when primary object detectors fail intermittently. This system is adaptable to various sensors, demonstrated using depth cameras where KF's 3D predictions are projected into 2D depth image coordinates, integrating nonlinear covariance propagation techniques simplified to first-order approximations. 2) Open-source ROS2 Implementation: We provide an open-source ROS2 implementation of the SMART-TRACK framework, validated in a realistic simulation environment using Gazebo and ROS2, fostering broader adaptation and further research. Our results showcase significant enhancements in tracking stability, with estimation RMSE as low as 0.04 m during measurement disruptions, advancing the robustness of UAV tracking and expanding the potential for reliable autonomous UAV operations in complex scenarios. The implementation is available at https://github.com/mzahana/SMART-TRACK., Comment: 12 pages, 7 figures, 3 algorithms, 2 tables

Let $X$ be a regular scheme over $\textrm{Spec}(\mathbb{Z}[1/p])$ where $p$ is prime. Let $i:Y\to X$ be a closed subscheme of pure codimension $r$. Let $n$ be a natural number prime to $p$. Let $\Lambda$ be a finite $\mathbb{Z}/n$-module over $X$. In this case, the absolute purity conjectured by Grothendieck and proved by Gabber states that \[ Ri^! \Lambda\cong \Lambda_Y(-r)[-2r]\in D_{\textrm{\'et}}(Y,\Lambda) \] For the $n=p^m$-case, a dualizing sheaf was proposed by Milne \cite{MilneValuesOfZeta}, namely the logarithmic de Rham-Witt sheaves $\nu_m(r)$. But this doesn't work for all degrees for the \'etale cohomology. It is however conjectured that this works for the tame cohomology. In this paper we make this work following the proof of Milne in loc. cit. by replacing \'etale by tame cohomology and assuming resolution of singularities in positive characteristic. We obtain the following isomorphism \[ Ri^! \nu_m(n)\cong \nu_m(n-r)[-r]. \]

This work presents a novel framework for training Arabic nested embedding models through Matryoshka Embedding Learning, leveraging multilingual, Arabic-specific, and English-based models, to highlight the power of nested embeddings models in various Arabic NLP downstream tasks. Our innovative contribution includes the translation of various sentence similarity datasets into Arabic, enabling a comprehensive evaluation framework to compare these models across different dimensions. We trained several nested embedding models on the Arabic Natural Language Inference triplet dataset and assessed their performance using multiple evaluation metrics, including Pearson and Spearman correlations for cosine similarity, Manhattan distance, Euclidean distance, and dot product similarity. The results demonstrate the superior performance of the Matryoshka embedding models, particularly in capturing semantic nuances unique to the Arabic language. Results demonstrated that Arabic Matryoshka embedding models have superior performance in capturing semantic nuances unique to the Arabic language, significantly outperforming traditional models by up to 20-25\% across various similarity metrics. These results underscore the effectiveness of language-specific training and highlight the potential of Matryoshka models in enhancing semantic textual similarity tasks for Arabic NLP.

The Internet of Things (IoT) has been introduced as a breakthrough technology that integrates intelligence into everyday objects, enabling high levels of connectivity between them. As the IoT networks grow and expand, they become more susceptible to cybersecurity attacks. A significant challenge in current intrusion detection systems for IoT includes handling imbalanced datasets where labeled data are scarce, particularly for new and rare types of cyber attacks. Existing literature often fails to detect such underrepresented attack classes. This paper introduces a novel intrusion detection approach designed to address these challenges. By integrating Self Supervised Learning (SSL), Few Shot Learning (FSL), and Random Forest (RF), our approach excels in learning from limited and imbalanced data and enhancing detection capabilities. The approach starts with a Deep Infomax model trained to extract key features from the dataset. These features are then fed into a prototypical network to generate discriminate embedding. Subsequently, an RF classifier is employed to detect and classify potential malware, including a range of attacks that are frequently observed in IoT networks. The proposed approach was evaluated through two different datasets, MaleVis and WSN-DS, which demonstrate its superior performance with accuracies of 98.60% and 99.56%, precisions of 98.79% and 99.56%, recalls of 98.60% and 99.56%, and F1-scores of 98.63% and 99.56%, respectively.

