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LIRS-USim: a Gazebo-based Tool for Modeling Urban Environments and Sensory Data Uncertainties
Lobachevskii Journal of Mathematics. 2025. Vol. 46. No. 5. P. 2382–2395.
Urban Search and Rescue (USAR) robotics deals with emergent situations that occur in urban environments due to natural and human-made disasters. To support early stages of algorithms’ testing and evaluation, we developed an easy to use USAR simulation tool (LIRS-USim) that models typical USAR missions within the Gazebo simulator. The proposed robot operating system based tool is capable of modeling a virtual environment with hazardous zones, constructing a 3D Gazebo world from an arbitrary 2D image and populating it with various obstacles from the Gazebo library, simulating uncertainties and failures of robot’s onboard sensors. To set up a hazardous zone, its location, size and a radiation or chemical contamination shape are defined by a user. Next, any existing in Gazebo robot model with any onboard sensors could be loaded into the 3D world, and probabilities of each sensor uncertainty and failure could be set individually by a user. Moreover, LIRS-USim allows loading several robots of different types into a single Gazebo world and further monitor each robot and each sensor. LIRS-USim was successfully tested with Husky, Warthog, Jackal, and Hector Quadrotor standard robot models. The source code of LIRS-USim is available for free academic use.
Ronglin Z., Wei L., Jiahong C. et al., Journal of Signal Processing Systems 2026 Vol. 98 P. 1–15
To address the need for lightweight and low-latency protection in massive resource-constrained 5G Internet of Things (IoT) systems, this paper proposes Key-Controlled Modulation Hopping and Constellation Rotation (KMHCR). KMHCR is designed as a physical-layer confidentiality-enhancement mechanism that avoids bit-wise full-payload encryption in the protection pipeline. It uses a shared key derived from channel-reciprocity secret key ...
Added: May 16, 2026
Suvorov N. M., Proceedings of the Institute for System Programming of the RAS 2026 Vol. 38 No. 3(2) P. 49–66
Data Petri Nets (DPNs) extend classical Petri nets to model processes where data directly influences control-flow, enabling a comprehensive view of system behavior and possibility to detect failure points that could otherwise be hidden. Soundness is a correctness criterion that captures such failure points as deadlocks and livelocks as well as model boundedness and absence ...
Added: May 16, 2026
Neal N. X., Weiqing L., Dacheng H. et al., Algorithms 2026 Vol. 19 No. 5 P. 1–22
In the era of data-driven education, educational social networks generate large volumes of high-dimensional and complex-structured data through learner interactions, collaborative activities, and resource-sharing behaviors, posing significant challenges to traditional unsupervised learning methods. Such data often exhibit non-convex distributions, heterogeneity, and noise sensitivity, making conventional clustering approaches insufficient for capturing their intrinsic structural relationships. To ...
Added: May 13, 2026
Velichkov B., Nikolova-Koleva I., Slavcheva M., Shumen: INCOMA Ltd, 2025.
The RANLP 2025 Student Research Workshop (RANLPStud’2025) is a special track of the established international conference Recent Advances in Natural Language Processing (RANLP’2025).
The RANLPStud is being organised for the 9th time and this year is running in parallel with the other tracks of the main RANLP 2025 conference. The target of RANLPStud’25 is to be a ...
Added: May 12, 2026
Stepanyants V., Долгов И. М., Хорошилов Г. С. et al., Труды Института системного программирования РАН 2026 Т. 38 № 3 С. 95–110
Highly automated and connected vehicles are gradually entering the market. Currently, solutions are being proposed that allow these technologies to be used for cooperative driving automation, which can significantly improve traffic safety. Such technologies and their software should be tested to ensure safety before being implemented in real systems. Verification and validation of vehicular control ...
Added: May 12, 2026
Tikhonov R., Efendiev M. T., Fedotenkov A. A., 2026 International Russian Smart Industry Conference (SmartIndustryCon) 2026 P. 542–547
High-fidelity simulation environments like CARLA and ROS are essential for connected and automated vehicle research. They allow researchers to verify and validate new software and technology without the time, financial, and safety overheads of real-world testing. However, their operation requires considerable expertise for creating platform-specific scenario configuration files, which complicates the research workflow. This paper ...
