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2812 | An Interaction-Aware Two-Level Robotic Planning and Control system for Vegetation Override 21

2812 | An Interaction-Aware Two-Level Robotic Planning and C...

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21st International and 12th Asia-Pacific Regional conference of the International Society for Terrain-Vehicle systems, IstVS 2024

作者： Noren, Charles Shirose, Burhanuddin Vundurthy, Bhaskar Scherer, Sebastian Travers, Matthew The Robotics Institute School of Computer Science Carnegie Mellon University PA United States

ISBN: (纸本)9781942112570

During off-road operations, mobile robotic platforms often encounter objects that influence the platform's route. As determining the outcome of an interaction with an object (e.g., overriding) is difficult, many robotic planners are designed to avoid interactions with all environmental objects. Yet, this object-adverse planning behavior is not reflected in the actions of expert human operators, who may interact with objects in order to find a viable path towards their goal. This work intends to emulate that human operator intuition. Our objective is to improve the performance of robotic traversals in off-road terrains through the development of a planning paradigm that allows certain safe contact with environmental objects. Specifically, we design a two-level hierarchical planning and control system which couples a contact-informed regional motion planner with contact-constrained local nonlinear trajectory optimization techniques. The approach is demonstrated for classes of vegetative objects which are characterized by existing parameterized collision models from the terramechanics community. The top level of the hierarchy combines sampling-based planning techniques with a set of override (velocity) constraints derived from these collision models during the search for a minimum-time trajectory towards the platform's goal. This minimum-time trajectory is then passed to the lower-level of the architecture, which utilizes direct collocation and model predictive control techniques to ensure that the velocity constraints are enforced during trajectory execution. The capabilities of the architecture are shown both in simulation and onboard a robotic platform, where vegetation is reasoned about and then overridden depending on the environment, platform, and object geometry. © 2024 International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Off road vehicles

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Sustainable Enhancement of Mechanical Properties in Fly Oil Shale Ash-Based Materials Through AI-Driven optimization 21

Sustainable Enhancement of Mechanical Properties in Fly Oil ...

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21st IEEE student conference on Research and Development, SCOReD 2023

作者： Salaheen, Marsail Al Alaloul, Wesam Salah Alzubi, Khalid Mhmoud Musarat, Muhammad Ali Universiti Teknologi PETRONAS Department of Civil and Environmental Engineering Perak Seri Iskandar Malaysia Al-Husun University College Al-Balqa Applied University Department of Civil and Enviromintal Engineering Irbid Jordan Offshore Engineering Centre Institute of Autonomous System Universiti Teknologi PETRONAS Department of Civil and Environmental Engineering Perak Seri Iskandar Malaysia

ISBN: (纸本)9798350318821

The average compressive strength of raw and modified FOSA-based mortar was estimated utilizing the Response Surface Methodology (RSM) and Artificial Neural Network (ANN) models. Four critical factors were considered: the duration of the calcination, the temperature of the calcination, the percentage of replacement and the age of the sample. The results demonstrated that an increase in the percentage of FOSA replacement corresponded to a reduction in the strength of the raw material samples, whereas the substitution of treated FOSA resulted in an increase in strength. The ANN model showed superior performance, exhibiting a notable R correlation coefficient of 0.95698 and a mean square error (MSE) of 0.0038, thus underscoring its accuracy compared to the RSM model. A total of 477 cubes from 53 mortar mixes underwent testing at varying curing ages, specifically at 7, 28, and 56 days, with nine specimens for each mix. These comprehensive experiments and analyses substantiate the superiority of ANN model in predicting the average compressive strength for FOSA-based cement mortar. © 2023 IEEE.

关键词： Compressive strength

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2022 IEEE-RAS 21st International conference on Humanoid Robots, Humanoids 2022

2022 IEEE-RAS 21st International Conference on Humanoid Robo...

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2022 IEEE-RAS 21st International conference on Humanoid Robots, Humanoids 2022

ISBN: (纸本)9798350309799

The proceedings contain 122 papers. The topics discussed include: enhanced visual feedback with decoupled viewpoint control in immersive humanoid robot teleoperation using SLAM;synthesis of lower-body human walking using trigonometric spline method;optimizing bipedal maneuvers of single rigid-body models for reinforcement learning;predicting full-arm grasping motions from anticipated tactile responses;gait cycle modeling in cerebral palsy condition;robust analysis for mechanism and behavior co-optimization of high-performance legged robots;learning bipedal walking on planned footsteps for humanoid robots;and improving sample efficiency of example-guided deep reinforcement learning for bipedal walking.

