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Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among these, precise control is a critical task that determines the performance and capabilities of UAV systems. However, current research primarily focuses on trajectory tracking and minimizing flight errors, with limited attention to improving flight time. In this paper, we propose a Model Predictive Control (MPC) approach aimed at minimizing flight time while addressing the limitations of the commonly used classical MPC controllers. Furthermore, the MPC method and its application for UAV control are presented in detail. Finally, the results demonstrate that the proposed controller outperforms the standard MPC in terms of efficiency. Moreover, this approach shows potential to become a foundation for integrating intelligent algorithms into basic controllers., Comment: In Vietnamese language, in the 26th National Conference on Electronics, Communications and Information Technology (REV-ECIT 2023), Hanoi, Vietnam

Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for trajectory tracking: the Linear Model Predictive Controller (LMPC) and the Nonlinear Model Predictive Controller (NMPC). Additionally, the kinematic and dynamic models of the quadrotor are comprehensively described. Finally, a simulation system is implemented to verify feasibility, demonstrating the effectiveness of both controllers., Comment: In Vietnamese language, in the 25th National Conference on Electronics, Communications and Information Technology (REV-ECIT 2022), Hanoi, Vietnam

Depth information plays a crucial role in autonomous systems for environmental perception and robot state estimation. With the rapid development of deep neural network technology, depth estimation has been extensively studied and shown potential for practical applications. However, in particularly challenging environments such as low-light and noisy underwater conditions, direct application of machine learning models may not yield the desired results. Therefore, in this paper, we present an approach to enhance underwater image quality to improve depth estimation effectiveness. First, underwater images are processed through methods such as color compensation, brightness equalization, and enhancement of contrast and sharpness of objects in the image. Next, we perform depth estimation using the Udepth model on the enhanced images. Finally, the results are evaluated and presented to verify the effectiveness and accuracy of the enhanced depth image quality approach for underwater robots., Comment: In The 26th National Conference on Electronics, Communications and Information Technology (REV-ECIT 2023), Hanoi, Vietnam, in Vietnamese language

In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of two main components: a dual-arm robotic hardware system and software that includes image processing tasks and natural language processing using a 3D camera and embedded computing. First, we designed and developed a dual-arm robotic system with a positional accuracy of less than 2 cm, capable of operating independently, performing industrial and service tasks while simultaneously simulating and modeling the robot in the ROS environment. Second, artificial intelligence models for image processing are integrated to execute object picking and classification tasks with an accuracy of over 90%. Finally, we developed remote control software using voice commands through a natural language processing model. Experimental results demonstrate the accuracy of the multimodal artificial intelligence model and the flexibility of the dual-arm robotic system in interactive human environments., Comment: In The 25th National Conference on Electronics, Communications and Information Technology (REV-ECIT 2022), Hanoi, Vietnam. in Vietnamese language

Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the Robot Operating System (ROS). The hardware includes a differential-drive robot with an embedded computing platform (Jetson Xavier AGX), a 2D camera, and a LiDAR sensor for collecting external environmental information. The A* algorithm and Dynamic Window Approach (DWA) are used for path planning based on a 2D grid map. The ORB_SLAM3 algorithm is utilized to extract environmental features, providing the robot's pose for the localization and navigation processes. Finally, the system is tested in the Gazebo simulation environment and visualized through Rviz, demonstrating the efficiency and potential of the system for indoor localization and navigation of mobile robots., Comment: In The 25th National Conference on Electronics, Communications and Information Technology (REV-ECIT 2022), Hanoi, Vietnam. in Vietnamese language

Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue operations, object tracking, construction, etc. However, due to the negative effects of challenging environments, UAVs may lose signals for localization. In this paper, we present an effective path-planning system leveraging semantic segmentation information to navigate around texture-less and problematic areas like lakes, oceans, and high-rise buildings using a monocular camera. We introduce a real-time semantic segmentation architecture and a novel keyframe decision pipeline to optimize image inputs based on pixel distribution, reducing processing time. A hierarchical planner based on the Dynamic Window Approach (DWA) algorithm, integrated with a cost map, is designed to facilitate efficient path planning. The system is implemented in a photo-realistic simulation environment using Unity, aligning with segmentation model parameters. Comprehensive qualitative and quantitative evaluations validate the effectiveness of our approach, showing significant improvements in the reliability and efficiency of UAV localization in challenging environments., Comment: In The 24th International Conference on Control, Automation, and Systems (ICCAS 2024), Jeju, Korea