Added: May 11, 2026
Los Alamitos: IEEE Computer Society, 2026.
It is a great pleasure for us to welcome you on behalf of the conference committees, to the 11th IEEE International Conference on Smart Cloud (IEEE SmartCloud 2026), we are glad that we can have this international conference in New York city, USA. Now, please allow us to introduce the IEEE SmartCloud 2026 conference. The ...
Added: May 10, 2026
Zanko G., Nazarova V., MULTIDISCIPLINARY SCIENCE JOURNAL 2026 Vol. 8 No. 10 P. e2026780
The corporate cash management problem (CMP) constitutes a critical operational challenge focused on determining the optimal sequence of transactions between liquid cash holdings and alternative investment assets. The primary objective is to maintain sufficient liquidity to meet obligations while simultaneously minimizing the aggregate costs associated with idle capital and transaction execution. Despite profound theoretical advancements ...
Added: May 10, 2026
Avdoshin S. M., Pesotskaya E. Y., Информационные технологии 2026 Т. 32 № 4 С. 185–194
With the rapid advancement of artificial intelligence, and deep learning in particular, models have emerged that are capable of delivering highly accurate predictions. However, the internal logic of such models remains difficult to interpret—an issue of critical importance, especially in domains where the correctness of an algorithm directly affects high-stakes decision-making. One promising avenue for ...
Added: May 8, 2026
Avdoshin S. M., Pesotskaya E. Y., Business Informatics 2026 Vol. 20 No. 1 P. 7–28
The rapid development of artificial intelligence (AI) is accompanied by increasing computational
complexity and decreasing model transparency, which significantly limits its adoption in critical
domains that require a high level of trust, interpretability, and justification of decisions. Under these
conditions, the field of Explainable Artificial Intelligence (XAI) has gained particular importance as it
focuses on approaches and technologies that ...
Added: May 8, 2026
Varnavsky A., IEEE Access 2026 Vol. 14 P. 37487–37508
Puzzles are an excellent tool for learning computer science and programming, fostering increased interest, engagement, and motivation among students, as well as developing logical, critical, and computational thinking. Among beginner programmers, Parson's Programming Puzzles are quite popular, aimed at mastering the basic syntactic and logical constructs of programming languages. However, as students' skills grow, their ...
Added: May 7, 2026
Ismagilov T., Mukosey A., Smirnov F. et al., International Journal of High Performance Computing Applications 2026 Vol. 40 No. 2 P. 240–253
One of the most important aspects of supercomputer development in the post-Moore era is the interconnect technologies that allow one to unite a multitude of processing elements into a well-synchronized computing system. Novel types of supercomputer interconnect require careful benchmarking and compliance with the requirements of modern hardware trends. GPU-based heterogeneous computing is one of ...
Added: May 7, 2026
Yasnitsky L., Голдобин М. А., Мезенцев А. С., Прикладная математика и вопросы управления 2025 № 2 С. 99–116
Представлен обзор современных методов и основанных на них программных
инструментах, применяемых для математического моделирования серийных производственных процессов с целью снижения брака и повышения качества производимых изделий. Перечисляются группы работ, нацеленных на обнаружение и классификацию дефектов, работ, в которых решаются задачи прогнозирования образования дефектов и определения значимости параметров, работ направленных на поиск
оптимального сочетания технологических параметров изготовления изделий, ...
Added: May 5, 2026
Монахова Э. А., Монахов О. Г., Rzaev E. et al., Прикладная дискретная математика 2026 Т. 71 С. 112–127
В настоящей работе исследовано совместное конструирование топологий семейств оптимальных по диаметру циркулянтных сетей $C(N; \pm 1, \pm s_2)$ и реализуемых для них оптимальных алгоритмов маршрутизации сложности $O(1)$. Предлагаемый алгоритм маршрутизации основан на использовании масштабируемых параметров $L$-образных шаблонов плотной укладки графов на плоскости для семейств оптимальных сетей.
