AHCI RESEARCH GROUP
Publications
Papers published in international journals,
proceedings of conferences, workshops and books.
OUR RESEARCH
Scientific Publications
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You can expand the Abstract, Links and BibTex record for each paper.
2025
Jayanthy, S.; Selvaganesh, M.; Kumar, S. Sakthi; Sathish, A. Manjunatha; Sabarisan, K. M.; Arasi, T. Senthamil
Generative AI Solution for CNC Machines and Robotics Code Generation Proceedings Article
In: Institute of Electrical and Electronics Engineers Inc., 2025, ISBN: 9798331536695 (ISBN).
Abstract | Links | BibTeX | Tags: Adaptive control systems, Adversarial networks, Automated Code Generation, Automatic programming, CNC machine, CNC Machines, CNC system, Codegeneration, Computer aided instruction, Computer control, Computer control systems, E-Learning, Edge computing, Federated learning, Flow control, GANs, Generative pre-trained transformer transformer, GPT Transformers, Industrial research, Industry 4.0, Innovative approaches, Intelligent robots, Learning algorithms, Personnel training, Reinforcement Learning, Reinforcement learnings, Robotic systems, Simulation platform, Smart manufacturing, Virtual Reality
@inproceedings{jayanthy_generative_2025,
title = {Generative AI Solution for CNC Machines and Robotics Code Generation},
author = {S. Jayanthy and M. Selvaganesh and S. Sakthi Kumar and A. Manjunatha Sathish and K. M. Sabarisan and T. Senthamil Arasi},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-105011963078&doi=10.1109%2FICCIES63851.2025.11033032&partnerID=40&md5=fb9143cd22dc48ae6c557f722cc2d6ab},
doi = {10.1109/ICCIES63851.2025.11033032},
isbn = {9798331536695 (ISBN)},
year = {2025},
date = {2025-01-01},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
abstract = {The advent of Industry 4.0 has revolutionized the manufacturing landscape, driving significant advancements in automation and intelligence. This study introduces an innovative approach to automated code generation for CNC and robotic systems, leveraging Generative Adversarial Networks (GANs) and GPT(Generative Pre-trained Transformer) Transformers. These AI models enable precise and optimized code creation, minimizing manual errors. Adaptive process control, achieved through Reinforcement Learning (RL), allows real-time adjustments to operational parameters, enhancing performance in dynamic environments. The incorporation of natural language processing through Transformer models facilitates intuitive operator interactions via user-friendly interfaces. Immersive Virtual Reality (VR) technologies provide high-fidelity simulation and training platforms for realistic testing and control. Additionally, collaborative learning mechanisms, achieved through Federated Learning and Edge-cloud computing, support continuous improvement and scalable deployment. Impressive outcomes were attained by the system, including 90.5% training efficiency, 98.7% coding accuracy, 95.2% adaptability, and 93.4% operator satisfaction. Experimental results validate the system's superior accuracy, adaptability, and user-centric design, showcasing its potential to revolutionize manufacturing processes. This research sets a new benchmark for intelligent, efficient, and scalable automation in the Industry 4.0 era, paving the way for transformative innovations in smart manufacturing. © 2025 Elsevier B.V., All rights reserved.},
keywords = {Adaptive control systems, Adversarial networks, Automated Code Generation, Automatic programming, CNC machine, CNC Machines, CNC system, Codegeneration, Computer aided instruction, Computer control, Computer control systems, E-Learning, Edge computing, Federated learning, Flow control, GANs, Generative pre-trained transformer transformer, GPT Transformers, Industrial research, Industry 4.0, Innovative approaches, Intelligent robots, Learning algorithms, Personnel training, Reinforcement Learning, Reinforcement learnings, Robotic systems, Simulation platform, Smart manufacturing, Virtual Reality},
pubstate = {published},
tppubtype = {inproceedings}
}
The advent of Industry 4.0 has revolutionized the manufacturing landscape, driving significant advancements in automation and intelligence. This study introduces an innovative approach to automated code generation for CNC and robotic systems, leveraging Generative Adversarial Networks (GANs) and GPT(Generative Pre-trained Transformer) Transformers. These AI models enable precise and optimized code creation, minimizing manual errors. Adaptive process control, achieved through Reinforcement Learning (RL), allows real-time adjustments to operational parameters, enhancing performance in dynamic environments. The incorporation of natural language processing through Transformer models facilitates intuitive operator interactions via user-friendly interfaces. Immersive Virtual Reality (VR) technologies provide high-fidelity simulation and training platforms for realistic testing and control. Additionally, collaborative learning mechanisms, achieved through Federated Learning and Edge-cloud computing, support continuous improvement and scalable deployment. Impressive outcomes were attained by the system, including 90.5% training efficiency, 98.7% coding accuracy, 95.2% adaptability, and 93.4% operator satisfaction. Experimental results validate the system's superior accuracy, adaptability, and user-centric design, showcasing its potential to revolutionize manufacturing processes. This research sets a new benchmark for intelligent, efficient, and scalable automation in the Industry 4.0 era, paving the way for transformative innovations in smart manufacturing. © 2025 Elsevier B.V., All rights reserved.
