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

共 1225 条记录，以下是671-680 订阅

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Traffic Flow Prediction Based on Probe Vehicle GPS Traces Considering Temporal and Spatial Correlations 18

Traffic Flow Prediction Based on Probe Vehicle GPS Traces Co...

引用

18th COTA international conference of Transportation Professionals: Intelligence, Connectivity, and Mobility, CICTP 2018

作者： Yu, Jingru Wang, Shuofeng Li, Li Chen, Xiqun Michael College of Civil Engineering and Architecture Zhejiang Univ. 866 Yuhangtang Rd. Hangzhou310058 China Dept. of Automation Tsinghua Univ. Beijing100084 China

ISBN: (数字)9780784481523

ISBN: (纸本)9780784481523

Accurate traffic flow prediction is of great significance to intelligent transportation systems (ITS). the long short-term memory model (LSTM) and gradient boosting regression (GBR) model are widely used in this field and have achieved significant achievements. However, the inputs of these models have a strong influence on the model outputs. Traffic states of roads are correlated spatially, thus the prediction models that only consider features of the objective road segment is sufficient. To improve the prediction accuracy, this paper presents a framework to appropriately refine the short-term traffic prediction results by considering temporal and spatial correlations. In the framework, we use the temporal detrending, top-k correlated and top-k neighboring methods in the spatial dimension, which consider temporal and spatial correlations, to enhance the input features of the prediction models. To verify the prediction accuracy, we use the probe vehicle GPS traces extracted from the on-demand ride service platform of DiDi between August 1, 2016, and September 25, 2016, in Beijing, China, as the dataset in this paper. the first 7-weeks of data are utilized as the training set and the remaining 1-week of data are used as the test set. the results show that the temporal detrending and spatial correlation method can effectively improve the prediction accuracy of both LSTM and GBR. Besides, we compare the top-k correlated method to the top-k neighboring method to show their pros and cons. © 2018 American Society of Civil Engineers.

关键词： Long short-term memory

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Push Recovery methods Based on Admittance Control Strategies for a NAO-H25 Humanoid

Push Recovery Methods Based on Admittance Control Strategies...

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RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Fatemeh Sadat Mousavi Mehdi Tale Masouleh Ahmad Kalhor Payam Ghassemi Human and Robot Interaction Laboratory School of Electrical nad Computer Engineering University of Tehran Tehran Iran Faculty of New Sciences and Technologies University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

this paper discusses two main investigations regarding push recovery of a NAO humanoid robot. the first part indicates the simulation results of different strategies retrieved from human behaviors, namely: Ankle, Hip, and Hip-ankle strategies. these methods are separately assessed and their efficiencies are discussed. To the end of converting torque parameter to robot's movement with a reasonable approximation in the aforementioned strategies' obtained models, a new approach, the so-called Virtual leg model, is introduced. the second discussion assesses the admittance control strategy, which relies on disturbances' energy absorption. Individual control algorithms are introduced for each disturbances' categories based on NAO's real conditions. this paper proposes a new strategy, which investigates the influence of admittance control coefficients against external disturbances, by considering a virtual interaction between robot's feet and the ground, and introducing a Kalman-filter-based estimator. All proposed methods are simulated in NAO-H25's simulation environment.

关键词： Legged locomotion Hip Admittance Robot kinematics Measurement uncertainty Robot sensing systems

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An Optimal Control Problem Formulation for a State Dependent Resource Allocation Strategy 14

An Optimal Control Problem Formulation for a State Dependent...

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14th international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Di Giamberardino, Paolo Iacoviello, Daniela Sapienza Univ Rome Dept Comp Control & Management Engn A Ruberti Via Ariosto 25 I-00185 Rome Italy

ISBN: (纸本)9789897583049

In this paper, the problem of optimal resource allocation depending on the system evolution is faced. A preliminary analysis defines the global effort required in any subset of the system state space according to needed or desired goals. then, in the definition of the cost function, the control action is weighted by a piecewise constant function of the state, whose different constant values are defined for each subset previously defined. the aim is to weight the control according to the distinct conditions, so getting different solutions in each state space region so to optimize the planned resources according to the global goal. A constructive algorithm to compute iteratively the final control law. is outlined. the effectiveness of the proposed approach is tested on a typical model of human immunodeficiency virus (HIV) present in literature.