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21st International conference on Artificial Intelligence and Soft Computing, ICAISC 2022

21st International Conference on Artificial Intelligence and...

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21st International conference on Artificial Intelligence and Soft Computing, ICAISC 2022

ISBN: (纸本)9783031234798

The proceedings contain 36 papers. The special focus in this conference is on Artificial Intelligence and Soft Computing. The topics include: An Application of Information Granules to Detect Anomalies in COVID-19 Reports;a New Computational Approach to the Levenberg-Marquardt Learning Algorithm;evolutionary Approach to Melodic Line Harmonization;using Automatic Programming to Improve Gradient Boosting for Classification;overload Monitoring system Using Sound Analysis for Electrical Machines;employing Convolutional Neural Networks for Continual Learning;explaining Machine Learning Predictions in Botnet Detection;multiscale Multifractal Detrended Analysis of Speculative Attacks Dynamics in Cryptocurrencies;Convergence of RBF Networks Regression Function Estimates and Classifiers;a Comparative study of Genetic Programming Variants;optimization of Parameterized Behavior Trees in RTS Games;using Answer Set Programming to Improve Sensor Network Lifetime;an Empirical study of Adversarial Domain Adaptation on Time Series Data;Human-AI Collaboration to Increase the Perception of VR;portfolio Transformer for Attention-Based Asset Allocation;transfer Learning with Deep Neural Embeddings for Music Classification Tasks;Analysis and Detection of DDoS Backscatter Using NetFlow Data, Hyperband-Optimised Deep Learning and Explainability Techniques;BiLstM Deep Learning Model for Heart Problems Detection.

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Research on Task Oriented Reliability Simulation Evaluation and Maintenance strategy optimization of Degraded system 21st

Research on Task Oriented Reliability Simulation Evaluation ...

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21st Asia Simulation conference, AsiaSim 2022

作者： Haidong, Du Junhai, Cao Xsiying, Huang Army Academy of Armored Forces Beijing100072 China

ISBN: (纸本)9789811991943

For the state changes characteristic of degradation system under imperfect maintenance, the traditional analysis method become useless, the thesis presents a simulation method based on Agent for repairable system, according to which the maintenance strategy is studied and optimized. Firstly, the reliability variation law of degraded system in task execution is analyzed;Secondly, the performance degradation process of system components is described, the system reliability modeling method of agent is proposed, and the simulation algorithm is given;Finally, combined with an example, the system reliability under different maintenance strategies is simulated and evaluated. The research results can provide a basis for the formulation and improvement of maintenance support scheme of degraded system. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Reliability

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21st International conference on Artificial Intelligence and Soft Computing, ICAISC 2022

21st International Conference on Artificial Intelligence and...

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21st International conference on Artificial Intelligence and Soft Computing, ICAISC 2022

ISBN: (纸本)9783031234910

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Vanadium Redox Flow Battery in Hybrid Propulsion systems for Marine Applications 21

Vanadium Redox Flow Battery in Hybrid Propulsion Systems for...

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21st IEEE Mediterranean Electrotechnical conference (IEEE MELECON)

作者： Barelli, Linda Longo, Michela Ottaviano, Panfilo Andrea Pelosi, Dario Zaninelli, Dario Gallorini, Federico Univ Perugia Dept Engn Perugia Italy Politecn Milan Dept Energy Milan Italy VGA Srl Deruta Italy

ISBN: (数字)9781665442800

ISBN: (纸本)9781665442800

Nowadays, the challenge of reducing air pollutants, which passes through increasingly stringent regulations on emissions, is also central in the maritime sector. A possible solution to overcome these limits could be the introduction of alternative propulsion systems to classic diesel engines. In the present work, the performance of a Hybrid Propulsion system (HPS) in marine, consisting of an internal combustion engine and a Vanadium Redox Flow Battery (VRFB) allowing an independent power and capacity sizing, was analyzed. Specifically, through a dynamic modeling, a daily work cycle has been simulated on the basis of a real load request. The possibility of implementing a hybrid system independent from a ground-based charging system was evaluated, in relation to the analyzed work cycle, by identifying the size of the battery (70 kW/ 5.8 kWh) and its minimum charging power (23 kW) necessary for the autonomous operation. Together with the results of the dynamic analysis, experimental results obtained on a real VRFB prototype of the innovative concept design implemented are provided.