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory planning to enable safe and socially-aware robot navigation. The main idea of the proposed method is to leverage the advantages of Socially Acceptable trajectory prediction and Timed Elastic Band (TEB) by incorporating human interactive information including position, orientation, and motion into the objective function of the TEB algorithms. In addition, we designed social constraints to ensure the safety of robot navigation. The proposed system is evaluated through physical simulation using both quantitative and qualitative metrics, demonstrating its superior performance in avoiding human and dynamic obstacles, thereby ensuring safe navigation. The implementations are open source at: \url{https://github.com/thanhnguyencanh/SGan-TEB.git}, Comment: In the 24th International Conference on Control, Automation, and Systems (ICCAS 2024), Jeju, Korea

This paper presents a novel approach termed Layer-of-Thoughts Prompting (LoT), which utilizes constraint hierarchies to filter and refine candidate responses to a given query. By integrating these constraints, our method enables a structured retrieval process that enhances explainability and automation. Existing methods have explored various prompting techniques but often present overly generalized frameworks without delving into the nuances of prompts in multi-turn interactions. Our work addresses this gap by focusing on the hierarchical relationships among prompts. We demonstrate that the efficacy of thought hierarchy plays a critical role in developing efficient and interpretable retrieval algorithms. Leveraging Large Language Models (LLMs), LoT significantly improves the accuracy and comprehensibility of information retrieval tasks., Comment: Presented at NeLaMKRR@KR, 2024 (arXiv:2410.05339)

This paper introduces Knowledge Representation Augmented Generation (KRAG), a novel framework designed to enhance the capabilities of Large Language Models (LLMs) within domain-specific applications. KRAG points to the strategic inclusion of critical knowledge entities and relationships that are typically absent in standard data sets and which LLMs do not inherently learn. In the context of legal applications, we present Soft PROLEG, an implementation model under KRAG, which uses inference graphs to aid LLMs in delivering structured legal reasoning, argumentation, and explanations tailored to user inquiries. The integration of KRAG, either as a standalone framework or in tandem with retrieval augmented generation (RAG), markedly improves the ability of language models to navigate and solve the intricate challenges posed by legal texts and terminologies. This paper details KRAG's methodology, its implementation through Soft PROLEG, and potential broader applications, underscoring its significant role in advancing natural language understanding and processing in specialized knowledge domains., Comment: Presented at NeLaMKRR@KR, 2024 (arXiv:2410.05339)

Few-shot Continual Relations Extraction (FCRE) is an emerging and dynamic area of study where models can sequentially integrate knowledge from new relations with limited labeled data while circumventing catastrophic forgetting and preserving prior knowledge from pre-trained backbones. In this work, we introduce a novel method that leverages often-discarded language model heads. By employing these components via a mutual information maximization strategy, our approach helps maintain prior knowledge from the pre-trained backbone and strategically aligns the primary classification head, thereby enhancing model performance. Furthermore, we explore the potential of Large Language Models (LLMs), renowned for their wealth of knowledge, in addressing FCRE challenges. Our comprehensive experimental results underscore the efficacy of the proposed method and offer valuable insights for future work., Comment: Accepted to EMNLP 2024

In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model that tightly integrates IMU and encoder sensors to enhance positioning in such environments. The system operates by meticulously evaluating the data from each sensor. Based on these evaluations, weights are dynamically adjusted to prioritize the more reliable source of information at any given moment. The robot's state is initialized using IMU data, while the encoder aids motion estimation in long corridors. Discrepancies between the two states are used to correct IMU drift. The effectiveness of this method is demonstrably validated through experimentation. Compared to Karto SLAM, a widely used SLAM algorithm, this approach achieves an improvement of 26.98% in rotation angle error and 67.68% reduction in position error. These results convincingly demonstrate the method's superior accuracy and robustness in texture-less environments., Comment: In the 2024 International Conference on Mechatronic, Automobile, and Environment Engineering, Hanoi, Vietnam

