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Security of computers and the networks that connect them is increasingly becoming of great significance. Computer security is defined as the protection of computing systems against threats to confidentiality, integrity, and availability. There are two types of intruders: external intruders, who are unauthorized users of the machines they attack, and internal intruders, who have permission to access the system with some restrictions. This chapter presents a soft computing approach to detect intrusions in a network. Among the several soft computing paradigms, we investigated fuzzy rule-based classifiers, decision trees, support vector machines, linear genetic programming and an ensemble method to model fast and efficient intrusion detection systems. Empirical results clearly show that soft computing approach could play a major role for intrusion detection.
In this work two soft computing methods, Artificial Neural Networks and Genetic Programming, are proposed in order to forecast the mean temperature that will occur in future seasons. The area in which the soft computing techniques were applied is that of the surroundings of the town of Benevento, in the south of Italy, having geographic coordinates (lat. 41°07'50"N; long.14°47'13"E). This area is not affected by maritime influences as well as by winds coming from the west. The methods are fed by data recorded in the meteorological stations of Benevento and Castelvenere, located in the hilly area, which characterizes the territory surrounding this city, at 144 m a.s.l. Both the applied methods show low error rates, while the Genetic Programming offers an explicit rule representation (a formula) explaining the prevision. Keywords Seasonal Temperature Forecasting; Soft Computing; Artificial Neural Networks; Genetic Programming; Southern Italy.
We introduce a soft computing approach for automatically selecting and combining indices from remote sensing multispectral images that can be used for classification tasks. The proposed approach is based on a Genetic-Programming (GP) framework, a technique successfully used in a wide variety of optimization problems. Through GP, it is possible to learn indices that maximize the separability of samples from two different classes. Once the indices specialized for all the pairs of classes are obtained, they are used in pixelwise classification tasks. We used the GP-based solution to evaluate complex classification problems, such as those that are related to the discrimination of vegetation types within and between tropical biomes. Using time series defined in terms of the learned spectral indices, we show that the GP framework leads to superior results than other indices that are used to discriminate and classify tropical biomes.
In this work, we argue that the implications of Pseudo and Quantum Random Number Generators (PRNG and QRNG) inexplicably affect the performances and behaviours of various machine learning models that require a random input. These implications are yet to be explored in Soft Computing until this work. We use a CPU and a QPU to generate random numbers for multiple Machine Learning techniques. Random numbers are employed in the random initial weight distributions of Dense and Convolutional Neural Networks, in which results show a profound difference in learning patterns for the two. In 50 Dense Neural Networks (25 PRNG/25 QRNG), QRNG increases over PRNG for accent classification at +0.1%, and QRNG exceeded PRNG for mental state EEG classification by +2.82%. In 50 Convolutional Neural Networks (25 PRNG/25 QRNG), the MNIST and CIFAR-10 problems are benchmarked, in MNIST the QRNG experiences a higher starting accuracy than the PRNG but ultimately only exceeds it by 0.02%. In CIFAR-10, the QRNG outperforms PRNG by +0.92%. The n-random split of a Random Tree is enhanced towards and new Quantum Random Tree (QRT) model, which has differing classification abilities to its classical counterpart
The intrinsic nonlinearities of soft robots present significant control but simultaneously provide them with rich computational potential. Reservoir computing (RC) has shown effectiveness in online learning systems for controlling nonlinear systems such as soft actuators. Conventional RC can be extended into physical reservoir computing (PRC) by leveraging the nonlinear dynamics of soft actuators for computation. This paper introduces a PRC-based online learning framework to control the motion of a pneumatic soft bending actuator, utilizing another pneumatic soft actuator as the PRC model. Unlike conventional designs requiring two RC models, the proposed control system employs a more compact architecture with a single RC model. Additionally, the framework enables zero-shot online learning, addressing limitations of previous PRC-based control systems reliant on offline training. Simulations and experiments validated the performance of the proposed system. Experimental results indicate that the PRC model achieved superior control performance compared to a linear model, reducing the root-mean-square error (RMSE) by an average of over 37% in bending motion control tasks. The proposed P
In this paper, the notion of the interval valued neutrosophic soft sets ($ivn-$soft sets) is defined which is a combination of an interval valued neutrosophic sets \cite{wan-05} and a soft sets \cite{mol-99}. Our $ivn-$soft sets generalizes the concept of the soft set, fuzzy soft set, interval valued fuzzy soft set, intuitionistic fuzzy soft set, interval valued intuitionistic fuzzy soft set and neutrosophic soft set. Then, we introduce some definitions and operations on $ivn-$soft sets sets. Some properties of $ivn-$soft sets which are connected to operations have been established. Also, the aim of this paper is to investigate the decision making based on $ivn-$soft sets by level soft sets. Therefore, we develop a decision making methods and then give a example to illustrate the developed approach.
