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共 2674 条记录，以下是171-180 订阅

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Neural Network-Based Adaptive Tracking control for Marine Lifting Arm System 17th

Neural Network-Based Adaptive Tracking Control for Marine Li...

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17th international conference on Intelligent robotics and Applications

作者： Wang, Kai Ma, Xin He, Xin Zhang, Lei Yang, Xue Shandong Univ Minist Educ Engn Res Ctr Intelligent Unmanned Syst Ctr RobotSch Control Sci & Engn 17923 Jingshi Rd Jinan 250061 Peoples R China Shandong Marine Grp Ltd 7000 Jingshi Rd Jinan 250022 Peoples R China Shandong Marine Grp Technol Co Ltd 300 Changjiang Rd Yantai 264006 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

The marine lifting arm system is a novel type of lifting equipment for the dismantling of large offshore platforms. In practical application, the marine lifting arm system is commonly subject to unexpected disturbances such as persistent vessel-induced disturbances, uncertain dynamics, and physical constraints, posing significant challenges for controller system design. This paper proposes a neural network (NN) based adaptive tracking control method with state constraints for the marine lifting arm system to effectively compensate for vessel motions induced by wave disturbances. First, the dynamic model of a marine lifting system is established by employing Lagrange's method. Subsequently, a nonlinear controller is developed based on the dynamic model to compensate for 3-DOF vessel motions, including heave, roll, and pitch motion. By constructing constrained terms, the nonlinear controller effectively restricts the lifting arm's motion within the predefined range, ensuring the safety of lifting operations even under adverse sea conditions. The neural network is employed to estimate parameter/structure uncertainties and the nonlinear input dead zones for lifting arm systems. In particular, the designed update law of the neural network considers physical constraints, thereby further ensuring that the lifting arm operates within the safe range. The theoretical stability of the proposed control system is rigorously proven using the Lyapunov technique. Finally, the practicality and effectiveness of the proposed method are verified by the hardware experiments on a self-built offshore lifting system.

关键词： Marine lifting system Tracking control Nonlinear controller State constraint

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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Live traffic analysis on S1-MME interface using LSTM autoencoder 3

Live traffic analysis on S1-MME interface using LSTM autoenc...

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3rd IEEE international Mediterranean conference on Communications and Networking, MeditCom 2023

作者： Ficzere, Daniel Hollosi, Gergely Varga, Pal Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Dept. of Telecommunications and Media Informatics Muegyetem rkp. 3 BudapestH-1111 Hungary

ISBN: (纸本)9798350333732

The spreading of mobile communication networks resulted in a vast amount of signaling traffic on the control plane. It is quite challenging to analyze the extensive number of message sequences, recognize patterns and identify anomalies manually. However, cutting-edge machine learning methods offer excellent tools to explore unusual events in signaling traffic to provide countermeasures in the mobile network. The paper proposes a data exploration method with an LSTM-Autoencoder based latent space model to visualize manifolds controlling the generation of control plane traffic. The model has been validated on a live LTE signaling traffic captured on the S1-MME interface. © 2023 IEEE.

关键词： Learning systems

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The integration of egocentric and allocentric spatial information is important for navigation 3

The integration of egocentric and allocentric spatial inform...

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3rd international conference on Biomedical and Intelligent Systems, IC-BIS 2024

作者： Song, Fei Tang, Fengzhen Tang, Yandong Si, Bailu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China School of Systems Science Beijing Normal University Beijing100091 China Chinese Institute for Brain Research Beijing102206 China

ISBN: (纸本)9781510681279

In the realm of advanced cognitive processes, animals employ both egocentric and allocentric reference frames for navigation. While prior studies have largely concentrated on differentiating and transitioning between these frames, the present research explores the concurrent use of both strategies in navigation tasks. By simulating the entorhinalhippocampal neural circuit and applying reinforcement learning (RL), we developed three agents characterized by egocentric, allocentric, and a novel integrated strategy. Testing across diverse navigation scenarios revealed that the integrated model substantially improved navigation adaptability and efficiency. Despite the challenges associated with the "black box"nature of RL, the artificial combination of individual reference frames notably enhanced performance. These results shed light on novel mechanisms of biological spatial information processing and the flexible organization of navigation strategies. © 2024 SPIE.

关键词： Navigation

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Human Robot Interaction: Identifying Resembling Emotions Using Dynamic Body Gestures of Robot 3

Human Robot Interaction: Identifying Resembling Emotions Usi...

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3rd IEEE international conference on Artificial Intelligence, ICAI 2023

作者： Ali, Sara Mehmood, Faisal Iqbal, Khawaja Fahad Ayaz, Yasar Sajid, Muhammad Sial, Muhammad Baber Malik, Muhammad Faiq Javed, Kashif Department of Robotics and Artificial Intelligence Islamabad Pakistan National University of Sciences and Technology H-12 Department of Robotics and Artificial Intelligence Islamabad Pakistan National University of Sciences and Technology H-12 Islamabad Pakistan School of Automation Science and Electrical Engineering Beihang University Beijing100191 China

ISBN: (纸本)9798350322125

Natural social interaction between a human and robot requires perception ability of robot for complex social behaviors and in turn displaying the learnt emotional behavior during interaction. The emotions expressed with body language are one of the key parameters during Human-Robot Interaction (HRI). This research focuses on extending the concept of affective non-verbal human-robot interaction using full body gestures for closely resembling emotion in absence of intricate facial expressions. The movements of head, torso, legs, and arms are used to link body movements and gestures of a bi-pedal humanoid robot with 28 closely resembling emotions. Variation of speed, frequency, and joint angles of the robot are the key features used for expressing a specific emotion. This research uses Russell's circumplex model to define 8 primary emotional categories which are further grouped into closely associated emotions resembling each other. 33 participants were involved in experimentation to authenticate different emotions using body gestures of robot. Each participant performed 28 trials in which emotions were displayed at random to recognize the state of robot. The results showed an average accuracy of 79.69%. The study authenticates that perceived emotions are highly dependent on body movements, postures, and selected features. This design model can therefore be used for even conveying the closely resembling emotions. © 2023 IEEE.

