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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681-690 订阅

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Comparison of Various Definitions of Proximity in Mixture Estimation 13

Comparison of Various Definitions of Proximity in Mixture Es...

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13th international conference on Informatics in Control, automation and robotics (ICINCO)

作者： Nagy, Ivan Suzdaleva, Evgenia Pecherkova, Pavla Czech Acad Sci Inst Informat Theory & Automat Dept Signal Proc Pod Vodarenskou Venzi 4 Prague 18208 Czech Republic Czech Tech Univ Fac Transportat Sci Na Florenci 25 Prague 11000 Czech Republic

ISBN: (纸本)9789897581984

Classification is one of the frequently demanded tasks in data analysis. there exists a series of approaches in this area. this paper is oriented towards classification using the mixture model estimation, which is based on detection of density clusters in the data space and fitting the component models to them. A chosen function of proximity of the actually measured data to individual mixture components and the component shape play a significant role in solving the mixture-based classification task. this paper considers definitions of the proximity for several types of distributions describing the mixture components and compares their properties with respect to speed and quality of the resulting estimation interpreted as a classification task. Normal, exponential and uniform distributions as the most important models used for describing both Gaussian and non-Gaussian data are considered. Illustrative experiments with results of the comparison are provided.

关键词： Classification Recursive Mixture Estimation Proximity Bayesian methods Mixture based Clustering

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Single Image Super-resolution Using Spatial Transformer Networks

Single Image Super-resolution Using Spatial Transformer Netw...

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

作者： Qiang Wang Huijie Fan Yang Cong Yandong Tang University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781538604915

Most of the previous models performed well for Single Image Super-Resolution (SISR). In these methods, the Low Resolution (LR) input image is amplified to the size of High Resolution (HR) through bicubic interpolation. However, bicubic interpolation can not represent the high frequency features of images with only one filter. therefore, in this paper, we used a original framework which can effectively extract the feature maps from the input image space and transform to HR feature maps based on Spatial Transformer Networks (STN). In our STN-SR method, there are three kinds of parameters should be learned from the model: (i) a serial of filters to extract LR image feature maps; (ii)a local small network to learn parameters of the transformation Γθ(G) and (iii) the filter parameters to restore the HR patchs from the input HR feature maps through a restoring layer. Our model directly focus on the whole image, the proposed STN-SR method does not clip the image into many small size patches, and can use the image gobal message to rebuild more robust local texture. Compared to privious SR methods, the proposed STN-SR method can gain completely real image, while illustrating better edge and texture preservation performance.

关键词： Feature extraction Spatial resolution Training Image reconstruction Interpolation Image restoration

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2014 19th international conference on methods and models in automation and robotics, MMAR 2014

2014 19th International Conference on Methods and Models in ...

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2014 19th international conference on methods and models in automation and robotics, MMAR 2014

ISBN: (纸本)9781479950812

the proceedings contain 165 papers. the topics discussed include: minimum energy control of positive electrical circuits;a PSO-optimized type-2 fuzzy logic controller for navigation of multiple mobile robots;integrated phases modular fuzzy logic control with spiral dynamic optimization for stair descending in a wheelchair;development of a therapeutic exercise robot for wrist and forearm rehabilitation;dynamic model and analysis of distributed control system algorithms of three wheel vehicle;modelling and simulation of a surge arrester in the physical domain;heuristic to tune the compensation gain of modeling uncertainties through the robust multi inversion;time-varying IIR multi-notch filter based on all-pass filter prototype;parallel distributed downsampled spatio-temporal track-before-detect algorithm;improved fractional Kalman filter for variable order systems with lossy and delayed network;and modeling and identification of a fractional-order discrete-time SISO Laguerre-Wiener system.

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A comparison of fuzzy identification methods on benchmark datasets

A comparison of fuzzy identification methods on benchmark da...

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4th IFAC conference on Intelligent Control and automation Sciences (ICONS)

作者： Aleksovski, Darko Dovzan, Dejan Dzeroski, Soso Kocijan, Jus Jozef Stefan Inst Dept Knowledge Technol Jamova Cesta 39 Ljubljana Slovenia Univ Ljubljana Fac Elect Engn Trzaska Cesta 25 Ljubljana Slovenia Jozef Stefan Inst Dept Syst & Control Jamova Cesta 39 Ljubljana Slovenia Univ Nova Gorica Vipavska 13 Nova Gorica Slovenia

In this paper we address the task of discrete-time modeling of nonlinear dynamic systems. We use Takagi-Sugeno fizzy models built by LOLIMOT and SUHICLUST, as well as ensembles of LOLIMOT fuzzy models to accurately model nonlinear dynamic systems from input-output data. Vie evaluate these approaches on benchmark datasets for three laboratory processes. the measured data for the case studies are publicly available and arc used for development, testing and benchmarking of system identification algorithms for nonlinear dynamic systems. Our experimental results show that, SUHICLUST produces smaller models than LOLIMOT for two of the three datasets. In terms of error, ensembles of LOLIMOT models improve the predictive performance over that of a single LOLIMOT or SUHICLUST model. (C) 2016, IPAC (international federation or Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fuzzy model identification tree partitioning fuzzy clustering ensembles

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Autonomous navigation of UAV by using real-time model-based reinforcement learning

Autonomous navigation of UAV by using real-time model-based ...