The recent development of quantum computing, which uses entanglement, superposition, and other quantum fundamental concepts, can provide substantial processing advantages over traditional computing. These quantum features help solve many complex problems that cannot be solved otherwise with conventional computing methods. These problems include modeling quantum mechanics, logistics, chemical-based advances, drug design, statistical science, sustainable energy, banking, reliable communication, and quantum chemical engineering. The last few years have witnessed remarkable progress in quantum software and algorithm creation and quantum hardware research, which has significantly advanced the prospect of realizing quantum computers. It would be helpful to have comprehensive literature research on this area to grasp the current status and find outstanding problems that require considerable attention from the research community working in the quantum computing industry. To better understand quantum computing, this paper examines the foundations and vision based on current research in this area. We discuss cutting-edge developments in quantum computer hardware advancement and subsequent ad
This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft robotic systems. Using dissolvable-core molding, we fabricated a monolithic silicone structure with embedded conductive TPU electrodes, forming an integrated soft capacitor. Mechanical characterization revealed low stiffness and minimal impedance, with torque values below 0.01 N mm for axial displacements between -15 mm and 15 mm, and up to 0.03 N mm at 30 degrees twist under compression. Finite-element simulations confirmed localized stresses along fold lines and validated the measured torque-rotation response. Electrical tests showed consistent capacitance modulation up to 30%, directly correlated with the twist angle, and maximal sensitivity of S_theta ~ 0.0067 pF/deg at 5 mm of axial deformation.
Quantum computing offers new ways to explore the theory of computation via the laws of quantum mechanics. Due to the rising demand for quantum computing resources, there is growing interest in developing cloud-based quantum resource sharing platforms that enable researchers to test and execute their algorithms on real quantum hardware. These cloud-based systems face a fundamental challenge in efficiently allocating quantum hardware resources to fulfill the growing computational demand of modern Internet of Things (IoT) applications. So far, attempts have been made in order to make efficient resource allocation, ranging from heuristic-based solutions to machine learning. In this work, we employ quantum reinforcement learning based on parameterized quantum circuits to address the resource allocation problem to support large IoT networks. We propose a python-based toolkit called QAISim for the simulation and modeling of Quantum Artificial Intelligence (QAI) models for designing resource management policies in quantum cloud environments. We have simulated policy gradient and Deep Q-Learning algorithms for reinforcement learning. QAISim exhibits a substantial reduction in model complexi
In this paper, we present a modular pressure control system called PneuDrive that can be used for large-scale, pneumatically-actuated soft robots. The design is particularly suited for situations which require distributed pressure control and high flow rates. Up to four embedded pressure control modules can be daisy-chained together as peripherals on a robust RS-485 bus, enabling closed-loop control of up to 16 valves with pressures ranging from 0-100 psig (0-689 kPa) over distances of more than 10 meters. The system is configured as a C++ ROS node by default. However, independent of ROS, we provide a Python interface with a scripting API for added flexibility. We demonstrate our implementation of PneuDrive through various trajectory tracking experiments for a three-joint, continuum soft robot with 12 different pressure inputs. Finally, we present a modeling toolkit with implementations of three dynamic actuation models, all suitable for real-time simulation and control. We demonstrate the use of this toolkit in customizing each model with real-world data and evaluating the performance of each model. The results serve as a reference guide for choosing between several actuation mode
