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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

共 1217 条记录，以下是171-180 订阅

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Using Laplace Transform To Optimize the Hallucination of Generation models 18

Using Laplace Transform To Optimize the Hallucination of Gen...

引用

18th international conference on Control automation robotics and Vision

作者： Kang, Cheng Chen, Xinye Novak, Daniel Yao, Xujing Czech Tech Univ Dept Cybernet Prague 16000 6 Czech Republic Charles Univ Prague Dept Numer Math Prague 11000 1 Czech Republic Nanjing Tech Univ Coll Comp & Informat Engn Nanjing 211816 Jiangsu Peoples R China

ISBN: (纸本)9798331518509;9798331518493

To explore the feasibility of avoiding the confident error (or hallucination) of generation models (GMs), we formalise the system of GMs as a class of stochastic dynamical systems through the lens of control theory. Numerous factors can be attributed to the hallucination of the learning process of GMs, utilising knowledge of control theory allows us to analyze their system functions and system responses. Due to the high complexity of GMs when using various optimization methods, we cannot figure out their solution of Laplace transform, but from a macroscopic perspective, simulating the source response provides a virtual way to address the hallucination of GMs. We also find that the training progress is consistent with the corresponding system response, which offers us a useful way to develop a better optimization component. Finally, the hallucination problem of GMs is fundamentally optimized by using Laplace transform analysis.

关键词： Stochastic systems

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Terrain modeling using machine learning methods

Terrain modeling using machine learning methods

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9th international conference on Control, automation, robotics and Vision

作者： Yeu, Chee-Wee thomas Lim, Meng-Hiot Huang, Guang-Bin Nanyang Technol Univ Sch Elect & Elect Engn Nanyang Ave Singapore 639798 Singapore

ISBN: (纸本)9781424403417

the problem of terrain modeling is basically a type of function approximation problem. this type of problem has been widely studied in the soft computing community. In recent years, neural networks have been successfully applied to surface reconstruction and classification problems involving scattered data. However, due to the iterative nature of training a neural network, the resulting high cost in computational time limits the implementation of machine learning based methods in many real world applications (for example, navigation applications in unmanned aerial vehicles) that require fast generation of terrain models. A recently proposed machine learning method, the extreme learning machine (ELM), is able to train single-layer feed forward neural networks with excellent speed and good generalization. In this paper, we present terrain modeling using various machine learning methods, and we compare the performances of these methods with ELM. We also present a comparison of terrain modeling performances between ELM and the popular choice of terrain and surface modeling technique, the Delaunay triangulation with linear interpolation. Our results show that machine learning using ELM offers a potential solution to terrain modeling problems with good performances.

关键词： machine learning back propagation ELM terrain modeling delaunay triangulation

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Frequency weighted model reduction in approximation of nabla difference-based discrete-time fractional-order systems 26

Frequency weighted model reduction in approximation of nabla...

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26th international conference on methods and models in automation and robotics

作者： Stanislawski, Rafal Rydel, Marek Bialic, Grzegorz Opole Univ Technol Dept Elect Control & Comp Engn Ul Proszkowska 76 PL-45758 Opole Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the article presents new results in terms of Frequency Weighted (FW) model reduction method in application to approximate LTI discrete-time non-commensurate fractional-order systems based on the Grunwald-Letnikov nabla fractional-order difference. the method applies the Fourier-based decomposition of the system and the FW model order reduction method. the main advantage of the proposed modeling approach is the specific representation of the fractional-order system enabling a simple, analytical formula for the determination of the Gramians. this significantly improves the computational efficiency of the proposed FW reduction method. the simulation experiments confirm the low computational effort of the introduced processing and its high modeling accuracy

关键词： Linear systems automation Finite impulse response filters Computational modeling Systems modeling Controllability Reduced order systems

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Indoor Navigation System of Mobile Robot with Trajectory Optimization 26

Indoor Navigation System of Mobile Robot with Trajectory Opt...

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26th international conference on methods and models in automation and robotics

作者： Liu, Qishuai Jiang, Yufan Li, Ying Zuxia Robot Inc Guangzhou Peoples R China Nanjing Univ Informat Sci & Technol Sch Phys & Optoelect Engn Nanjing Peoples R China

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

this paper proposes a navigation system for mobile robot working in indoor environment, which includes mapping and trajectory generation for the motion tracking problem of the real mobile robot. the mapping process comprises a Gaussian model to improve the accuracy of the environment representation. With this new mapping method, the mobile robot knows the obstacle in the environment around robot itself. For the trajectory generation process, a multimodality method is used to explore all feasible paths to reach the target point by estimating the density of distribution of the objective function. Finally, the experiments show the effectiveness of this navigation framework.

关键词： automation Tracking Indoor navigation Process control Robot sensing systems Linear programming Indoor environment

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Space robotics - Present and Past Challenges 19

Space Robotics - Present and Past Challenges

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Sasiadek, J. Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781479950812

Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in order to meet demands in extremely hostile environments. those technologies have to work in a gravityless environment, rarefied atmosphere and often in high temperature. this paper recalls some of the major robotics missions in space and explains technologies related to them. Space robotic manipulators, especially flexible link and flexible joint robots are discussed. Autonomous robots for unmanned, long duration mission are presented. (Abstract)

关键词： aerospace robotics flexible manipulators mobile robots autonomous robots flexible joint robot flexible link robot long duration mission space exploration space missions space robotic manipulators space robotics unmanned mission Aerospace electronics Manipulators Mars Robot sensing systems Space exploration Space vehicles Space Exploration Autonomous robots aerospace robotics astronautical mission avionics Manipulator sensing systems flexible manipulators Space vehicles Manipulators Mobile robots articulated robot Mars robotics

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Dynamic Singularities in Nonlinear Control of Underactuated Pendulum-like models 19

Dynamic Singularities in Nonlinear Control of Underactuated ...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Lukomski, Adam Wojciech West Pomeranian Univ Technol Dept Control & Measurements PL-70310 Szczecin Poland

ISBN: (纸本)9781479950812

the paper presents an analysis of dynamic singularities in n-link pendulum-like models that are controlled using input-output feedback linearisation. the dynamic singularities are caused by the decoupling matrix being singular for particular configurations. the examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like robot model. Partial stabilisation results are presented for specific physical parameters.

