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共 1220 条记录，以下是221-230 订阅

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Tackling Environmental Variability: Few Shot Segmentation for Domain-Adaptive Weed Segmentation in Agricultural robotics

Tackling Environmental Variability: Few Shot Segmentation fo...

引用

IEEE international conference on automation Science and Engineering (CASE)

作者： Nico Catalano Monica Leone Matteo Matteucci Department of Electronics Information and Bioengineering Politecnico di Milano

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

this paper investigates the application of Few Shot Segmentation techniques in addressing weed management challenges within agricultural robotics. Traditional methods, such as indiscriminate herbicide spraying, pose environmental and economic concerns, emphasize the necessity of developing automated precision procedures. Semantic Segmentation models can offer significant advancements in weed management within agricultural robotics but can be negatively impacted by domain shifts, often requiring adaptation, hindering the development of the field. In this context, we propose a Few Shot Segmentation-based approach for precise weed segmentation in corn and bean cultivations. Our model, adapted from PFENet, exhibits robust performance across varying environmental conditions, mitigating domain shift issues. Evaluation on the ROSE dataset demonstrates the model’s reliability and generalizability, highlighting the potential of Few Shot Segmentation in advancing agricultural robotics technologies.

关键词： Economics Adaptation models Computer aided software engineering automation Biological system modeling Semantic segmentation Spraying Predictive models Reliability Robots

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Stabilization of fractional order linear discrete-time control systems

Stabilization of fractional order linear discrete-time contr...

引用

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

作者： Wiktoria Jurczyk Dorota Mozyrska Małgorzata Wyrwas Faculty of Computer Science Bialystok University of Technology Białystok Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the paper focuses on the stabilization of fractional order linear discrete-time systems with the Grünwald-Letnikov type fractional difference operator. the Z-transform, a highly effective method for stability analysis of linear control systems, is used to examine the behavior of the system’s solutions. Given the crucial importance of stability in automatics, the primary concern is the stabilization of control systems. Stabilization involves determining the appropriate feedback that ensures the asymptotic stability of the system. In cases where the system is not initially asymptotically stable, stabilization is achieved through a state feedback. this feedback mechanism is derived from the eigenvalues of the matrix linked to the closed-loop system. the outlined asymptotic stability conditions offer guidance in eigenvalue placement to guarantee system stability.

关键词： Discrete-time systems Asymptotic stability State feedback Transmission line matrix methods automation Stability analysis Eigenvalues and eigenfunctions

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Model-Based Design of Distributed ROS2 Systems Using IEC 61499

Model-Based Design of Distributed ROS2 Systems Using IEC 614...

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

作者： Jörg Walter Malte Grave OFFIS – Institute for Information Technology

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

ROS2 systems are distributed applications built from strongly isolated components (nodes). Communication is realized through a publish/subscribe mechanism. Despite having these modern software architecture elements, ROS2 has no canonical modelling language that captures overall application design and helps in mapping nodes across distributed platforms. We propose a model-based design approach based on the graphical programming language IEC 61499, mapping ROS2 constructs to native IEC 61499 model elements. Code generation creates native ROS2 nodes from IEC 61499 code. As an additional benefit, this approach also eases integration of ROS2 systems with non-ROS components.

关键词： Computer languages Codes automation Software architecture IEC Standards Robots

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Fault detection and diagnostics of complex dynamic systems using Gaussian Process models - nuclear power plant case study

Fault detection and diagnostics of complex dynamic systems u...

引用

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

作者： Bartosz Puchalski Department of Intelligent Control and Decision Support Systems Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland

the article examines the use of Gaussian Process models to simulate the dynamic processes of a Pressurized Water nuclear Reactor for fault detection and diagnostics. the paper illustrates the potential of Gaussian Process models as a tool for monitoring and predicting various fault conditions in Pressurized Water nuclear Reactor power plants, including reactor coolant flow and temperature variations, deviations from nominal working point or faulty power measurements. the article discusses the characteristics and benefits of Gaussian Process models and how they can be utilized to improve: the reliability and accuracy of nuclear power plant anomaly detection, fault diagnosis and decision making process in states of emergency. Overall, this paper highlights the capabilities of Gaussian Process models to enhance the safety, reliability and efficiency of nuclear power plants. the results of this study are expected to provide valuable insights for engineers and researchers in the fields of control engineering and nuclear power.

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Concept of a data centralization system for a railway transportation and station management systems

Concept of a data centralization system for a railway transp...

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

作者： Waldemar Bauer Katarzyna Grobler-Dębska Włodzimierz Woźniak Dep. of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland Łukasiewicz Research Network - PoznańInstitute of Technology Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper advocates for the digitization of transportation enterprises, focusing on the railway industry’s need for integrated ticketing and asset management systems. It introduces Data Lake technology as a solution for centralized data management, enabling railway companies to enhance operational efficiency and improve decision-making processes. By integrating diverse data sources within the Data Lake framework, the paper demonstrates the potential for achieving holistic insights and predictive analytics to optimize railway operations. Practical implementation of Data Lake in the MOTIONAL project exemplifies its efficacy in real-world applications, underscoring its pivotal role in modernizing railway transportation and station management systems.

关键词： Soft sensors Decision making Transportation Focusing Lakes Big Data applications Rail transportation

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Design and Characterization of a Pneumatic Tunable-Stiffness Bellows Actuator

Design and Characterization of a Pneumatic Tunable-Stiffness...