Salinas, C. S.; Magudia, K.; Sangal, A.; Ren, L.; Segars, W. P.
In-silico CT simulations of deep learning generated heterogeneous phantoms Journal Article
In: Biomedical Physics and Engineering Express, vol. 11, no. 4, 2025, ISSN: 20571976 (ISSN), (Publisher: Institute of Physics).
Abstract | Links | BibTeX | Tags: adult, algorithm, Algorithms, anatomical concepts, anatomical location, anatomical variation, Article, Biological organs, bladder, Bone, bone marrow, CGAN, colon, comparative study, computer assisted tomography, Computer graphics, computer model, Computer Simulation, Computer-Assisted, Computerized tomography, CT organ texture, CT organ textures, CT scanners, CT synthesis, CT-scan, Deep learning, fluorodeoxyglucose f 18, Generative Adversarial Network, Generative AI, histogram, human, human tissue, Humans, III-V semiconductors, image analysis, Image processing, Image segmentation, Image texture, Imaging, imaging phantom, intra-abdominal fat, kidney blood vessel, Learning systems, liver, lung, major clinical study, male, mean absolute error, Medical Imaging, neoplasm, Phantoms, procedures, prostate muscle, radiological parameters, signal noise ratio, Signal to noise ratio, Signal-To-Noise Ratio, simulation, Simulation platform, small intestine, Statistical tests, stomach, structural similarity index, subcutaneous fat, Textures, three dimensional double u net conditional generative adversarial network, Three-Dimensional, three-dimensional imaging, Tomography, Virtual CT scanner, Virtual Reality, Virtual trial, virtual trials, whole body CT, X-Ray Computed, x-ray computed tomography
@article{salinas_-silico_2025,
title = {In-silico CT simulations of deep learning generated heterogeneous phantoms},
author = {C. S. Salinas and K. Magudia and A. Sangal and L. Ren and W. P. Segars},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-105010297226&doi=10.1088%2F2057-1976%2Fade9c9&partnerID=40&md5=47f211fd93f80e407dcd7e4c490976c2},
doi = {10.1088/2057-1976/ade9c9},
issn = {20571976 (ISSN)},
year = {2025},
date = {2025-01-01},
journal = {Biomedical Physics and Engineering Express},
volume = {11},
number = {4},
abstract = {Current virtual imaging phantoms primarily emphasize geometric accuracy of anatomical structures. However, to enhance realism, it is also important to incorporate intra-organ detail. Because biological tissues are heterogeneous in composition, virtual phantoms should reflect this by including realistic intra-organ texture and material variation. We propose training two 3D Double U-Net conditional generative adversarial networks (3D DUC-GAN) to generate sixteen unique textures that encompass organs found within the torso. The model was trained on 378 CT image-segmentation pairs taken from a publicly available dataset with 18 additional pairs reserved for testing. Textured phantoms were generated and imaged using DukeSim, a virtual CT simulation platform. Results showed that the deep learning model was able to synthesize realistic heterogeneous phantoms from a set of homogeneous phantoms. These phantoms were compared with original CT scans and had a mean absolute difference of 46.15 ± 1.06 HU. The structural similarity index (SSIM) and peak signal-to-noise ratio (PSNR) were 0.86 ± 0.004 and 28.62 ± 0.14, respectively. The maximum mean discrepancy between the generated and actual distribution was 0.0016. These metrics marked an improvement of 27%, 5.9%, 6.2%, and 28% respectively, compared to current homogeneous texture methods. The generated phantoms that underwent a virtual CT scan had a closer visual resemblance to the true CT scan compared to the previous method. The resulting heterogeneous phantoms offer a significant step toward more realistic in silico trials, enabling enhanced simulation of imaging procedures with greater fidelity to true anatomical variation. © 2025 Elsevier B.V., All rights reserved.},