The growing interest in satellite imagery has triggered the need for efficient mechanisms to extract valuable information from these vast data sources, providing deeper insights. Even though deep learning has shown significant progress in satellite image classification. Nevertheless, in the literature, only a few results can be found on weight initialization techniques. These techniques traditionally involve initializing the networks' weights before training on extensive datasets, distinct from fine-tuning the weights of pre-trained networks. In this study, a novel weight initialization method is proposed in the context of satellite image classification. The proposed weight initialization method is mathematically detailed during the forward and backward passes of the convolutional neural network (CNN) model. Extensive experiments are carried out using six real-world datasets. Comparative analyses with existing weight initialization techniques made on various well-known CNN models reveal that the proposed weight initialization technique outperforms the previous competitive techniques in classification accuracy. The complete code of the proposed technique, along with the obtained results, is available at https://github.com/WadiiBoulila/Weight-Initialization

Addressing uncertainty in Deep Learning (DL) is essential, as it enables the development of models that can make reliable predictions and informed decisions in complex, real-world environments where data may be incomplete or ambiguous. This paper introduces a novel algorithm leveraging Dempster-Shafer Theory (DST) to integrate multiple pre-trained models to form an ensemble capable of providing more reliable and enhanced classifications. The main steps of the proposed method include feature extraction, mass function calculation, fusion, and expected utility calculation. Several experiments have been conducted on CIFAR-10 and CIFAR-100 datasets, demonstrating superior classification accuracy of the proposed DST-based method, achieving improvements of 5.4% and 8.4%, respectively, compared to the best individual pre-trained models. Results highlight the potential of DST as a robust framework for managing uncertainties related to data when applying DL in real-world scenarios.

In this paper we introduce APL (Arabic Programming Language) that uses Large language models (LLM) as semi-compiler to covert Arabic text code to python code then run the code. Designing a full pipeline from the structure of the APL text then a prompt (using prompt engineering) then running the prodcued python code using PyRunner. This project has a three parts first python library, a playground with simple interface and this research paper.

The predominance of English and Latin-based large language models (LLMs) has led to a notable deficit in native Arabic LLMs. This discrepancy is accentuated by the prevalent inclusion of English tokens in existing Arabic models, detracting from their efficacy in processing native Arabic's intricate morphology and syntax. Consequently, there is a theoretical and practical imperative for developing LLMs predominantly focused on Arabic linguistic elements. To address this gap, this paper proposes ArabianGPT, a series of transformer-based models within the ArabianLLM suite designed explicitly for Arabic. These models, including ArabianGPT-0.1B and ArabianGPT-0.3B, vary in size and complexity, aligning with the nuanced linguistic characteristics of Arabic. The AraNizer tokenizer, integral to these models, addresses the unique morphological aspects of Arabic script, ensuring more accurate text processing. Empirical results from fine-tuning the models on tasks like sentiment analysis and summarization demonstrate significant improvements. For sentiment analysis, the fine-tuned ArabianGPT-0.1B model achieved a remarkable accuracy of 95%, a substantial increase from the base model's 56%. Similarly, in summarization tasks, fine-tuned models showed enhanced F1 scores, indicating improved precision and recall in generating concise summaries. Comparative analysis of fine-tuned ArabianGPT models against their base versions across various benchmarks reveals nuanced differences in performance, with fine-tuning positively impacting specific tasks like question answering and summarization. These findings underscore the efficacy of fine-tuning in aligning ArabianGPT models more closely with specific NLP tasks, highlighting the potential of tailored transformer architectures in advancing Arabic NLP.

Lichens are symbiotic organisms composed of fungi, algae, and/or cyanobacteria that thrive in a variety of environments. They play important roles in carbon and nitrogen cycling, and contribute directly and indirectly to biodiversity. Ecologists typically monitor lichens by using them as indicators to assess air quality and habitat conditions. In particular, epiphytic lichens, which live on trees, are key markers of air quality and environmental health. A new method of monitoring epiphytic lichens involves using time-lapse cameras to gather images of lichen populations. These cameras are used by ecologists in Newfoundland and Labrador to subsequently analyze and manually segment the images to determine lichen thalli condition and change. These methods are time-consuming and susceptible to observer bias. In this work, we aim to automate the monitoring of lichens over extended periods and to estimate their biomass and condition to facilitate the task of ecologists. To accomplish this, our proposed framework uses semantic segmentation with an effective training approach to automate monitoring and biomass estimation of epiphytic lichens on time-lapse images. We show that our method has the potential to significantly improve the accuracy and efficiency of lichen population monitoring, making it a valuable tool for forest ecologists and environmental scientists to evaluate the impact of climate change on Canada's forests. To the best of our knowledge, this is the first time that such an approach has been used to assist ecologists in monitoring and analyzing epiphytic lichens., Comment: 6 pages, 3 Figures, 8 Tables, Accepted for publication in IEEE International Conference on Machine Learning and Applications (ICMLA), copyright IEEE