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However, typical designs of nonlinear actuators - e.g. balloons, inverted membranes, springs - have limited design parameters space and complex fabrication processes, hindering the achievement of more elaborated functions. Mechanical metamaterials, on the other hand, have very large design parameter spaces, which allow fine-tuning of nonlinear behaviours. In this work, we present a novel approach to fabricate nonlinear inflatables based on metamaterials and origami (Meta-Ori) as monolithic parts that can be fully 3D printed via Fused Deposition Modeling (FDM) using thermoplastic polyurethane (TPU) commercial filaments. Our design consists of a metamaterial shell with cylindrical topology and nonlinear mechanical response combined with a Kresling origami inflatable acting as a pneumatic transmitter. We develop and release a design tool in the visual programming language Grasshopper to interactively design our Meta-Ori. We characterize the mechanical response of
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone, posing safety risks when rigid robots operate near humans. This work presents an alternative pathway towards safe and effective operation by combining wearable EEG with physically embodied safety in soft robots. We introduce and test a pipeline that allows a user to move a soft robot's end effector in real time via brain waves that are measured by as few as three EEG channels. A robust motor imagery algorithm interprets the user's intentions to move the position of a virtual attractor to which the end effector is attracted, thanks to a new Cartesian impedance controller. We specifically focus here on planar soft robot-based architected metamaterials, which require the development of a novel control architecture to deal with the peculiar nonlinearities - e.g., non-affinity in control. We preliminarily but quantitatively evaluate the approach on the task of setpoint regulation. We observe that the user reaches the proximity of the setpoint in 66% of s
Serverless computing enables developers to deploy code without managing infrastructure, but suffers from cold start overhead when initializing new function instances. Existing solutions such as "keep-alive" or "pre-warming" are costly and unreliable under bursty workloads. We propose universal workers, which are computational units capable of executing any function with minimal initialization overhead. Based on an analysis of production workload traces, our key insight is that requests in Function-as-a-Service (FaaS) platforms show a highly skewed distribution, with most requests invoking a small subset of functions. We exploit this observation to approximate universal workers through locality groups and three-tier caching (handler, install, import). With this work, we aim to enable more efficient and scalable FaaS platforms capable of handling diverse workloads with minimal initialization overhead.
In this study, we explore how the combination of synthetic biology, neuroscience modeling, and neuromorphic electronic systems offers a new approach to creating an artificial system that mimics the natural sense of smell. We argue that a co-design approach offers significant advantages in replicating the complex dynamics of odor sensing and processing. We propose a hybrid system of synthetic sensory neurons that provides three key features: (a) receptor-gated ion channels, (b) interface between synthetic biology and semiconductors and (c) event-based encoding and computing based on spiking networks. Our approach is validated using simulation-based modeling of the complete sensing and processing pipeline. This research seeks to develop a platform for ultra-sensitive, specific, and energy-efficient odor detection, with potential implications for environmental monitoring, medical diagnostics, and security.
