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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5310 条记录，以下是131-140 订阅

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Rational Intelligence Model: Overcoming Data Handling Limitations in LLMs 18

Rational Intelligence Model: Overcoming Data Handling Limita...

引用

18th international conference on control automation robotics and vision

作者： Tao, XueHong Miao, Yuan Wang, Guanhua Swinburne Univ Technol Melbourne Vic 3122 Australia Victoria Univ Melbourne Vic 3011 Australia

ISBN: (纸本)9798331518509;9798331518493

Many human-computer interactions and automated processes are dependent on data. We need to correctly store data and retrieve data to support these processes. Large Language Models (LLMs) have made significant progress in comprehension and reasoning. However, we have found that their ability to handle professional data is weak, which significantly limits their applications in automated processes and professional applications. these scenarios often involve a large number of similar data entries, which are challenging for LLMs such as ChatGPT-4 Omni. In this paper, we propose a Rational Intelligence Model that comprehends human experts' knowledge of data structure and process requirements of data, automatically extracts data from conversations with end users, and effectively stores the data and retrieves it for supporting the interaction and process. Experiments show that ChatGPT-4o can achieve 0% error in simple queries, 2.6% errors when data entries are out of order, and 38% errors when the queries are reasonably complex. However, with our proposed Rational Intelligence Model (RIM), we can achieve 0% error rate in all tests. RIM fundamentally changes software engineering and expert system development approaches. Instead of having a software engineer understand expert knowledge of data processing, this is now achieved by RIM, which means it is much more flexible, lower in cost, and requires much less development time.

关键词： Rational Intelligence ChatGPT SQL Large Language Model Process automation expert system software engineering

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MDSTC: A Dynamic Approach to Multi-robot Coverage Path Planning 18

MDSTC: A Dynamic Approach to Multi-robot Coverage Path Plann...

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18th international conference on control automation robotics and vision

作者： Mo, Weimin Lin, Zhiyun Southern Univ Sci & Technol Sch Syst Design & Intelligent Mfg Shenzhen 518055 Peoples R China Southern Univ Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Sys Shenzhen 518055 Peoples R China Peng Cheng Lab Shenzhen 518066 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

Maximizing the efficiency of multi-robot systems is one of the primary objectives in solving the multi-robot coverage path planning (mCPP) problem. During coverage tasks, unexpected imbalances in the multi-robot systems, such as changes in speed, can lead to suboptimal utilization of the system's capabilities, subsequently reducing the efficiency of task execution. In this paper, we developed a multi-robot dynamic spanning tree coverage (MDSTC) algorithm, an online area-division-based approach that adjusts region allocation among robots based on their coverage status through an exchange-based mechanism to enhance multi-robot system efficiency. To validate the effectiveness of the proposed algorithm, we conducted extensive numerical simulations. the results demonstrate that our algorithm achieves a superior solution in scenarios where robot efficiency remains balanced, closely matching the performance of state-of-the-art mCPP methods. Furthermore, when differences in efficiency arise among the robots during task execution, the proposed algorithm provides a dynamic solution that enhances overall coverage efficiency.

关键词： Multipurpose robots

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Assessing the Stability of Linear Systems with Random Delays 18

Assessing the Stability of Linear Systems with Random Delays

引用

18th international conference on control automation robotics and vision

作者： Chen, Jianqi Wu, Junfeng Mao, Qi Chen, Jie Nanjing Univ Ctr Adv Control & Smart Operat Suzhou Peoples R China Chinese Univ Hong Kong Sch Data Sci Shenzhen Peoples R China Nanjing Normal Univ Sch Elect & Automat Engn Nanjing Peoples R China Nanjing Normal Univ Jiangsu Key Lab 3D Printing Equipment & Mfg Nanjing Peoples R China City Univ Hong Kong Dept Elect Engn Hong Kong Peoples R China

ISBN: (纸本)9798331518509;9798331518493

this paper explores the stability problems of discrete-time linear time-invariant (LTI) systems subject to random time delays. We first develop a general mean-square small-gain stability condition for feedback systems containing structured stochastic multiplicative uncertainties. Subsequently, we apply this mean-square small-gain condition to certain LTI random delay systems, where delays exhibit random delay lengths. Necessary and sufficient mean-square stability criteria are derived. these criteria, applicable to systems with either single or multiple sources of random delays, typically involve computing the spectral radius of a constant matrix. this computation allows us to determine whether a system's state variance matrix converges asymptotically despite the presence of random delays.