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IEEE international conference on Soft robotics (RoboSoft)

作者： Rongqian Chen Jun Kwon Wei-Hsi Chen Cynthia Sung General Robotics Automation Sensing & Perception (GRASP) Lab University of Pennsylvania Philadelphia PA USA

We introduce a self-contained pneumatic actuator capable of 1.43 times stiffness gain from 1332 N/m to 1913 N/m without needing an external air source or valve. the design incorporates an air chamber bellows and a spring bellows, connected and sealed. Stiffness modulation is achieved by altering the air chamber volume. We present an approach for computing the volume, pressurized force, and stiffness of a single bellows component, as well as methods for composing single bellows models to predict the change in stiffness of the dual bellows actuator as a function of air chamber compression. We detail the fabrication of the actuator and verify the models on the fabricated prototype. this actuator holds promise for future integration in tunable stiffness robots demanding high strength and adaptability in dynamic scenarios.

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Multi-objective iterative learning control with application to vacuum heat treatment process

Multi-objective iterative learning control with application ...

引用

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

作者： Piotr Balik Kamil Klimkowicz Maciej Patan Institute of Automation Electronic and Electrical Engineering Doctoral School of Exact and Technical Sciences University of Zielona Góra Zielona Góra POLAND Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra POLAND Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra POLAND

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Many industrial processes involve systems with spatiotemporal dynamics. As demands for accuracy and performance grow, conventional control algorithms are no longer sufficient. there is a need for improved identification and control methods that account for both temporal and spatial dynamics and are realizable in practical scenarios. this work presents an approach that competes with existing on-line feedback, using predictive iterative learning control. the control scheme is characterized along with details of its design and implementation. Simulations supplying are modeled after vacuum wafer heating in a furnace. the approach qualitatively tackled the nearly opposing goals of accurate parametric identification of the plant and trajectory tracking, demonstrating success when applied to practical problem.

关键词： Semiconductor device modeling Heating systems Accuracy Trajectory tracking Heuristic algorithms Process control Prediction algorithms

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Factors Influencing Fractional-Order Dynamics in Large, Scale-Free robotics Swarms

Factors Influencing Fractional-Order Dynamics in Large, Scal...

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

作者： Bill Goodwine Department of Aerospace and Mechanical Engineering University of Notre Dame Notre Dame IN USA

When studying or designing a large-scale network system, a simpler representation of the dynamics of the system is often needed. this is because, for a very large scale system where the dynamics of all the nodes are coupled, the system of differential equations describing the system are very high order. In such cases, engineers are faced with determining a "lower-order" model that provides a good enough representation of the large-scale dynamics. Prior work by the author has identified fractional-order dynamics in large, scale-free networks and noted that fractional-order models often better match the dynamic response of the network when the stiffness relationship (a spring constant) in the relationship between nodes in the network is larger. this work extends those results by systematically determining what parameters in the network are statistically significantly correlated with fractional-order models better matching the large-scale dynamics than integer-order models. Specifically we find a weak correlation between the degree of connectivity of the network, the spring constant, the distance in the network between the two nodes, and the size of the network to be statistically significantly correlated to whether fractional-models are better. Interestingly, in contrast to the stiffness, the damping is statistically uncorrelated with fractional-dynamics.

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Gesture Control of a Lightweight Industrial Robot Supported by Augmented Reality

Gesture Control of a Lightweight Industrial Robot Supported ...

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

作者： Christian thormann Mohammad Ehsan Matour Alexander Winkler Department of Automation Hochschule Mittweida UAS Mittweida Germany

this paper presents an approach to intuitive robot control by gestures made by a human operator supported by augmented reality. Unlike to the concepts of different robot manufactures to guide the robot using the manual control pendant, gesture control would be a universal method to drive the manipulator arm, where no special knowledge is necessary. For this purpose, we develop a set of gestures to move the robot in Cartesian space and to operate the gripper. In order to that, it is possible to program handling tasks, which are very relevant concerning robotic tasks. Furthermore, our scenario may be enhanced towards teleoperation. Augmented reality is then used for verification and modification of the robot program. In contrast to several approaches which use expensive hardware, for example head mounted displays, our concept needs only a monitor or a video projector. We compare the performance of gesture based robot control with conventional methods, such as moving the manipulator with the teach pendant or by hand guidance. For this purpose, a simple handling task is configured and the programming times are analyzed.

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Optimization Design of Trigger Timing for Multi-Stage Coil Launcher

Optimization Design of Trigger Timing for Multi-Stage Coil L...

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Pulsed Power conference, international conference on High-Power Particle Beams and international Symposium on Electromagnetic Launch Technology (EAPPC/BEAMS/EML), Euro-Asian

作者： Yadong Zhang Jianping Cao Ao Zhou School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (数字)9789038661353

ISBN: (纸本)9798350352733

To reasonably set the triggering time of each stage coil of the energy recovery type reluctance launcher and improve efficiency, this paper proposes a method based on Bayesian Random Forest Model (BO-RF) and Northern Goshawk Optimization algorithm (NGO) to predict and optimize the on-off timing of IGBT switches in each stage coil. the method was validated by building a simulation model of a 5-stage energy recovery reluctance launcher. the results showed that after optimization, the armature muzzle velocity increased from 71.2m/s to 89.89m/s, and the launcher efficiency increased from 26.78% to 32.86%.

关键词： Coils Insulated gate bipolar transistors Forestry Switches Predictive models Prediction algorithms Timing Bayes methods Integrated circuit modeling Optimization

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