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Non-communicating Decentralized Multi-robot Collision Avoidance in Grid Graph Workspace based on Dueling Double Deep Q-Network 2

Non-communicating Decentralized Multi-robot Collision Avoida...

引用

2nd international conference on Robotics, Automation and Intelligent Control, ICRAIC 2022

作者： Liu, Yuanxin Tian, Delei Zheng, Bin College of Computer Science and Technology Chongqing University of Posts and Telecommunications China Chongqing Institute of Green and Intelligent Technology Chinese Academy of Sciences China Chongqing College University of Chinese Academy of Sciences Chongqing China

This paper designs a motion rule suitable for grid environment and proposes a multi-robot autonomous obstacle avoidance method based on deep reinforcement learning. The training and validation of the method are done under the Stage simulation platform based on ROS operating system. During the training process, the robot uses Lidar to obtain the surrounding state information and generates actions based on the state information to obtain rewards, and the robot is guided by the rewards to optimize the strategy. Based on the D3QN algorithm, a new reward function is designed, a proximity penalty is introduced to reduce the collision between robots, a distance reward is added to guide the robot to complete the task, a step reward is added to improve the efficiency of the robot to complete the task, and an illegal action penalty is added to avoid the robot to choose an illegal action;the input is 5 frames of Lidar data, and in the network structure, the agent can better learn the correlation between the data by introducing Long Short Term Memory(LSTM) layer, and introducing Convolutional Block Attention Module(CBAM), a hybrid attention mechanism to allow the robot to pay more attention to the information of the surrounding robots. By designing experiments, we demonstrate that the learned strategy can effectively guide the robot through obstacle avoidance and complete the task. © Published under licence by IOP Publishing Ltd.

关键词： Industrial robots

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Numerical simulation of aerodynamic force and moored state in airship transport process 2

Numerical simulation of aerodynamic force and moored state i...

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2nd international conference on computer Engineering and Application, ICCEA 2021

作者： Liu, Yuan Geng, Baogang Zhang, Yongdong Wang, Ziwei Lu, Du Yao, Xuan Northwestern Institution of Nuclear Technology Xi'an China

ISBN: (纸本)9781665426169

Aiming at the problem that the stability of airship's posture is destroyed by turbulent flow when the airship leaves the large factory building, the Computational Fluid Dynamics(CFD) numerical simulation and finite element simulation method are used to simulate the condition that airship transport process in lateral incoming flow. The results shows that the turbulent flow of large factory building causes the variation of surface wind load of airship in the transport process, and the equivalent force and moment acting on airship body center show a certain degree of fluctuations;In lateral incoming flow, compared with the case of restrained by mooring tower, the transfer mode without mooring tower will produce less overall displacement and less extreme value of force on mooring rope. The simulation results provide an effective reference for the safety of airship transport process. © 2021 IEEE.

关键词： Computational fluid dynamics

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Sentiment Analysis on Movie Review using Naïve Bayes 2

Sentiment Analysis on Movie Review using Naïve Bayes

引用

2nd international conference on Artificial Intelligence and Data Sciences, AiDAS 2021

作者： Adam, Noor Latiffah Rosli, Nor Hanani Soh, Shaharuddin Cik Faculty of Computer and Mathematical Sciences Shah Alam Malaysia

ISBN: (纸本)9781665417266

Sentiment analysis is needed because the analysis of the emotion is somehow complicated due to slang phrases, misspellings, short-forms, recurring characters, the use of dialects, and modern emoticons. The aim of this project is to develop a system to analyze the sentiment of movie reviews and visualize the result of sentiment analysis. The dataset was captured from IMDb movie reviews. This dataset contains 50,000 instances with two columns which are the reviews and their sentiments. The data set undergoes a cleaning process to extract meaningful data. Two types of features have been investigated, namely, the Bag of Words (BoW) and the TF-IDF modelling with Naïve Bayes classifiers. The result of accuracy is 89% which indicates that the Naïve Bayes can be used for sentiment analysis in any movie review task. © 2021 IEEE.

关键词： Sentiment analysis

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Proceedings - 2021 2nd international conference on computer Engineering and Intelligent Control, ICCEIC 2021

Proceedings - 2021 2nd International Conference on Computer ...