关键词： dynamic model energy storage hybrid propulsion marine system ship propulsion VRFB

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Hydrogen powered microgrid for EV charging stations load flow analysis and optimization

Hydrogen powered microgrid for EV charging stations load flo...

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Learning and Technology conference (L&T)

作者： Eithar Alammari Joud Alamro Sara Alashwali Rana Hassan Lina Muthanna Enfel Barkat Dept. of Electrical & Computer Engineering Effat University Jeddah Saudi Arabia

This paper presents an exhaustive analysis of power flow optimization within an IEEE 33-bus microgrid system using Particle Swarm optimization (PSO) and compares it with traditional Optimal Power Flow (OPF) methods. The PSO approach is evaluated based on its effectiveness in reducing real and reactive power losses and enhancing overall system efficiency, particularly when integrated with renewable energy sources. Our study delves into the intricacies of power system optimization, examining the system's adaptability to load variations and the integration of distributed generation. The performance metrics focus on energy conservation, operational cost, system reliability, and power quality. The results from the PSO are critically assessed against those obtained from the OPF, providing insights into the suitability and effectiveness of each optimization method for modern smart grid applications.

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Enhancing Edge Detection in Images Using Ant Colony optimization 21st

Enhancing Edge Detection in Images Using Ant Colony Optimiz...

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21st International conference on Computing and Information Technology, IC2IT 2025

作者： Rizan, Rafsan Uddin Beg Patuakhali Science and Technology University Patuakhali Bangladesh

ISBN: (纸本)9783031902949

This paper presents an approach to enhance edge detection in images using Ant Colony optimization (ACO) algorithms, specifically the Ant Colony system (ACS). By transforming images into graph representations and leveraging the collective intelligence of virtual ants, the proposed method eliminates the need for complex mathematical functions and thresholding techniques. strategies for initializing ants based on heuristic information and dynamically reinitializing ants based on performance are explored to improve efficiency and accuracy. Experimental results demonstrate the effectiveness of the approach in producing accurate edge maps while mitigating issues such as noise and loss of edge details. Future research directions include refining heuristic strategies and exploring hybridization techniques to further enhance edge detection performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Ant colony optimization

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The Harmonic optimization of High-Power Converter Based on The LLCL Filter 21

The Harmonic Optimization of High-Power Converter Based on T...

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21st IEEE International conference on Mechatronics and Automation (IEEE ICMA)

作者： Dong, Rui Fu, Qiang Wang, Chunjie Cui, Lin Tianjin Univ Technol Sch Elect Engn & Automat Tianjin Peoples R China Tianjin Univ Technol Tianjin Key Lab New Energy Power Convers Transmiss & Intelligent Control Tianjin Peoples R China Minist Nat Resources Natl Ocean Technol Ctr Tianjin Peoples R China

ISBN: (纸本)9798350388084;9798350388077

A T-type three-level bidirectional converter based on the LLCL filter was constructed using transformer integrated filtering technology. The dual closed loop control is designed using the grid voltage vector-oriented control strategy, and the principle of controller parameter design based on the LLCL filter model is discussed. Low-order harmonic amplification occurs due to the presence of the ripple current and deadband. The transmission relations of harmonic components in the control loop are analyzed to find out the paths to suppress the lower order harmonics of grid side currents. Quasi-proportional resonance (Q-PR) controller and the second-order bandstop filter were used to remove the introduction of harmonic content in the control loop, effectively filtering out the pulsating voltage of the DC-side voltage without affecting the dynamic performance of the control system and improving the quality of transmitted power.

关键词： T-type three-level bidrectional converter LLCL filter low-order harmonics pulsating voltage

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