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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141-150 订阅

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Wildfire Spread Prediction through Remote Sensing and UAV Imagery-Driven Machine Learning Models 18

Wildfire Spread Prediction through Remote Sensing and UAV Im...

引用

18th international conference on control automation robotics and vision

作者： Mohebbi, Mohammad Reza Sena, Elian Wira Doeller, Mario Klinger, Julian Univ Appl Sci Kufstein Tirol Josef Ressel Ctr Vision2Move Project Kufstein Austria Univ Passau Dept Comp Sci Passau Germany

ISBN: (纸本)9798331518509;9798331518493

Wildfires not only pose a significant threat to human life and property but also have far-reaching impacts on communities and ecosystems. Effective prevention and mitigation strategies rely on accurate prediction of the path of these fires. this paper proposes the utilization of data obtained from Unmanned Aerial Vehicles (UAVs) to develop predictive models for fire spread. A comprehensive dataset is presented that includes key environmental variables that have been meticulously captured using these advanced technologies. the dataset comprises images from which essential features for predicting fire spread have been extracted. the method detailed in this article has been used to identify and incorporate crucial factors such as plant density, wind direction and speed, humidity, and geographical features. these key factors are then used to predict the spread of fires using Machine Learning (ML) techniques. After thorough study and comparison, AdaBoost and Random Forest (RF) demonstrate superior predictive capabilities. Evaluation metrics such as Mean Absolute Error (MAE) and Mean Squared Error (MSE) confirm the high accuracy and reliability of the proposed approach, achieving R-squared (R-2) values above 0.98. By combining advanced technological tools with analytical methodologies, this approach has the potential to enhance fire suppression and management, safeguarding lives and assets.

关键词： Wildfire prediction Unmanned aerial vehicle Machine learning AdaBoost Remote sensing Data extraction

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An Energy-aware Decision-making scheme for Mobile Robots on a Graph map based on Deep Reinforcement Learning 18

An Energy-aware Decision-making scheme for Mobile Robots on ...

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18th international conference on control automation robotics and vision

作者： Gemignani, Gabriele Bongiorni, Margherita Pollini, Lorenzo Polytech Bari Dept Elect & Informat Engn DAuSy Natl Programme Via Re David 200 I-70125 Bari Italy Univ Pisa Dept Informat Engn Lungarno Pacinotti 43 I-56126 Pisa Italy Univ Pisa Pisa Italy Univ Pisa Automat Control Pisa Italy

ISBN: (纸本)9798331518509;9798331518493

Autonomous decision-making has always been one of the primary goals to pursue as concerns mobile robots. Researchers of this field have recently turned their attention to Deep Reinforcement Learning (DRL). this paper presents a Double Deep Q Network architecture for managing the high level decisions of a mobile robot involved in a site servicing task. We imagined a scenario where an autonomous service robot must react to alarms due to failures in its area of interest;the robot must have onboard the necessary servicing tool by resorting to a tool change station if needed, reach the area of the failure and fix it, while at the same time handling its battery status. One of the key properties, yet rarely examined, when it comes to robots' long-term independence is the energy-awareness, namely the ability of autonomously managing the charge state as a function of current and future needs. the proposed Deep Q Network training reward scheme is defined specifically to obtain an energy-aware high-level controller, by penalizing both extremely low levels of battery charge as well as unnecessary recharges. the model is numerically simulated on a graph scenario constituted of several failure and charging nodes. Results show that the trained agent always succeeds in reaching the destination without ever incurring in a complete discharge, as it promptly performs temporary stops at charging locations whenever needed.

关键词： Deep reinforcement learning

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On the solution of biomass growth rate control in anaerobic fermentation process with quality constraint insight

On the solution of biomass growth rate control in anaerobic ...

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Strzepek, Tomasz Silesian Tech Univ Inst Automat Control Gliwice Poland

An extension of yeast growth rate automatic control scheme to batch fermentation is proposed. controlled variable influence on diacetyl concentration is considered. Results of simulation experiments are presented.

ISBN: (纸本)9781467355087;9781467355063

关键词： Quality control

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Identification of inertial model for astatic system

Identification of inertial model for astatic system

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Kurek, J. Warsaw Univ Technol Inst Automat Control & Robot Warsaw Poland

there is presented a method for calculation of inertial model for astatic system based on system step response. the method is simple and can be easily used in automatic control practice. Identified model can be applie... 详细信息

ISBN: (纸本)9781467355087;9781467355063

关键词： robotics

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Local Nash Realizations 18th

Local Nash Realizations

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Nemcova, Jana Petreczky, Mihaly Inst Chem Technol Dept Math CR-16628 Prague 6 Czech Republic Ecole Mines Douai Dept Comp Sci & Automat Control F-59508 Douai France

ISBN: (纸本)9781467355087;9781467355063

In this paper we investigate realization theory of a class of non-linear systems, called Nash systems. Nash systems are non-linear systems whose vector fields and readout maps are analytic semi-algebraic functions. In this paper we will present a characterization of minimality in terms of observability and reachability and show that minimal Nash systems are isomorphic. the results are local in nature, i.e. they hold only for small time intervals. the hope is that the presented results can be extended to hold globally.