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying assumptions, while learning-based techniques can be computationally demanding and limit the control policies to existing data. This paper introduces a novel approach to soft robotic control, leveraging state-of-the-art policy gradient methods within parallelizable synthetic environments learned from data. We also propose a safety oriented actuation space exploration protocol via cascaded updates and weighted randomness. Specifically, our recurrent forward dynamics model is learned by generating a training dataset from a physically safe \textit{mean reverting} random walk in actuation space to explore the partially-observed state-space. We demonstrate a reinforcement learning approach towards closed-loop control through state-of-the-art actor-critic methods, which efficiently learn high-performance behaviour over long horizons. This approach removes the need for any knowledge regarding the robot's operation or capabilities and sets the stage for
Hard-core/soft shell (HCSS) particles have been shown to self-assemble into a remarkably rich variety of structures under compression due to the simple interplay between the hard-core and soft-shoulder length scales in their interactions. Most studies in this area model the soft shell interaction as a square shoulder potential. Although appealing from a theoretical point of view, the potential is physically unrealistic because there is no repulsive force in the soft shell regime, unlike in experimental HCSS systems. To make the model more realistic, here we consider HCSS particles with a range soft shell potential profiles beyond the standard square shoulder form and study the model using both minimum energy calculations and Monte Carlo simulations. We find that by tuning density and the soft shell profile, HCSS particles in the thin shell regime (i.e., shell to core ratio $r_1/r_0 \leq \sqrt{3}$) can form a large range of structures, including hexagons, chains, squares, rhomboids and two distinct zig-zag structures. Furthermore, by tuning the density and $r_1/r_0$, we find that HCSS particles with experimentally realistic linear ramp soft shoulder repulsions can form honeycombs an
Current autonomic computing systems are ad hoc solutions that are designed and implemented from the scratch. When designing software, in most cases two or more patterns are to be composed to solve a bigger problem. A composite design patterns shows a synergy that makes the composition more than just the sum of its parts which leads to ready-made software architectures. As far as we know, there are no studies on composition of design patterns for autonomic computing domain. In this paper we propose pattern-oriented software architecture for self-optimization in autonomic computing system using design patterns composition and multi objective evolutionary algorithms that software designers and/or programmers can exploit to drive their work. Main objective of the system is to reduce the load in the server by distributing the population to clients. We used Case Based Reasoning, Database Access, and Master Slave design patterns. We evaluate the effectiveness of our architecture with and without design patterns compositions. The use of composite design patterns in the architecture and quantitative measurements are presented. A simple UML class diagram is used to describe the architecture.
Recently, academics and the corporate sector have paid attention to serverless computing, which enables dynamic scalability and an economic model. In serverless computing, users only pay for the time they actually use resources, enabling zero scaling to optimise cost and resource utilisation. However, this approach also introduces the serverless cold start problem. Researchers have developed various solutions to address the cold start problem, yet it remains an unresolved research area. In this article, we propose a systematic literature review on clod start latency in serverless computing. Furthermore, we create a detailed taxonomy of approaches to cold start latency, which we use to investigate existing techniques for reducing the cold start time and frequency. We have classified the current studies on cold start latency into several categories such as caching and application-level optimisation-based solutions, as well as Artificial Intelligence (AI)/Machine Learning (ML)-based solutions. Moreover, we have analyzed the impact of cold start latency on quality of service, explored current cold start latency mitigation methods, datasets, and implementation platforms, and classified
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using specific end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of biological organisms exhibit complex movement with soft structures devoid of rigid components. Inspired by biology, researchers have been able to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in unstructured environments. This review discusses the motivation for soft robots, their design processes as well as their applications and limitations. Soft robots have the ability to operate in unstructured environment due to their inherent potential to exploit morphological computation to adapt to, and interact with, the world in a way that is difficult with rigid systems. Soft robots could be used for operations, ranging from search and rescue operations in a natural disaster relief effort, and of emerging interest is in the field of medic
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges for precise and robust shape control in real-time. Motivated by their potential to operate in highly-constrained environments, as in search-and-rescue operations, this work addresses these challenges of soft robots by developing a model-based full-shape controller, validated and demonstrated by experiments. A five-actuator planar soft robot was constructed with planar piezoelectric layers bonded to a steel foil substrate, enabling inchworm-like motion. The controller uses a soft-body continuous model for shape planning and control, given target shapes and/or environmental constraints, such as crawling under overhead barriers or "roof" safety lines. An approach to background model calibrations is developed to address deviations of actual robot shape due to material parameter variations and drift. Full experimental shape control and optimal movement under a roof safety line are demonstrated, where the robot maximizes its speed within the overhead co