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2nd international conference on computer Engineering and Intelligent Control, ICCEIC 2021

ISBN: (纸本)9781665402125

The proceedings contain 42 papers. The topics discussed include: computer simulation of electric conductor dynamic response in cold region;automatic power transmission towers detection based on the deep learning algorithm;research of privacy preservation of data aggregation in wireless sensor networks;the influence of image enhancement algorithm on face recognition system;a hybrid evolutionary algorithm based on artificial bee colony algorithm and differential evolution;ultrasound thyroid nodule segmentation based on multi-branch and color space volume;comparison analysis for pruning algorithms of neural networks;toponym based community search in large social network;distributed functional connectivity network method for identifying autism spectrum disorder;and research on raw material ordering and transportation process based on TOPSIS and neural network

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modelling the human eye and designing presbyopia correction with optical simulation software

Modelling the human eye and designing presbyopia correction ...

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Optical Imaging and Measurement (ICOIM), international conference of

作者： Csilla Timar-Fulep Irina Kollinger Haosheng Hu Hongyu Li Ansys Customer Excellence Department Ansys LLC. London United Kingdom Ansys Customer Excellence Department Ansys LLC. Stuttgart Germany Ansys Customer Excellence Department Ansys LLC. Shanghai China

The demands of more advanced presbyopia correction optics are rapidly increasing because of the fast-growing number of presbyopic population. Compared to the more conventional spectacle optics, contact lenses have multiple advantages including a larger field of view and better image quality. Since the contact lenses are not so easily removable, it is preferred to be optimized at multiple viewing distances, which increases its design complexity. In this article, we introduce the full process of designing, optimizing, and evaluating a multifocal simultaneous imaging contact lens for presbyopia correction based on the Chromatic Aspherical Gullstrand Exact (GAGE) human eye model in Zemax OpticStudio. Then, a comprehensive system-level optical analysis is performed on the optimized contact lens together with the human eye model in Speos under a realistic scenario.

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Improving the accuracy of the behaviour simulation of the material of the turbojet aircraft engine fan rotor blades in the event of a bird strike by using adapted finite element computational models

Improving the accuracy of the behaviour simulation of the ma...

引用

2nd international conference on Materials and Technologies (Maerials TECH)

作者： Merculov, Vyacheslav Kostin, Mykola Martynenko, Gennadii Smetankina, Natalia Martynenko, Volodymyr Zaporizhzhia Machine Bldg Design Bur Progress Sta 2 Ivanova St Zaporizhzhia UA-69068 Ukraine Natl Tech Univ Dept Dynam & Strength Machines Kharkiv Polytech Inst 2 Kyrpychova St UA-61002 Kharkiv Ukraine Natl Acad Sci Ukraine Dept Vibrat & Thermostabil Studies A Pidhornyi Inst Mech Engn Problems 2-10 Pozharskogo St UA-61046 Kharkiv Ukraine

One of the most topical issues in aircraft building is checking the engines for bird strike resistance, i.e. their airworthiness following an in-flight bird strike. The most critical aircraft units are the turbojet engines. In this case, the turbofan blading is affected the first thing. Its deformation or failure can result in the failure of the entire engine. Numerical simulation of the process allows for a qualitative and quantitative assessment of the consequences of a bird strike on the blades. This enables to avoid full-scale experiments and design properly the units affected by such action. The paper deals with improving the accuracy of simulation modelling of the behaviour of the material of the fan rotor blades of a turbojet aircraft engine in the event of bird strike by using adapted finite-element computational models. Bird action is argumentatively replaced with a system of equivalent quasistatic loads. The most critical events of blade impact with medium and big-size birds were selected by analysing experimental data. The force impulses were compared to determine the strike locations and the sizes and masses of birds that are most dangerous from the viewpoint of disturbance of strength properties. Variant computational analyses deal with studying construction behaviour under static action of the joint load by centrifugal forces and loads that simulate bird action on the fan blading. The stress-strain state characteristics are used to assess the behaviour of the material and its strength properties. simulation accuracy is confirmed by comparison with the results of bench tests.

关键词： Aircraft Turbojet Engine Fan Blades Bird Strike Finite Element Analysis Equivalent Forces

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Research and analysis of wing assembly tracking registration method based on Hololens2 2

Research and analysis of wing assembly tracking registration...