Определены аналитические формулы зависимости этих параметров от диаметра графов семейств ...
Added: May 4, 2026
Sosnin E. I., Vasil’ev Y. L., Solovyev R. A. et al., Computer Optics 2025 Vol. 49 No. 6 P. 1129–1137
In this article, we present a new unique dataset for dental research – AlphaDent. This dataset is based on the DSLR camera photographs of the teeth of 295 patients and contains over 1200 images. The dataset is labeled for solving the instance segmentation problem and is divided into 9 classes. The article provides a detailed ...
Added: May 4, 2026
Назаренко А. Г., Федоров М. В., Moshkin A. et al., Вестник Росздравнадзора 2026 № 1 С. 14–29
Multimodal foundation models and medical multimodal large language models are establishing a new class of diagnostic clinical decision support systems capable of operating on heterogeneous data sources, including medical imaging (X-ray, CT, MRI, ultrasound, histopathology), physiological signals (ECG, EEG), clinical text (electronic health records, reports, discharge summaries), laboratory measurements, molecular profiling data, and related modalities. ...
Added: May 4, 2026
Honolulu: IEEE, 2025.
International Conference on Computer Vision Workshops (ICCVW), Honolulu, HI, USA, 2025 ...
Added: May 3, 2026
Vasilev A., Kapitanov A., Solovyev Roman A. et al., PeerJ Computer Science 2026 Vol. 12 Article 3724
This article introduces MinMAE, a novel activation calibration method for Post-Training Quantization (PTQ) that significantly reduces accuracy loss in Convolutional Neural Networks (CNN). Motivated by the need for high-fidelity quantization without costly retraining, MinMAE directly minimizes the Mean Absolute Error (MAE) between original and dequantized activations, making it robust to outliers that degrade standard methods. ...
Added: May 3, 2026
Solovyev Roman A., Telpukhov Dmitry, Shafeev I. et al., Technologies 2026 Vol. 14 No. 3 Article 169
With the continuous scaling of semiconductor design technologies, evaluating static IR drop has become a critical bottleneck in the physical synthesis flow. This paper presents a machine learning-based framework that transforms the power delivery network (PDN) analysis problem into an image-to-image translation task using a U-Net architecture with MaxViT and EfficientNet encoders. By implementing a ...
Added: May 3, 2026
Taletskii D., / Series arXiv "math". 2026.
A vertex subset of a graph is called a \textit{distance-$k$ independent set} if the distance between any two of its distinct vertices is at least $k + 1$. For all $n,k \geq 1$, we determine the minimum possible number of inclusion-wise maximal distance-$k$ independent sets among all $n$-vertex trees. It equals~$n$ if $n \leq k ...
Added: May 1, 2026
Dayoub A., Suleiman E., IEEE, 2026.
2026 8th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE)
1-3 April 2026 ...
Added: April 30, 2026
М.: ООО «Геомодель Развитие», 2024.
Интелшектуальный анализ данных в нефтегазовой отрасли, Калининград, Россия, 2024, ООО «Геомодель Развитие» ...
Added: April 29, 2026
Беляев Н. Д., Лебедев В. В., Нуднер И. С. et al., Гидротехническое строительство 2025 № 11 С. 50–58
This paper presents a description of the experimental methodology and the results of experiments on the physical modeling of the interaction of long tsunami-type waves with an anchored structure. The forces in the mooring system connections under wave action are assessed. The obtained results are analyzed. Conclusions are drawn regarding the nature of the force ...
Added: March 25, 2026
Gabdrahmanov R., Tsoy T., Martinez-Garcia E. et al., , in: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - (Volume 1) ICINCO 2024.: SciTePress, 2024. P. 511–518.
Computer simulations are growing in popularity in robotics research due to their near-zero cost of error and lower labor intensity. One of necessary components of a simulation, in addition to a robot model, is a model of a world in which the robot operates. While it is always possible to construct a world model manually, ...
Added: March 17, 2026