In the intricate field of legal studies, the analysis of court decisions is a cornerstone for the effective functioning of the judicial system. The ability to predict court outcomes helps judges during the decision-making process and equips lawyers with invaluable insights, enhancing their strategic approaches to cases. Despite its significance, the domain of Arabic court analysis remains under-explored. This paper pioneers a comprehensive predictive analysis of Arabic court decisions on a dataset of 10,813 commercial court real cases, leveraging the advanced capabilities of the current state-of-the-art large language models. Through a systematic exploration, we evaluate three prevalent foundational models (LLaMA-7b, JAIS-13b, and GPT3.5-turbo) and three training paradigms: zero-shot, one-shot, and tailored fine-tuning. Besides, we assess the benefit of summarizing and/or translating the original Arabic input texts. This leads to a spectrum of 14 model variants, for which we offer a granular performance assessment with a series of different metrics (human assessment, GPT evaluation, ROUGE, and BLEU scores). We show that all variants of LLaMA models yield limited performance, whereas GPT-3.5-based models outperform all other models by a wide margin, surpassing the average score of the dedicated Arabic-centric JAIS model by 50%. Furthermore, we show that all scores except human evaluation are inconsistent and unreliable for assessing the performance of large language models on court decision predictions. This study paves the way for future research, bridging the gap between computational linguistics and Arabic legal analytics., Comment: 26 pages

Image Restoration has seen remarkable progress in recent years. Many generative models have been adapted to tackle the known restoration cases of images. However, the interest in benefiting from the frequency domain is not well explored despite its major factor in these particular cases of image synthesis. In this study, we propose the Guided Frequency Loss (GFL), which helps the model to learn in a balanced way the image's frequency content alongside the spatial content. It aggregates three major components that work in parallel to enhance learning efficiency; a Charbonnier component, a Laplacian Pyramid component, and a Gradual Frequency component. We tested GFL on the Super Resolution and the Denoising tasks. We used three different datasets and three different architectures for each of them. We found that the GFL loss improved the PSNR metric in most implemented experiments. Also, it improved the training of the Super Resolution models in both SwinIR and SRGAN. In addition, the utility of the GFL loss increased better on constrained data due to the less stochasticity in the high frequencies' components among samples.

In surveillance, accurately recognizing license plates is hindered by their often low quality and small dimensions, compromising recognition precision. Despite advancements in AI-based image super-resolution, methods like Convolutional Neural Networks (CNNs) and Generative Adversarial Networks (GANs) still fall short in enhancing license plate images. This study leverages the cutting-edge diffusion model, which has consistently outperformed other deep learning techniques in image restoration. By training this model using a curated dataset of Saudi license plates, both in low and high resolutions, we discovered the diffusion model's superior efficacy. The method achieves a 12.55\% and 37.32% improvement in Peak Signal-to-Noise Ratio (PSNR) over SwinIR and ESRGAN, respectively. Moreover, our method surpasses these techniques in terms of Structural Similarity Index (SSIM), registering a 4.89% and 17.66% improvement over SwinIR and ESRGAN, respectively. Furthermore, 92% of human evaluators preferred our images over those from other algorithms. In essence, this research presents a pioneering solution for license plate super-resolution, with tangible potential for surveillance systems.

The Red Palm Weevil (RPW), also known as the palm weevil, is considered among the world's most damaging insect pests of palms. Current detection techniques include the detection of symptoms of RPW using visual or sound inspection and chemical detection of volatile signatures generated by infested palm trees. However, efficient detection of RPW diseases at an early stage is considered one of the most challenging issues for cultivating date palms. In this paper, an efficient approach to the early detection of RPW is proposed. The proposed approach is based on RPW sound activities being recorded and analyzed. The first step involves the conversion of sound data into images based on a selected set of features. The second step involves the combination of images from the same sound file but computed by different features into a single image. The third step involves the application of different Deep Learning (DL) techniques to classify resulting images into two classes: infested and not infested. Experimental results show good performances of the proposed approach for RPW detection using different DL techniques, namely MobileNetV2, ResNet50V2, ResNet152V2, VGG16, VGG19, DenseNet121, DenseNet201, Xception, and InceptionV3. The proposed approach outperformed existing techniques for public datasets.