note = {Publisher: Institute of Physics},
keywords = {adult, algorithm, Algorithms, anatomical concepts, anatomical location, anatomical variation, Article, Biological organs, bladder, Bone, bone marrow, CGAN, colon, comparative study, computer assisted tomography, Computer graphics, computer model, Computer Simulation, Computer-Assisted, Computerized tomography, CT organ texture, CT organ textures, CT scanners, CT synthesis, CT-scan, Deep learning, fluorodeoxyglucose f 18, Generative Adversarial Network, Generative AI, histogram, human, human tissue, Humans, III-V semiconductors, image analysis, Image processing, Image segmentation, Image texture, Imaging, imaging phantom, intra-abdominal fat, kidney blood vessel, Learning systems, liver, lung, major clinical study, male, mean absolute error, Medical Imaging, neoplasm, Phantoms, procedures, prostate muscle, radiological parameters, signal noise ratio, Signal to noise ratio, Signal-To-Noise Ratio, simulation, Simulation platform, small intestine, Statistical tests, stomach, structural similarity index, subcutaneous fat, Textures, three dimensional double u net conditional generative adversarial network, Three-Dimensional, three-dimensional imaging, Tomography, Virtual CT scanner, Virtual Reality, Virtual trial, virtual trials, whole body CT, X-Ray Computed, x-ray computed tomography},
pubstate = {published},
tppubtype = {article}
}
Current virtual imaging phantoms primarily emphasize geometric accuracy of anatomical structures. However, to enhance realism, it is also important to incorporate intra-organ detail. Because biological tissues are heterogeneous in composition, virtual phantoms should reflect this by including realistic intra-organ texture and material variation. We propose training two 3D Double U-Net conditional generative adversarial networks (3D DUC-GAN) to generate sixteen unique textures that encompass organs found within the torso. The model was trained on 378 CT image-segmentation pairs taken from a publicly available dataset with 18 additional pairs reserved for testing. Textured phantoms were generated and imaged using DukeSim, a virtual CT simulation platform. Results showed that the deep learning model was able to synthesize realistic heterogeneous phantoms from a set of homogeneous phantoms. These phantoms were compared with original CT scans and had a mean absolute difference of 46.15 ± 1.06 HU. The structural similarity index (SSIM) and peak signal-to-noise ratio (PSNR) were 0.86 ± 0.004 and 28.62 ± 0.14, respectively. The maximum mean discrepancy between the generated and actual distribution was 0.0016. These metrics marked an improvement of 27%, 5.9%, 6.2%, and 28% respectively, compared to current homogeneous texture methods. The generated phantoms that underwent a virtual CT scan had a closer visual resemblance to the true CT scan compared to the previous method. The resulting heterogeneous phantoms offer a significant step toward more realistic in silico trials, enabling enhanced simulation of imaging procedures with greater fidelity to true anatomical variation. © 2025 Elsevier B.V., All rights reserved.
2024
Bojić, L.; Ðapić, V.