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international conference on Control, automation, robotics and Vision

作者： Nursultan Imanberdiyev Changhong Fu Erdal Kayacan I-Ming Chen School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore ST Engineering-NTU Corporate Laboratory Nanyang Technological University 50 Nanyang Avenue 639798 Singapore

ISBN: (纸本)9781509035502

Autonomous navigation in an unknown or uncertain environment is one of the challenging tasks for unmanned aerial vehicles (UAVs). In order to address this challenge, it is necessary to have sophisticated high level control methods that can learn and adapt themselves to changing conditions. One of the most promising frameworks for such a purpose is reinforcement learning. In this paper, a novel model-based reinforcement learning algorithm, TEXPLORE, is developed as a high level control method for autonomous navigation of UAVs. the developed approach has been extensively tested with a quadcopter UAV in ROS-Gazebo environment. the experimental results show that our method is able to learn an efficient trajectory in a few iterations and perform actions in real-time. Moreover, we show that our approach significantly outperforms Q-learning based method. To the best of our knowledge, this is the first time that TEXPLORE has been developed to achieve autonomous navigation of UAVs.

关键词： autonomous navigation Unmanned Aerial Vehicle learning (artificial intelligence) drone honey bees level control Hydrologic models Learning

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Experimental study of robot-assisted exercise training for knee rehabilitation based on a practical EMG-driven model

Experimental study of robot-assisted exercise training for k...

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

作者： Long Peng Zeng-Guang Hou Liang Peng Wei-Qun Wang Chinese Academy of Sciences Institute of Automation Beijing China

ISBN: (纸本)9781509032884

this paper proposes two robot-assisted exercise training methods for knee rehabilitation based on a practical EMG-driven model, aiming to beneficially exploit the patient's ability through neurorehabilitation process. the EMG-driven model is a simplified representation of the musculoskeletal system, with acceptable accuracies to predict the muscle forces and active torque of knee joint. thus the patient's voluntary contribution can be introduced to the control loop through admittance controller. Preliminary experiments verify that the model prediction performance is able to reflect the subjects' motion intention in real-time and assist the subjects to perform exercise training with a lower limb rehabilitation robot. the information recorded during exercise training could be useful to understand the process of recovery and make quantitative evaluations to the patient's motor abilities.

关键词： Muscles Electromyography Robots Training Torque Predictive models

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Robot's Velocity and Tilt Estimation through Computationally Efficient Fusion of Proprioceptive Sensors Readouts 20

Robot's Velocity and Tilt Estimation Through Computationally...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Wawrzynski, Pawel Warsaw Univ Technol Inst Control & Computat Engn PL-00665 Warsaw Poland

ISBN: (纸本)9781479987016

In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accuracy estimates of velocity and orientation with respect to gravity. the method is computationally cheap enough to be readily implementable in sensors. the main area of application of the introduced method is mobile robotics.

关键词： velocity estimation Kalman filter mobile robotics

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A variant of Adams - Bashforth - Moulton method to solve fractional ordinary differential equation 20

A variant of Adams - Bashforth - Moulton method to solve fra...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Blasik, Marek Czestochowa Tech Univ Inst Math Czestochowa Poland

In this paper, we present a numerical method to solve fractional ordinary differential equation (FDE) with Caputo derivative of order in the range (0,1]. the proposed scheme is a variant of Adams - Bashforth - Moulton... 详细信息

ISBN: (纸本)9781479987016

关键词： fractional calculus integrodifferential equations numerical methods

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methods of identification of data transmitted in the in-vehicle CAN-BUS networks 20

Methods of identification of data transmitted in the in-vehi...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Rokicki, Krzysztof Szczurowski, Krzysztof Warsaw Univ Technol Inst Vehicles Warsaw Poland

ISBN: (纸本)9781479987016

In the first part of this paper the operation mechanism of exchanging the data used in vehicles and equipment as well as the applied security measures have been presented. In the further part of the work, the identification method for the data in the network, for which the encoding system is not known, has been discussed. Subsequently, a suggestion of the decoding method for the network-derived data has been presented.

关键词： CAN bus data sniffer car hacking

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Optimal route determining for LQ problem with optimally stopped horizon 20

Optimal route determining for LQ problem with optimally stop...

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20th international conference on methods and models in automation and robotics (MMAR)

作者： Kozlowski, Edward Lublin Univ Technol Dept Quantitat Methods Nadbystrzycka 38 PL-20618 Lublin Poland

ISBN: (纸本)9781479987016

the routing problem with optimal stopping of linear system is investigated in this paper. the classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). the general aim of optimal stopping and route determining consists of minimization of composite cost function. To illustrate the optimal track a numerical example is included.

关键词： optimum route LQ Linear system numerical example Optimal composite cost Horizon Track linear quadratic control stopping Routing Problem

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