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2nd international conference on Intelligent Computing and Human-computer Interaction, ICHCI 2021

作者： Li, Fang Xu, Xinyu Shi, Yuxin Shenyang Ligong University Shenyang LiaoNing China

ISBN: (纸本)9781665407649

In the intelligent auxiliary assembly system based on mixed reality technology, three-dimensional tracking registration technology is one of its core technologies. At the same time, this technology is also the basis for the stable operation of the intelligent auxiliary assembly system. When mixed reality technology is applied to the production and assembly of wings, it is accurate and rapid. The tracking registration technology is one of the important links of the system, because it often means the accuracy and stability of the virtual information superimposed on the real environment. Based on the Hololens2 equipment, this paper develops a virtual and real combination auxiliary wing assembly system on the unity3D virtual simulation platform. Through the simulation of the real assembly environment, It compares the performance effects of today's mainstream tracking registration technology in the wing assembly process, and finds out a tracking and registration technology most suitable for the wing assembly process, thereby further improving the assembly efficiency and learning efficiency of assembly operators and trainers. © 2021 IEEE.

关键词： Assembly

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simulation of Logistics Route Optimization Model Based on Genetic Algorithm Optimization Neural Network

Simulation of Logistics Route Optimization Model Based on Ge...

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Artificial Intelligence and Autonomous Robot Systems (AIARS), international conference on

作者： Hao Ma Tianjin Transportation Technical College Tianjin China

With the continuous growth of urban traffic, higher requirements are put forward for logistics distribution centers. How to optimize the distribution routes is faced by logistics enterprises. In the whole process of logistics and distribution, there are many factors that affect the choice of logistics and distribution routes. Besides delivering goods to customers with the fastest service, we should also consider the operating cost of logistics enterprises, the maximum load capacity of distribution vehicles and the actual road traffic conditions, etc. How to correctly choose logistics and distribution routes is an optimization decision-making problem. In this article, a logistics route optimization model based on genetic neural network (GANN) is proposed. By applying artificial neural network (ANN) to process logistics data, a fuzzy evaluation matrix of route selection is established, which can avoid the shortcomings of traditional algorithms and accurately select the best distribution route. The simulation results show that the improved algorithm can not only effectively solve the vehicle scheduling optimization model, but also has low computer complexity, high computational efficiency and fast convergence speed, which verifies the practicability and effectiveness of the improved algorithm.

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Numerical simulation of explosion shock wave propagation in free field 2

Numerical simulation of explosion shock wave propagation in ...

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2021 2nd international conference on Machine Learning and computer Application, ICMLCA 2021

作者： Zeng, Xu Zhao, Hongzhi Bi, Zhiyong Liang, Zhengang School of Equipment Engineering Shenyang Ligong University LiaoNing ShenYang China

ISBN: (纸本)9783800757398

In this paper, with the help of the display dynamic analysis program AUTODYN, a free-field explosion model of the air shock wave generated by the TNT explosion is established, and the EULER method is used to simulate the propagation process of the air shock wave. By analyzing the position, pressure, time and other parameters, comparing with the empirical formula, the accuracy of the numerical simulation is verified, the scope of application of the explosive empirical formula is corrected, and the spatial distribution characteristics of shock wave overpressure under specific working conditions are obtained. Time sensor layout and data analysis lay the foundation. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Shock waves

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Analysis of the Workspace of UVW Platform 22

Analysis of the Workspace of UVW Platform

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2nd international conference on Control and Intelligent Robotics, ICCIR 2022

作者： Fan, XinFeng Huang, MengTao Yang, Tao Fu, Chen Wan, YiYi Shang, Guanghui School of Electrical and Control Engineering Xi'an University of Science and Technology Xi'an China

ISBN: (纸本)9781450397179

In order to achieve clean and precise assembly, the visual alignment system is often used in production to eliminate installation errors. However, the system actuator, UVW platform has the problem that the working space is difficult to solve, and the working boundary is difficult to accurately calculate, which affects the system alignment accuracy. To solve the above problems, this paper started from the structure, degree of freedom and plane model of the platform, solved the positive and negative solution equations of the platform position, and analyzed the singularity of the platform. By using the movement characteristics of platform 2 translation and 1 rotation, the XYθ three-dimensional workspace was constructed, and the shape and size change process of the platform working space were analyzed through the layered analysis method. It can be seen from the simulation results that the three-dimensional workspace can accurately obtain both the working boundary of the platform and the distribution of point clouds, which provides a basis for precise control of the platform. © 2022 ACM.

关键词： computer vision

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