The Interplay of Social and Robotics Theories in AGI Alignment: Navigating the Digital City Through Simulation-based Multi-Agent Systems Proceedings Article
In: N., Zdravkovic; University, Belgrade Tadeusa Koscuska 63 Belgrade Metropolitan; D., Domazet; University, Tadeusa Koscuska 63 Belgrade Belgrade Metropolitan; S., Lopez-Pernas; of Eastern Finland, Yliopistokatu-2 Joensuu University; M.A., Conde; de Vegazana S/N University of Leon, Leon Campus; P., Vijayakumar (Ed.): CEUR Workshop Proc., pp. 58–63, CEUR-WS, 2024, ISBN: 16130073 (ISSN).
Abstract | Links | BibTeX | Tags: Artificial general intelligence, Artificial general intelligences, Autonomous agents, Decision making, Decision theory, Decisions makings, Human values, Intelligent Agents, Language Model, Large language model, large language models, Multi agent systems, Philosophical aspects, Robotic theory, Robotics, Robotics Theories, Simulation based approaches, Simulation platform, Simulation-Based Approach, Smart city, Social Theories, Social theory, Theoretical framework, Virtual cities, Virtual Reality
@inproceedings{bojic_interplay_2024,
title = {The Interplay of Social and Robotics Theories in AGI Alignment: Navigating the Digital City Through Simulation-based Multi-Agent Systems},
author = {L. Bojić and V. Ðapić},
editor = {Zdravkovic N. and Belgrade Tadeusa Koscuska 63 Belgrade Metropolitan University and Domazet D. and Tadeusa Koscuska 63 Belgrade Belgrade Metropolitan University and Lopez-Pernas S. and Yliopistokatu-2 Joensuu University of Eastern Finland and Conde M.A. and Leon Campus de Vegazana S/N University of Leon and Vijayakumar P.},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85193478708&partnerID=40&md5=6a9fd04d5bbf8b876ba508bef1c09076},
isbn = {16130073 (ISSN)},
year = {2024},
date = {2024-01-01},
booktitle = {CEUR Workshop Proc.},
volume = {3676},
pages = {58–63},
publisher = {CEUR-WS},
abstract = {This study delves into the task of aligning Artificial General Intelligence (AGI) and Large Language Models (LLMs) to societal and ethical norms by using theoretical frameworks derived from social science and robotics. The expansive adoption of AGI technologies magnifies the importance of aligning AGI with human values and ethical boundaries. This paper presents an innovative simulation-based approach, engaging autonomous’digital citizens’ within a multi-agent system simulation in a virtual city environment. The virtual city serves as a platform to examine systematic interactions and decision-making, leveraging various theories, notably, Social Simulation Theory, Theory of Reasoned Action, Multi-Agent System Theory, and Situated Action Theory. The aim of establishing this digital landscape is to create a fluid platform that enables our AI agents to engage in interactions and enact independent decisions, thereby recreating life-like situations. The LLMs, embodying the personas in this digital city, operate as the leading agents demonstrating substantial levels of autonomy. Despite the promising advantages of this approach, limitations primarily lie in the unpredictability of real-world social structures. This work aims to promote a deeper understanding of AGI dynamics and contribute to its future development, prioritizing the integration of diverse societal perspectives in the process. © 2024 Copyright for this paper by its authors.},
keywords = {Artificial general intelligence, Artificial general intelligences, Autonomous agents, Decision making, Decision theory, Decisions makings, Human values, Intelligent Agents, Language Model, Large language model, large language models, Multi agent systems, Philosophical aspects, Robotic theory, Robotics, Robotics Theories, Simulation based approaches, Simulation platform, Simulation-Based Approach, Smart city, Social Theories, Social theory, Theoretical framework, Virtual cities, Virtual Reality},
pubstate = {published},
tppubtype = {inproceedings}
}
This study delves into the task of aligning Artificial General Intelligence (AGI) and Large Language Models (LLMs) to societal and ethical norms by using theoretical frameworks derived from social science and robotics. The expansive adoption of AGI technologies magnifies the importance of aligning AGI with human values and ethical boundaries. This paper presents an innovative simulation-based approach, engaging autonomous’digital citizens’ within a multi-agent system simulation in a virtual city environment. The virtual city serves as a platform to examine systematic interactions and decision-making, leveraging various theories, notably, Social Simulation Theory, Theory of Reasoned Action, Multi-Agent System Theory, and Situated Action Theory. The aim of establishing this digital landscape is to create a fluid platform that enables our AI agents to engage in interactions and enact independent decisions, thereby recreating life-like situations. The LLMs, embodying the personas in this digital city, operate as the leading agents demonstrating substantial levels of autonomy. Despite the promising advantages of this approach, limitations primarily lie in the unpredictability of real-world social structures. This work aims to promote a deeper understanding of AGI dynamics and contribute to its future development, prioritizing the integration of diverse societal perspectives in the process. © 2024 Copyright for this paper by its authors.