关键词： Stochastic systems

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Finite-Time Sliding Mode Fault-Tolerant Secure control for Cyber-Physical Systems Under Periodic DoS Jamming Attacks and Packet dropouts 18

Finite-Time Sliding Mode Fault-Tolerant Secure Control for C...

引用

18th international conference on control automation robotics and vision

作者： Guan, Xinyu Hu, Yanyan Peng, Kaixiang Univ Sci & Technol Beijing Sch Intelligence Sci & Technol Beijing 100083 Peoples R China Univ Sci & Technol Beijing Key Lab Intelligent Bion Unmanned Syst Minist Educ Beijing 100083 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

this paper investigates the finite-time sliding mode fault-tolerant secure control issue for cyber-physical systems under period denial-of-service (DoS) jamming attacks and packet dropouts. the considered cyber attacks are periodic DoS attacks which are modeled by a kind of periodic jamming signals that cause data dropouts on the sensor-to-observer channel. Additionally, an update rule is proposed to characterize packet dropouts caused by intrinsic factors and periodic DoS jamming attacks of wireless channels. Based on the update rule, an observer is presented to obtain the unknown state and fault information. then, a sliding mode fault-tolerant secure controller is designed using estimated information to ensure the estimated state reaches the sliding surface within a finite time, entering the quasi-sliding mode domain. Moreover, sufficient conditions are provided to guarantee the stochastic finite-time boundedness of the closed-loop system during the whole phase, even in the presence of packet dropouts and DoS jamming attacks. Finally, a simulation result validates the effectiveness and superiority of the proposed method.

关键词： Cyber attacks

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Mitigating Class Imbalance in vision-Based Anomaly Detection via NAUF Undersampling: A Case Study in Automated Quality control for Hydrogen Storage Manufacturing 18

Mitigating Class Imbalance in Vision-Based Anomaly Detection...

引用

18th international conference on control automation robotics and vision

作者： Mao, Xuehui Qian, Min Li, Yanfu Chu, Yinghao City Univ Hong Kong Dept Syst Engn Hong Kong Peoples R China Huawei Technol Co Ltd Lab Credible Theory Technol & Engn Beijing Peoples R China Tsinghua Univ Dept Ind Engn Beijing Peoples R China Tsinghua Univ Inst Qual & Reliabil Beijing Peoples R China

ISBN: (纸本)9798331518509;9798331518493

Addressing the issue of sample imbalance in vision-based anomaly detection tasks remains a critical focus. this work proposes a novel hybrid method that integrates learning-based multidimensional feature extraction with a Novel Adaptive Undersampling Framework (NAUF) for image-based anomaly detection, particularly when defect samples are extremely scarce. First, the proposed method extracts image features using the backbone of a pre-trained deep learning network. Next, the undersampling technique NAUF is applied to these extracted features, balancing the highly imbalanced image samples while preserving essential information. Finally, the images are classified using multiple base classifiers within an ensemble learning framework. On a dataset of defects for the inner surfaces of high-pressure hydrogen storage tanks, the proposed method significantly improved the key performance metrics (AUCPRC) of KNN, Decision Tree, and Random Forest by 14.23%, 11.67%, and 7.52% respectively, while also increasing their inference speeds by 60.43%, 97.34%, and 86.36%, enhancing the practical application value of these base classifiers. this work offers valuable insights and potential applications for improving quality control in automated manufacturing and other industrial settings where data imbalance is a common challenge.