关键词： Optimal Control State-based Cost Function Switching Control Epidemic models HIV Model

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OPC UA Realization Of Cloud Cyber-Physical System

OPC UA Realization Of Cloud Cyber-Physical System

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IEEE international conference on Industrial Informatics (INDIN)

作者： Václav Jirkovský Petr Kadera Marek Obitko Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Rockwell Automation Prague Czech Republic

Cloud cyber-physical systems are the natural evolution of embedded systems based on trends which may be observed in various domains. Cloud-based systems may be understood as a transformation of legacy system hardware and software architecture into more flexible, robust, powerful, and reliable solution. Cloud cyber-physical system (CPS) is the extension of the well-known CPS concept where complex computations may be moved to a cloud platform. We proposed the solution which benefits from utilization of OPC UA standard. this standard provides rich expressivity for data model design as well as for secure communication, data subscription, and triggering methods. the overall approach is demonstrated on proposed and implemented Semantic Big Data Historian which forms together with a cyber-physical system the implementation of cloud CPS concept.

关键词： Cyber-physical systems Sensors Actuators Cloud computing Memory Standards Data models

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Compact Convolutional Neural Networks for Multi-Class, Personalised, Closed-Loop EEG-BCI

Compact Convolutional Neural Networks for Multi-Class, Perso...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Pablo Ortega Cédric Colas A. Aldo Faisal French Institute for Research in Computer science and Automation (INRIA) Bordeaux France

ISBN: (纸本)9781538681848

Ahstract- For many people suffering from motor disabilities, assistive devices controlled with only brain activity are the only way to interact with their environment [1]. Natural tasks often require different kinds of interactions, involving different controllers the user should be able to select in a self-paced way. We developed a Brain-Computer Interface (BCI) allowing users to switch between four control modes in a self-paced way in real-time. Since the system is devised to be used in domestic environments in a user-friendly way, we selected non-invasive electroencephalographic (EEG) signals and convolutional neural networks (CNNs), known for their ability to find the optimal features in classification tasks. We tested our system using the Cybathlon BCI computer game, which embodies all the challenges inherent to real-time control. Our preliminary results show that an efficient architecture (SmallNet), with only one convolutional layer, can classify 4 mental activities chosen by the user. the BCI system is run and validated online. It is kept up-to-date through the use of newly collected signals along playing, reaching an online accuracy of 47.6% where most approaches only report results obtained offline. We found that models trained with data collected online better predicted the behaviour of the system in real-time. this suggests that similar (CNN based) offline classifying methods found in the literature might experience a drop in performance when applied online. Compared to our previous decoder of physiological signals relying on blinks, we increased by a factor 2 the amount of states among which the user can transit, bringing the opportunity for finer control of specific subtasks composing natural grasping in a self-paced way. Our results are comparable to those showed at the Cybathlon's BCI Race but further improvements on accuracy are required.

关键词： Electroencephalography Training Task analysis Decoding Games Computer architecture Brain modeling

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Engineering the Software of Robotic Systems 17

Engineering the Software of Robotic Systems

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IEEE/ACM 39th international conference on Software Engineering Companion (ICSE-C)

作者： Ciccozzi, Federico Di Ruscio, Davide Malavolta, Ivano Pelliccione, Patrizio Tumova, Jana Malardalen Univ Vasteras Sweden Univ Aquila Laquila Italy Vrije Univ Amsterdam Amsterdam Netherlands Chalmers Univ Technol Gothenburg Sweden Univ Gothenburg Gothenburg Sweden KTH Royal Inst Technol Stockholm Sweden

ISBN: (纸本)9781538615898

the production of software for robotic systems is often case-specific, without fully following established engineering approaches. Systematic approaches, methods, models, and tools are pivotal for the creation of robotic systems for real-world applications and turn-key solutions. Well-defined (software) engineering approaches are considered the "make or break" factor in the development of complex robotic systems. the shift towards well-defined engineering approaches will stimulate component supply-chains and significantly reshape the robotics marketplace. the goal of this technical briefing is to provide an overview on the state of the art and practice concerning solutions and open challenges in the engineering of software required to develop and manage robotic systems. Model-Driven Engineering (MDE) is discussed as a promising technology to raise the level of abstraction, promote reuse, facilitate integration, boost automation and promote early analysis in such a complex domain.

关键词： Software Robotic Systems computer software computer programs Engineering level of abstraction robotics state of the art

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2015 20th international conference on methods and models in automation and robotics, MMAR 2015

2015 20th International Conference on Methods and Models in ...