He, K.; Lapham, A.; Li, Z.
Enhancing Narratives with SayMotion's text-to-3D animation and LLMs Proceedings Article
In: Spencer, S. N. (Ed.): Proc. - SIGGRAPH Real-Time Live!, Association for Computing Machinery, Inc, 2024, ISBN: 9798400705267 (ISBN).
Abstract | Links | BibTeX | Tags: 3D animation, AI-based animation, Animation, Animation editing, Deep learning, Film production, Human motions, Interactive computer graphics, Interactive media, Language Model, Motion models, Physics simulation, Production medium, Simulation platform, Three dimensional computer graphics
@inproceedings{he_enhancing_2024,
title = {Enhancing Narratives with SayMotion's text-to-3D animation and LLMs},
author = {K. He and A. Lapham and Z. Li},
editor = {S. N. Spencer},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85200655076&doi=10.1145%2F3641520.3665309&partnerID=40&md5=16af33ce451919f43d1ba2ccab63f1af},
doi = {10.1145/3641520.3665309},
isbn = {9798400705267 (ISBN)},
year = {2024},
date = {2024-01-01},
booktitle = {Proc. - SIGGRAPH Real-Time Live!},
publisher = {Association for Computing Machinery, Inc},
abstract = {SayMotion, a generative AI text-to-3D animation platform, utilizes deep generative learning and advanced physics simulation to transform text descriptions into realistic 3D human motions for applications in gaming, extended reality (XR), film production, education and interactive media. SayMotion addresses challenges due to the complexities of animation creation by employing a Large Language Model (LLM) fine-tuned to human motion with further AI-based animation editing components including spatial-temporal Inpainting via a proprietary Large Motion Model (LMM). SayMotion is a pioneer in the animation market by offering a comprehensive set of AI generation and AI editing functions for creating 3D animations efficiently and intuitively. With an LMM at its core, SayMotion aims to democratize 3D animations for everyone through language and generative motion. © 2024 Elsevier B.V., All rights reserved.},
keywords = {3D animation, AI-based animation, Animation, Animation editing, Deep learning, Film production, Human motions, Interactive computer graphics, Interactive media, Language Model, Motion models, Physics simulation, Production medium, Simulation platform, Three dimensional computer graphics},
pubstate = {published},
tppubtype = {inproceedings}
}
SayMotion, a generative AI text-to-3D animation platform, utilizes deep generative learning and advanced physics simulation to transform text descriptions into realistic 3D human motions for applications in gaming, extended reality (XR), film production, education and interactive media. SayMotion addresses challenges due to the complexities of animation creation by employing a Large Language Model (LLM) fine-tuned to human motion with further AI-based animation editing components including spatial-temporal Inpainting via a proprietary Large Motion Model (LMM). SayMotion is a pioneer in the animation market by offering a comprehensive set of AI generation and AI editing functions for creating 3D animations efficiently and intuitively. With an LMM at its core, SayMotion aims to democratize 3D animations for everyone through language and generative motion. © 2024 Elsevier B.V., All rights reserved.