关键词： paper readout Nonlinear systems Isomorphic Accessibility Observability Vector field Time intervals realisation theory

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RoboMed: On-Premise Medical Assistance Leveraging Large Language Models in robotics 18

RoboMed: On-Premise Medical Assistance Leveraging Large Lang...

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18th international conference on control automation robotics and vision

作者： Basi, Abdul Hussain, Khizar Hanif, Muhammad Abdullah Shafique, Muhammad New York Univ NYU Abu Dhabi Div Engn eBrain Lab Abu Dhabi U Arab Emirates Natl Univ Sci & Technol NUST Comp Engn Dept Islamabad Pakistan

ISBN: (纸本)9798331518509;9798331518493

Large language models (LLMs) are revolutionizing numerous domains with their remarkable natural language processing (NLP) capabilities, attracting significant interest and widespread adoption. However, deploying LLMs in resource-constrained environments, such as edge computing and robotics systems without server infrastructure, while also aiming to minimize latency, presents significant challenges. Another challenge lies in delivering medical assistance to remote areas with limited healthcare facilities and infrastructure. To address this, we introduce RoboMed, an on-premise healthcare robot that utilizes compact versions of large language models (tiny-LLMs) integrated with LangChain as its backbone. Moreover, it incorporates automatic speech recognition (ASR) models for user interface, enabling efficient, edge-based preliminary medical diagnostics and support. RoboMed employs model optimizations to achieve minimal memory footprint and reduced latency during inference on embedded edge devices. the training process optimization involves low-rank adaptation (LoRA), which reduces the model's complexity without significantly impacting its performance. For fine-tuning, the LLM is trained on a diverse medical dataset compiled from online health forums, clinical case studies, and a distilled medicine corpus. this fine-tuning process utilizes reinforcement learning from human feedback (RLHF) to further enhance its domain-specific capabilities. the system is deployed on Nvidia Jetson development board and achieves 78% accuracy in medical consultations and scores 56 in USMLE benchmark, enabling an resource-efficient healthcare assistance robot that alleviates privacy concerns due to edge-based deployment, thereby empowering the community.

关键词： Large language Models Automatic Speech Recognition Healthcare Assistance Robot Low-Rank Adaptation (LoRA) Reinforcement Learning from Human Feedback (RLHF) Preliminary Diagnosis

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On the ship path-following control system design by using robust feedback linearization

On the ship path-following control system design by using ro...

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Zwierzewicz, Zenon Szczecin Maritime Univ Dept Automat & Robot Szczecin Poland

ISBN: (纸本)9781467355087;9781467355063

the paper considers the problem of ship path-following system design based on input-output feedback linearization method combined with the robust control approach. At first, the nonlinear process model is linearized by means of partial coordinate transform and a simple system nonlinearity cancellation. Since the exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. thereby we obtain a linear system with an extra term representing the uncertainty which can be treated by using robust, H-infinity optimal control techniques. the performed simulations of ship path-following process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.

关键词： control systems design model parameters on the ship Linearization Robust control Linear system Feedback Ships HIGH-PERFORMANCE

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Minimum energy control of fractional positive continuous-time linear systems

Minimum energy control of fractional positive continuous-tim...

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Kaczorek, Tadeusz Bialystok Tech Univ Fac Elect Engn Bialystok Poland

the minimum energy control problem for the fractional positive continuous-time linear systems is formulated and solved. Sufficient conditions for the existence of solution to the problem are established. A procedure f... 详细信息

ISBN: (纸本)9781467355087;9781467355063

关键词： Linear systems

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Irregular patterns learning and matching in an example vision system

Irregular patterns learning and matching in an example visio...

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Zorski, Witold Murawski, Krzysztof Mil Univ Technol Cybernet Fac PL-00908 Warsaw Poland

ISBN: (纸本)9781467355087;9781467355063

A method of irregular patterns learning and matching in an example computer vision system designed for eye tracking is presented. the main considered issue is the problem of patterns learning. In the presented solution it requires creation of a set of patterns with some kind of dynamic management. An adaptation of the set of patterns was achieved in that way that a new pattern may be added to the set of patterns and next undergoes an evolution during the process of matching. the matching method is based on the Hough transform for irregular patterns. In order to guarantee the performance the process of patterns matching is supported by a histogram analysis.

关键词： Eye tracking

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Balance-Based Adaptive control of the Second Order Systems

Balance-Based Adaptive Control of the Second Order Systems

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18th international conference on Methods and Models in automation and robotics (MMAR)

作者： Stebel, Krzysztof Czeczot, Jacek Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781467355087;9781467355063

In this paper, the possibility of the application of the Balance-Based Adaptive control (B-BAC) methodology to control the second order system is discussed. Conventionally, the B-BAcontroller is based on the simplified first order dynamical model of the process, which stands as the significant limitation when the real system is of the higher order. Due to the application of the suggested quasi-cascade control structure, this constraint is removed and the superiority of this approach is presented by the simulation experiments.

关键词： robotics

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