In this paper, we argue that the next generation of robots can be commanded using only Language Models' prompts. Every prompt interrogates separately a specific Robotic Modality via its Modality Language Model (MLM). A central Task Modality mediates the whole communication to execute the robotic mission via a Large Language Model (LLM). This paper gives this new robotic design pattern the name of: Prompting Robotic Modalities (PRM). Moreover, this paper applies this PRM design pattern in building a new robotic framework named ROSGPT_Vision. ROSGPT_Vision allows the execution of a robotic task using only two prompts: a Visual and an LLM prompt. The Visual Prompt extracts, in natural language, the visual semantic features related to the task under consideration (Visual Robotic Modality). Meanwhile, the LLM Prompt regulates the robotic reaction to the visual description (Task Modality). The framework automates all the mechanisms behind these two prompts. The framework enables the robot to address complex real-world scenarios by processing visual data, making informed decisions, and carrying out actions automatically. The framework comprises one generic vision module and two independent ROS nodes. As a test application, we used ROSGPT_Vision to develop CarMate, which monitors the driver's distraction on the roads and makes real-time vocal notifications to the driver. We showed how ROSGPT_Vision significantly reduced the development cost compared to traditional methods. We demonstrated how to improve the quality of the application by optimizing the prompting strategies, without delving into technical details. ROSGPT_Vision is shared with the community (link: https://github.com/bilel-bj/ROSGPT_Vision) to advance robotic research in this direction and to build more robotic frameworks that implement the PRM design pattern and enables controlling robots using only prompts.

The Red Palm Weevil (RPW) is a highly destructive insect causing economic losses and impacting palm tree farming worldwide. This paper proposes an innovative approach for sustainable palm tree farming by utilizing advanced technologies for the early detection and management of RPW. Our approach combines computer vision, deep learning (DL), the Internet of Things (IoT), and geospatial data to detect and classify RPW-infested palm trees effectively. The main phases include; (1) DL classification using sound data from IoT devices, (2) palm tree detection using YOLOv8 on UAV images, and (3) RPW mapping using geospatial data. Our custom DL model achieves 100% precision and recall in detecting and localizing infested palm trees. Integrating geospatial data enables the creation of a comprehensive RPW distribution map for efficient monitoring and targeted management strategies. This technology-driven approach benefits agricultural authorities, farmers, and researchers in managing RPW infestations and safeguarding palm tree plantations' productivity.

Medical imaging is an essential tool for diagnosing various healthcare diseases and conditions. However, analyzing medical images is a complex and time-consuming task that requires expertise and experience. This article aims to design a decision support system to assist healthcare providers and patients in making decisions about diagnosing, treating, and managing health conditions. The proposed architecture contains three stages: 1) data collection and labeling, 2) model training, and 3) diagnosis report generation. The key idea is to train a deep learning model on a medical image dataset to extract four types of information: the type of image scan, the body part, the test image, and the results. This information is then fed into ChatGPT to generate automatic diagnostics. The proposed system has the potential to enhance decision-making, reduce costs, and improve the capabilities of healthcare providers. The efficacy of the proposed system is analyzed by conducting extensive experiments on a large medical image dataset. The experimental outcomes exhibited promising performance for automatic diagnosis through medical images.

Since the release of ChatGPT, numerous studies have highlighted the remarkable performance of ChatGPT, which often rivals or even surpasses human capabilities in various tasks and domains. However, this paper presents a contrasting perspective by demonstrating an instance where human performance excels in typical tasks suited for ChatGPT, specifically in the domain of computer programming. We utilize the IEEExtreme Challenge competition as a benchmark, a prestigious, annual international programming contest encompassing a wide range of problems with different complexities. To conduct a thorough evaluation, we selected and executed a diverse set of 102 challenges, drawn from five distinct IEEExtreme editions, using three major programming languages: Python, Java, and C++. Our empirical analysis provides evidence that contrary to popular belief, human programmers maintain a competitive edge over ChatGPT in certain aspects of problem-solving within the programming context. In fact, we found that the average score obtained by ChatGPT on the set of IEEExtreme programming problems is 3.9 to 5.8 times lower than the average human score, depending on the programming language. This paper elaborates on these findings, offering critical insights into the limitations and potential areas of improvement for AI-based language models like ChatGPT., Comment: 9 pages, 3 figures