关键词： Deep learning

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Critical Path Identification for Network Signal Coordination control Using Connected Vehicle Data Based on Analytic Hierarchy Process Method 18

Critical Path Identification for Network Signal Coordination...

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18th international conference on control automation robotics and vision

作者： Yao, Jiarong Tan, Chaopeng Wu, Hao Cao, Yumin Tang, Keshuang Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Delft Univ Technol Dept Tranport & Planning NL-2628 CN Delft Netherlands Tongji Univ Coll Transportat Engn Shanghai 201804 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

Network signal coordination control is a crucial means to improve the traffic operation efficiency of the overall roadway network. Accurate identification of critical paths does play an important role in determining the scope of network coordination control. therefore, this paper proposed the definition of critical path from the perspective of traffic control and management. Under the detection environment of connected vehicle (CV), a comprehensive quantitative indicator system for path criticality evaluation from three aspects, supply side, demand side and operation side, which are arranged in the form of a tower structure. A critical path identification method (CPIM) was then proposed based on the analytic hierarchy process (AHP) theory, which was hereinafter referred to as AHP-CPIM. In order to evaluate the feasibility and effectiveness of the proposed method, a case study set in an urban network in Tongxiang, Zhejiang Province in China, is conducted through simulation models built through VISSIM and Synchro. Two scenarios were set, one is coordination control based on the coordination subarea obtained from Synchro (namely without critical path identification), and another one is coordination control with critical paths obtained from AHP-CPIM. Results showed that, compared with the control of Synchro and Multiband method under the scenario of coordination control without critical path identification, network signal coordination control optimization based on AHP-CPIM improved about 37.9% and 35.9% in average delay, respectively, justifying the effectiveness of CV-driven critical path identification for network signal coordination control.

关键词： Hierarchical systems

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Path Following control for Underactuated Marine Robots Based on Direct Dynamic Programming of Desired Yaw Angle 18

Path Following Control for Underactuated Marine Robots Based...

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18th international conference on control automation robotics and vision

作者： Long, Jiang Yang, Chao Geng, Bo Liu, Xing China Acad Engn Phys Training Ctr Mianyang 621900 Sichuan Peoples R China China Acad Engn Phys Inst Mat Mianyang 621900 Sichuan Peoples R China Harbin Engn Univ Coll Mech & Elect Engn Harbin 150001 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

For the problem of straight-line cruise, a control method for the path following of marine robots based on direct dynamic programming of the desired yaw angle is proposed in this paper for underactuated marine robots. Different from the typical path following control method, i.e., the line of sight algorithm (LOS), the desired yaw angle of marine robots is dynamically programmed directly according to the lateral error on the desired path in the Serret-Frenet (SF) frame, Hence, the lateral error of the robot is guaranteed to converge to zero. Meanwhile, the longitudinal error of the robot is reduced by timely adjusting the virtual velocity on the tangent line of the desired path point. Furthermore, the control law is obtained based on the programmed desired yaw angle and prescribed longitudinal velocity, together with RBF neural network estimation. Finally, the control scheme proposed in this paper is used on a marine robot for simulation verification by comparing with an extent improved LOS path following control method. the simulation results demonstrate that the longitudinal and lateral following accuracy and the smoothness of the control signals have better performance when applying the proposed control scheme.

关键词： Marine robots path following dynamic programming of yaw angle ocean disturbance

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Linear Encryption Techniques for Counteracting Information-based Stealthy Attacks 18

Linear Encryption Techniques for Counteracting Information-b...