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20th international conference on methods and models in automation and robotics, MMAR 2015

ISBN: (纸本)9781479987016

the proceedings contain 211 papers. the topics discussed include: experimental validation of LMI approaches for robust control design of a spatially three-dimensional heat transfer process;the excitation controller with gain scheduling mechanism for synchronous generator control;a motion planning algorithm for the invalid initial state disassembly problem;task scheduling with restricted preemptions on two parallel processors;the steady state response of a lti system with singular perturbations in the physical domain;fractional control differential-algebraic systems with many delays - relative controllability;advanced methods of controller design for pneumatic servodrives;parametric optimization of PD alpha controller using Laguerre function approximation;parallel digraphs-building algorithm for polynomial realisations of one-dimensional positive systems with delays;and online identification of an electric PEMFC model for power control by NMPC.

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Beam elements as approximate models of vibrating mechanical subsystems of freight wagons 25

Beam elements as approximate models of vibrating mechanical ...

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25th international conference on Vibroengineering

作者： Buchacz, Andrzej Silesian University of Technology Faculty of Mechanical Engineering Institute of Engineering Processes Automation and Integrated Manufacturing Systems Konarskiego 18A street Gliwice44-100 Poland

the complex mechanical system which is a subsystem of mechatronic system composed with many continuous mechanical elements having the same length and variable cross section, loaded by the harmonic force is analyzed. the main subject of deliberation was to determine the flexibility of the mechanical subsystem with constant cross section using algorithms of exact and approximate methods. Next, the comparison of methods and the correction of the approximate method has been made. the model of subsystem of complex transverse vibrating mechanical system of freight wagon was considered and after deliberation the approximate method has been chosen. the presented research of subsystems establishes the foundation to complex systems analysis with cascade structure. By analyzing the diagrams of characteristics of confirmed system it has been determined that in case of approximate method the resonance frequencies cover with those which have been determined with the exact method. However, the values of the characteristic in other areas are different. therefore, there is the mistake within the approximate method, which while of studying the single system does not have any influence because in resonance areas the characteristic values of the system approach to the infinity. However, the difference between values of flexibility within two methods has the great influence on the result of complex systems. that is why it was necessary to correct the results of the approximate method. © JVE international Ltd.

关键词： Approximation theory

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Robust tensor factorization with MRF under complex noise

Robust tensor factorization with MRF under complex noise

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IEEE international conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Xi'ai Chen Zhi Han Guiping Shen Yao Wang Yandong Tang University of Chinese Academy of Sciences State Key Laboratory of Robotics Chinese Academy of Sciences School of Mathematics and Statistics Xi'an Jiaotong University

Because of the limitations of matrix factorization, such as losing spatial structure information, the concept of low-rank tensor factorization (LRTF) has been applied for the recovery of a low dimensional subspace from high dimensional visual data. However, existing methods often fail to tackle the real data which are corrupted by the noise with unknown distribution. In this paper, we propose a novel noise model to the tensor case for the LRTF task to overcome the drawbacks of existing models. this procedure treats the target data as high-order tensor directly and models the noise by a Mixture of Gaussians and a Markov Random Field, which is called MoG WLRTF MRF. the parameters in the model are estimated under the variational EM framework. Extensive experiments demonstrate the effectiveness of our method compared with other competing methods.

关键词： Tensile stress Computational modeling Manganese Task analysis Gaussian distribution automation Robustness

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Adaptive backstepping control based on structural reliability for a turret-moored FPSO vessel

Adaptive backstepping control based on structural reliabilit...

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international conference on Advanced robotics (ICAR)

作者： Yuanhui Wang Yulong Tuo Simon X. Yang College of Automation Harbin Engineering University Harbin Heilongjiang Province China School of Engineering University of Guelph Guelph ON Canada

ISBN: (纸本)9781538631584

For floating production storage and offloading (FPSO) vessels, a positioning controller is necessary because only a mooring system alone cannot always keep the ship within a predefined region. this paper develops a new adaptive backstepping controller based on structural reliability index to deal with the model uncertainties of the FPSO vessel. Model uncertainties can be estimated by the adaptive law derived from the Lyapunov stability theory. the capacity of the mooring system can be fully utilized to position the FPSO vessel by adjusting the structural reliability index on the premise of ensuring the safety of mooring lines, and hence less control effort is needed for the positioning controller. the robustness of the proposed control algorithm is demonstrated through simulations using three sets of different system parameters. In addition, a comparison to the PID controller without the structural reliability shows that less control effort is needed using the proposed controller.

关键词： Reliability Backstepping Indexes Lyapunov methods Adaptation models Adaptive systems Marine vehicles

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