Image Dehazing aims to remove atmospheric fog or haze from an image. Although the Dehazing models have evolved a lot in recent years, few have precisely tackled the problem of High-Resolution hazy images. For this kind of image, the model needs to work on a downscaled version of the image or on cropped patches from it. In both cases, the accuracy will drop. This is primarily due to the inherent failure to combine global and local features when the image size increases. The Dehazing model requires global features to understand the general scene peculiarities and the local features to work better with fine and pixel details. In this study, we propose the Streamlined Global and Local Features Combinator (SGLC) to solve these issues and to optimize the application of any Dehazing model to High-Resolution images. The SGLC contains two successive blocks. The first is the Global Features Generator (GFG) which generates the first version of the Dehazed image containing strong global features. The second block is the Local Features Enhancer (LFE) which improves the local feature details inside the previously generated image. When tested on the Uformer architecture for Dehazing, SGLC increased the PSNR metric by a significant margin. Any other model can be incorporated inside the SGLC process to improve its efficiency on High-Resolution input data., Comment: Accepted in CVPR 2023 Workshops

Ambient computing is gaining popularity as a major technological advancement for the future. The modern era has witnessed a surge in the advancement in healthcare systems, with viable radio frequency solutions proposed for remote and unobtrusive human activity recognition (HAR). Specifically, this study investigates the use of Wi-Fi channel state information (CSI) as a novel method of ambient sensing that can be employed as a contactless means of recognizing human activity in indoor environments. These methods avoid additional costly hardware required for vision-based systems, which are privacy-intrusive, by (re)using Wi-Fi CSI for various safety and security applications. During an experiment utilizing universal software-defined radio (USRP) to collect CSI samples, it was observed that a subject engaged in six distinct activities, which included no activity, standing, sitting, and leaning forward, across different areas of the room. Additionally, more CSI samples were collected when the subject walked in two different directions. This study presents a Wi-Fi CSI-based HAR system that assesses and contrasts deep learning approaches, namely convolutional neural network (CNN), long short-term memory (LSTM), and hybrid (LSTM+CNN), employed for accurate activity recognition. The experimental results indicate that LSTM surpasses current models and achieves an average accuracy of 95.3% in multi-activity classification when compared to CNN and hybrid techniques. In the future, research needs to study the significance of resilience in diverse and dynamic environments to identify the activity of multiple users.

Smart traffic engineering and intelligent transportation services are in increasing demand from governmental authorities to optimize traffic performance and thus reduce energy costs, increase the drivers' safety and comfort, ensure traffic laws enforcement, and detect traffic violations. In this paper, we address this challenge, and we leverage the use of Artificial Intelligence (AI) and Unmanned Aerial Vehicles (UAVs) to develop an AI-integrated video analytics framework, called TAU (Traffic Analysis from UAVs), for automated traffic analytics and understanding. Unlike previous works on traffic video analytics, we propose an automated object detection and tracking pipeline from video processing to advanced traffic understanding using high-resolution UAV images. TAU combines six main contributions. First, it proposes a pre-processing algorithm to adapt the high-resolution UAV image as input to the object detector without lowering the resolution. This ensures an excellent detection accuracy from high-quality features, particularly the small size of detected objects from UAV images. Second, it introduces an algorithm for recalibrating the vehicle coordinates to ensure that vehicles are uniquely identified and tracked across the multiple crops of the same frame. Third, it presents a speed calculation algorithm based on accumulating information from successive frames. Fourth, TAU counts the number of vehicles per traffic zone based on the Ray Tracing algorithm. Fifth, TAU has a fully independent algorithm for crossroad arbitration based on the data gathered from the different zones surrounding it. Sixth, TAU introduces a set of algorithms for extracting twenty-four types of insights from the raw data collected. The code is shared here: https://github.com/bilel-bj/TAU. Video demonstrations are provided here: https://youtu.be/wXJV0H7LviU and here: https://youtu.be/kGv0gmtVEbI., Comment: This is the final proofread version submitted to Elsevier EAAI: please see the published version at: https://doi.org/10.1016/j.engappai.2022.105095

IoT has enabled the rapid growth of smart remote healthcare applications. These IoT-based remote healthcare applications deliver fast and preventive medical services to patients at risk or with chronic diseases. However, ensuring data security and patient privacy while exchanging sensitive medical data among medical IoT devices is still a significant concern in remote healthcare applications. Altered or corrupted medical data may cause wrong treatment and create grave health issues for patients. Moreover, current remote medical applications' efficiency and response time need to be addressed and improved. Considering the need for secure and efficient patient care, this paper proposes a lightweight Blockchain-based and Fog-enabled remote patient monitoring system that provides a high level of security and efficient response time. Simulation results and security analysis show that the proposed lightweight blockchain architecture fits the resource-constrained IoT devices well and is secure against attacks. Moreover, the augmentation of Fog computing improved the responsiveness of the remote patient monitoring system by 40%., Comment: 32 pages, 13 figures, 5 tables, accepted by Elsevier "Internet of Things; Engineering Cyber Physical Human Systems" journal on January 9, 2023