2023
Bottega, J. A.; Kich, V. A.; Jesus, J. C.; Steinmetz, R.; Kolling, A. H.; Grando, R. B. Bedin; Guerra, R. S. Silva; Gamarra, D. F. T. Tello
Jubileo: An Immersive Simulation Framework for Social Robot Design Journal Article
In: Journal of Intelligent and Robotic Systems: Theory and Applications, vol. 109, no. 4, 2023, ISSN: 09210296 (ISSN); 15730409 (ISSN), (Publisher: Springer Nature).
Abstract | Links | BibTeX | Tags: Anthropomorphic Robots, Computational Linguistics, Cost effectiveness, E-Learning, English language learning, English languages, Human Robot Interaction, Human-robot interaction, Humanoid robot, Humans-robot interactions, Immersive, Language learning, Language Model, Large language model, large language models, Learning game, Machine design, Man machine systems, Open systems, Robot Operating System, Simulation framework, Simulation platform, Virtual Reality
@article{bottega_jubileo_2023,
title = {Jubileo: An Immersive Simulation Framework for Social Robot Design},
author = {J. A. Bottega and V. A. Kich and J. C. Jesus and R. Steinmetz and A. H. Kolling and R. B. Bedin Grando and R. S. Silva Guerra and D. F. T. Tello Gamarra},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85178895874&doi=10.1007%2Fs10846-023-01991-3&partnerID=40&md5=667b3b88a61ee8a62969484157edc9cd},
doi = {10.1007/s10846-023-01991-3},
issn = {09210296 (ISSN); 15730409 (ISSN)},
year = {2023},
date = {2023-01-01},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
volume = {109},
number = {4},
abstract = {This paper introduces Jubileo, an open-source simulated humanoid robot as a framework for the development of human-robot interaction applications. By leveraging the power of the Robot Operating System (ROS) and Unity in a virtual reality environment, this simulation establishes a strong connection to real robotics, faithfully replicating the robot’s physical components down to its motors and enabling communication with servo-actuators to control both the animatronic face and the joints of a real humanoid robot. To validate the capabilities of the framework, we propose English teaching games that integrate Virtual Reality (VR), game-based Human-Robot Interaction (HRI), and advanced large language models such as Generative Pre-trained Transformer (GPT). These games aim to foster linguistic competence within dynamic and interactive virtual environments. The incorporation of large language models bolsters the robot’s capability to generate human-like responses, thus facilitating a more realistic conversational experience. Moreover, the simulation framework reduces real-world testing risks and offers a cost-effective, efficient, and scalable platform for developing new HRI applications. The paper underscores the transformative potential of converging VR, large language models, and HRI, particularly in educational applications. © 2024 Elsevier B.V., All rights reserved.},
note = {Publisher: Springer Nature},
keywords = {Anthropomorphic Robots, Computational Linguistics, Cost effectiveness, E-Learning, English language learning, English languages, Human Robot Interaction, Human-robot interaction, Humanoid robot, Humans-robot interactions, Immersive, Language learning, Language Model, Large language model, large language models, Learning game, Machine design, Man machine systems, Open systems, Robot Operating System, Simulation framework, Simulation platform, Virtual Reality},
pubstate = {published},
tppubtype = {article}
}
This paper introduces Jubileo, an open-source simulated humanoid robot as a framework for the development of human-robot interaction applications. By leveraging the power of the Robot Operating System (ROS) and Unity in a virtual reality environment, this simulation establishes a strong connection to real robotics, faithfully replicating the robot’s physical components down to its motors and enabling communication with servo-actuators to control both the animatronic face and the joints of a real humanoid robot. To validate the capabilities of the framework, we propose English teaching games that integrate Virtual Reality (VR), game-based Human-Robot Interaction (HRI), and advanced large language models such as Generative Pre-trained Transformer (GPT). These games aim to foster linguistic competence within dynamic and interactive virtual environments. The incorporation of large language models bolsters the robot’s capability to generate human-like responses, thus facilitating a more realistic conversational experience. Moreover, the simulation framework reduces real-world testing risks and offers a cost-effective, efficient, and scalable platform for developing new HRI applications. The paper underscores the transformative potential of converging VR, large language models, and HRI, particularly in educational applications. © 2024 Elsevier B.V., All rights reserved.