Automated detection of acoustic signals is crucial for effective monitoring of vocal animals and their habitats across ecologically-relevant spatial and temporal scales. Recent advances in deep learning have made these approaches more accessible. However, there are few deep learning approaches that can be implemented natively in the R programming environment; approaches that run natively in R may be more accessible for ecologists. The "torch for R" ecosystem has made the use of transfer learning with convolutional neural networks accessible for R users. Here, we evaluate a workflow that uses transfer learning for the automated detection of acoustic signals from passive acoustic monitoring (PAM) data. Our specific goals include: 1) present a method for automated detection of gibbon calls from PAM data using the "torch for R" ecosystem; 2) compare the results of transfer learning for six pretrained CNN architectures; and 3) investigate how well the different architectures perform on datasets of the female calls from two different gibbon species: the northern grey gibbon (Hylobates funereus) and the southern yellow-cheeked crested gibbon (Nomascus gabriellae). We found that the highest performing architecture depended on the test dataset. We successfully deployed the top performing model for each gibbon species to investigate spatial of variation in gibbon calling behavior across two grids of autonomous recording units in Danum Valley Conservation Area, Malaysia and Keo Seima Wildlife Sanctuary, Cambodia. The fields of deep learning and automated detection are rapidly evolving, and we provide the methods and datasets as benchmarks for future work.

Intrusion detection poses a significant challenge within expansive and persistently interconnected environments. As malicious code continues to advance and sophisticated attack methodologies proliferate, various advanced deep learning-based detection approaches have been proposed. Nevertheless, the complexity and accuracy of intrusion detection models still need further enhancement to render them more adaptable to diverse system categories, particularly within resource-constrained devices, such as those embedded in edge computing systems. This research introduces a three-stage training paradigm, augmented by an enhanced pruning methodology and model compression techniques. The objective is to elevate the system's effectiveness, concurrently maintaining a high level of accuracy for intrusion detection. Empirical assessments conducted on the UNSW-NB15 dataset evince that this solution notably reduces the model's dimensions, while upholding accuracy levels equivalent to similar proposals.

We theoretically study biexcitons and quadrons in quantum dots with parabolic confinement and give a complete comparison between the two excitations. The calculation of quadron and biexciton binding energies as functions of electron-to-hole confinement potentials and mass ratios, using unrestricted Hartree-Fock method, shows the essential differences between biexciton and quadron. The crossover between the negative and positive binding energies is indicated. Besides, the effect of external magnetic field on the quadron and biexciton binding energies has also been investigated. In addition, the crossing between anti-binding and binding of both excited quadron and biexciton states at a certain range of the electron-to-hole oscillator length ratios has been found., Comment: 12 pages, 10 figures

Data is a cornerstone for fine-tuning large language models, yet acquiring suitable data remains challenging. Challenges encompassed data scarcity, linguistic diversity, and domain-specific content. This paper presents lessons learned while crawling and refining data tailored for fine-tuning Vietnamese language models. Crafting such a dataset, while accounting for linguistic intricacies and striking a balance between inclusivity and accuracy, demands meticulous planning. Our paper presents a multidimensional strategy including leveraging existing datasets in the English language and developing customized data-crawling scripts with the assistance of generative AI tools. A fine-tuned LLM model for the Vietnamese language, which was produced using resultant datasets, demonstrated good performance while generating Vietnamese news articles from prompts. The study offers practical solutions and guidance for future fine-tuning models in languages like Vietnamese.

This study evaluates the efficacy of ChatGPT as an AI teaching and learning support tool in an integrated circuit systems course at a higher education institution in an Asian country. Various question types were completed, and ChatGPT responses were assessed to gain valuable insights for further investigation. The objective is to assess ChatGPT's ability to provide insights, personalized support, and interactive learning experiences in engineering education. The study includes the evaluation and reflection of different stakeholders: students, lecturers, and engineers. The findings of this study shed light on the benefits and limitations of ChatGPT as an AI tool, paving the way for innovative learning approaches in technical disciplines. Furthermore, the study contributes to our understanding of how digital transformation is likely to unfold in the education sector.

Agricultural price prediction is crucial for farmers, policymakers, and other stakeholders in the agricultural sector. However, it is a challenging task due to the complex and dynamic nature of agricultural markets. Machine learning algorithms have the potential to revolutionize agricultural price prediction by improving accuracy, real-time prediction, customization, and integration. This paper reviews recent research on machine learning algorithms for agricultural price prediction. We discuss the importance of agriculture in developing countries and the problems associated with crop price falls. We then identify the challenges of predicting agricultural prices and highlight how machine learning algorithms can support better prediction. Next, we present a comprehensive analysis of recent research, discussing the strengths and weaknesses of various machine learning techniques. We conclude that machine learning has the potential to revolutionize agricultural price prediction, but further research is essential to address the limitations and challenges associated with this approach.