关键词： feedback humanoid robots linearisation techniques manipulators nonlinear control systems pendulums stability 3-link 3D pendulum 3-link planar pendulum decoupling matrix dynamic singularities humanoid-like robot model input-output feedback linearisation n-link pendulum-like models nonlinear control partial stabilisation underactuated pendulum-like models Knee Mathematical model Numerical models Robots Solid modeling three-dimensional displays Transmission line matrix methods transmission line matrix methods nonlinear control Clock weights three-dimensional displays linearization techniques entity modeling Humanoid robots Nonlinear control systems Robot Manipulators numerical models Feedback Mathematical Model knee Singularity

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Improved Fractional Kalman Filter for Variable Order Systems with lossy and delayed network 19

Improved Fractional Kalman Filter for Variable Order Systems...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Ziubinski, Pawel Sierociuk, Dominik Warsaw Univ Technol Inst Control & Ind Elect Koszykowa 75 Warsaw Poland

ISBN: (纸本)9781479950812

this paper presents generalization on the Improved Fractional Kalman Filter (ExFKF) for estimation over lossy network with packets delay. this generalization is based on the infinite dimensional form of a linear discrete fractional variable order state-space system and measurements equation augmentation. Some simulation cases are given in order to demonstrate the effectiveness of the proposed algorithms, with improvements in terms of estimation and smoothing results.

关键词： Kalman filters delays discrete systems linear systems state-space methods ExFKF delayed network fractional Kalman filter linear discrete fractional variable order state-space system lossy network measurements equation augmentation packet delay variable order systems Equations Estimation Loss measurement Noise Signal processing algorithms Vectors Kalman filters State-space methods loss measurement Signal processing algorithms Discrete systems Linear system Noise variable order delay

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Path Following Control Algorithm for Planar Holonomic N-Link Manipulators Using Non-Singular Path Parametrization 19

Path Following Control Algorithm for Planar Holonomic N-Link...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Plaskonka, Joanna Wroclaw Univ Technol Chair Cybernet & Robot PL-50370 Wroclaw Poland

ISBN: (纸本)9781479950812

In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. the path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. the new control algorithm for N-link manipulators is proposed. the effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.

关键词： manipulators path planning Serret-Frenet frame computer simulations nonorthogonal projection nonsingular path parametrization path following control algorithm planar holonomic N-link manipulator planar three-link manipulator Equations Manipulator dynamics Mathematical model Robot kinematics Transmission line matrix methods transmission line matrix methods Manipulators manipulator dynamics Robot kinematics Computer Simulation Path planning Mathematical Model Byways Computer algorithms holonomic

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Analyzing and Enhancing Closed-loop Stability in Reactive Simulation 25

Analyzing and Enhancing Closed-loop Stability in Reactive Si...

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IEEE 25th international conference on Intelligent Transportation Systems (ITSC)

作者： Chang, Wei-Jer Hu, Yeping Li, Chenran Zhan, Wei Tomizuka, Masayoshi Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468800

Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that fail to generate complex human behaviors. therefore, the reactive simulation concept is proposed to bridge the human behavior gap between simulation and real-world traffic scenarios by leveraging real-world data. However, these reactive models can easily generate unreasonable behaviors after a few steps of simulation, where we regard the model as losing its stability. To the best of our knowledge, no work has explicitly discussed and analyzed the stability of the reactive simulation framework. In this paper, we aim to provide a thorough stability analysis of the reactive simulation and propose a solution to enhance the stability. Specifically, we first propose a new reactive simulation framework, where we discover that the smoothness and consistency of the simulated state sequences are crucial factors to stability. We then incorporate the kinematic vehicle model into the framework to improve the closed-loop stability of the reactive simulation. Furthermore, along with commonly-used metrics, several novel metrics are proposed in this paper to better analyze the simulation performance.

关键词： Analytical models Sensitivity Scalability Kinematics Predictive models Stability analysis Data models

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Real-Time Implementation of a Type-2 Fuzzy Logic Controller to Control a DC Servomotor with Different Defuzzification methods

Real-Time Implementation of a Type-2 Fuzzy Logic Controller ...

引用

18th international conference on methods and models in automation and robotics (MMAR)

作者： Fayek, Haytham M. Elamvazuthi, I. Univ Teknol PETRONAS Dept Elect & Elect Engn Tronoh 31750 Perak Malaysia

ISBN: (纸本)9781467355087;9781467355063

this paper presents the design and real-time implementation of a Type-2 Fuzzy Logic Proportional-Integral Controller (T2FLPIC) to control the position of a DC servomotor, which controls a robotic arm. Numerous type-2 defuzzification methods were implemented and judged against each other. A comparative analysis with the conventional Type-1 Fuzzy Logic Proportional-Integral Controller (T1FLPIC) and a PID controller demonstrates that the T2FLPIC has much improved performance than the T1FLPIC and the PID controller. this improvement is evident when it comes to handling of system disturbances and noise.

关键词： Fuzzy logic

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