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18th international conference on control automation robotics and vision

作者： Shang, Jun Zhang, Hanwen Rao, Weixiong Hong, Yiguang Tongji Univ Frontiers Sci Ctr Intelligent Autonomous Syst Shanghai Inst Intelligent Sci & Technol Natl Key Lab Autonomous Intelligent Unmanned Syst Shanghai 200092 Peoples R China Tongji Univ Dept Control Sci & Engn Shanghai 200092 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Key Lab Knowledge Automat Ind Proc Minist Educ Beijing 100083 Peoples R China Tongji Univ Sch Software Engn Shanghai 200070 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

this study explores linear encryption techniques to protect against information-based stealthy attacks on remote state estimation. Utilizing smart sensors equipped with local Kalman filters, the system transmits innovations rather than raw measurements via wireless networks. However, this transmission is susceptible to malicious data interception and manipulation by attackers. To safeguard against these stealthy threats, encryption and decryption modules are integrated into the system. this research aims to assess the effectiveness of the encryption strategy when faced with information-based stealthy attacks. A key contribution of this paper is the adoption of the most comprehensive attack models, moving away from the conventional reliance on innovation-based linear attack models. Our results demonstrate that the proposed linear encryption approach effectively mitigates stealthy attacks under certain mild conditions. the efficacy of the encryption is further validated through numerical examples, corroborating the theoretical advancements presented in this paper.

关键词： Encryption algorithms

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Embodied Neuromorphic Artificial Intelligence for robotics: Perspectives, Challenges, and Research Development Stack 18

Embodied Neuromorphic Artificial Intelligence for Robotics: ...

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18th international conference on control automation robotics and vision

作者： Putra, Rachmad Vidya Wicaksana Marchisio, Alberto Zayer, Fakhreddine Dias, Jorge Shafique, Muhammad New York Univ NYU Abu Dhabi Div Engn eBrain Lab Abu Dhabi U Arab Emirates Khalifa Univ Abu Dhabi U Arab Emirates

ISBN: (纸本)9798331518509;9798331518493

Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. therefore, robotic technologies have been deployed in a wide range of applications, ranging from personal to industrial use-cases. However, current robotic technologies and their computing paradigm still lack embodied intelligence to efficiently interact with operational environments, respond with correct/expected actions, and adapt to changes in the environments. Toward this, recent advances in neuromorphic computing with Spiking Neural Networks (SNN) have demonstrated the potential to enable the embodied intelligence for robotics through bio-plausible computing paradigm that mimics how the biological brain works, known as "neuromorphic artificial intelligence (AI)". However, the field of neuromorphic AI-based robotics is still at an early stage, therefore its development and deployment for solving real-world problems expose new challenges in different design aspects, such as accuracy, adaptability, efficiency, reliability, and security. To address these challenges, this paper will discuss how we can enable embodied neuromorphic AI for robotic systems through our perspectives: (P1) Embodied intelligence based on effective learning rule, training mechanism, and adaptability;(P2) Cross-layer optimizations for energy-efficient neuromorphic computing;(P3) Representative and fair benchmarks;(P4) Low-cost reliability and safety enhancements;(P5) Security and privacy for neuromorphic computing;and (P6) A synergistic development for energy-efficient and robust neuromorphicbased robotics. Furthermore, this paper identifies research challenges and opportunities, as well as elaborates our vision for future research development toward embodied neuromorphic AI for robotics.

关键词： Costs

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Visual Navigation Datasets for Event-based vision: 2014-2021 18

Visual Navigation Datasets for Event-based Vision: 2014-2021

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18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Zujevs, Andrejs Nikitenko, Agris Riga Tech Univ Fac Comp Sci & Informat Technol Riga Latvia

ISBN: (纸本)9789897585227

Visual navigation is becoming the primary approach to the way unmanned vehicles such as mobile robots and drones navigate in their operational environment. A novel type of visual sensor named dynamic visual sensor or event-based camera has significant advantages over conventional digital colour or grey-scale cameras. It is an asynchronous sensor with high temporal resolution and high dynamic range. thus, it is particularly promising for the visual navigation of mobile robots and drones. Due to the novelty of this sensor, publicly available datasets are scarce. In this paper, a total of nine datasets aimed at event-based visual navigation are reviewed and their most important properties and features are pointed out. Major aspects for choosing an appropriate dataset for visual navigation tasks are also discussed.

关键词： Datasets Event-based vision Neuromorphic vision Visual Navigation Concise Review

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