关键词： Anthropomorphic robots

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A non Invasive Brain-Computer-Interface for Service robotics 3

A non Invasive Brain-Computer-Interface for Service Robotics

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3rd IEEE international conference on Artificial Intelligence, ICAI 2023

作者： Ahmed, Fatima Iqbal, Hashim Nouman, Ahmed Maqbool, Hafiz Farhan Zafar, Saqib Saleem, Muhammad Khurram University of Engineering & Technology Mechatronics Engineering Department Lahore Pakistan AASS Computer Science Department Orebro University Örebro Sweden University of Engineering & Technology Mechatronics Engineering Department Taxila Pakistan

ISBN: (纸本)9798350322125

A Brain-Computer Interface (BCI) enables individuals to control a system solely through their brain activity, without relying on physical movement. These interfaces have numerous applications, particularly in assisting individuals with paralysis. Our research paper details a BCI interface that can classify and control seven wheelchair movements: forward, backward, left, right, stair climbing upwards, stair climbing downwards, and stop. We collected raw signal data using the electroencephalog-raphy (EEG) technique from healthy volunteers, which we then filter before feeding into the feature extraction and classification stages. We evaluated our approach using three classification algorithms: Convolution Neural Network (CNN), Support Vector Machines (SVM), and Random Forest Classifier, and compared their performance. Our experimental results demonstrate that our proposed approach is highly promising for implementing BCI, with a classification accuracy of 99% using a Random Forest Classifier. © 2023 IEEE.

关键词： Brain computer interface

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Visual Servoing control Method of 3D Robot Based on 3D Point Cloud Processing 23

Visual Servoing Control Method of 3D Robot Based on 3D Point...

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3rd international conference on robotics and control Engineering, RobCE 2023

作者： Wang, Wen Xu, Xiaobin Chen, Ziheng Zhang, Zhiqiang Zhang, Haojie Tan, Zhiying College of Mechanical & Electrical Engineering Hohai University Changzhou China

ISBN: (纸本)9781450398107

A visual servoing control method based on depth point cloud is proposed to solve the problem of pose adjustment before obstacle surmounting of a rocker arm tracked robot. By pre-processing the acquired point cloud, a positional error model is created. Combined with the robot kinematics model, the adaptive control law is designed based on Lyapunov method, and the stability of the control algorithm is proved. Simulation results show that, compared with PID control and sliding mode control algorithm, the proposed control algorithm has faster convergence speed and smoother trajectory. The robot can reach the desired pose efficiently in 13. 5s in actual testing. © 2023 ACM.

关键词： Lyapunov methods

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SP-MAE: Lidar Beam-Induced Domain Adaptation for 3D Object Detection via Semantic Point Masked Autoencoders 3

SP-MAE: Lidar Beam-Induced Domain Adaptation for 3D Object D...

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3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Liang, Yaolin Tu, Zhiming Wu, Tao College of Intelligence Science and Technology National University of Defense Technology Changsha China

ISBN: (纸本)9781665492126

In autonomous driving scenarios, lidar-based object detectors are widely used in 3D object detection. For the sake of safety redundancy, some self-driving vehicles will be equipped with multiple lidars with different beams, but training multiple lidar-based object detectors requires high costs. In our experiments, the performance of a lidar-based detector model trained on a high-beam lidar domain drops dramatically when transferred to a low-beam lidar domain. At present, there is no public 3D object detection dataset across-lidar-beams domains. In this paper, a 3D object detection dataset adapted across-lidar-beams domain is produced by the LGSVL simulator. The reason for the performance degradation of the lidar-based detectors across lidar-beams domains are mainly due to the large gap in the foreground object point count. To solve this problem, this paper proposed a semantic point generation method based on masked autoencoders, which can bridge the data gap between lidar beam-induced domains by generating more foreground semantic points so as to realize the migration of the detector model. In addition to solving the problem of lidar beam-induced domains migration, SP-MAE can also improve the performance of 3D lidar-based detectors. Experiments showed that the PVRCNN detector can improve 5.11 3D AP of pedestrian on the KITTI dataset after using SP-MAE. © 2023 IEEE.

关键词： Optical radar

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Towards Automated Policy Predictions via Structured Attribute-Based Access control 3rd

Towards Automated Policy Predictions via Structured Attribu...

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3rd international conference on Innovations in Computing Research, ICR 2024

作者： Bamberger, Anna Fernández, Maribel Department of Informatics King’s College London London United Kingdom

ISBN: (纸本)9783031655210

We present a new access control policy prediction algorithm that uses historical access control transactions or existing policies as input and can deal with the case of incomplete logs and/or policies, e.g., to deal with unknown users making future access requests. Looking to facilitate organisational planning and regulatory compliance we employ time-series forecasting to create predictions about future categorisation of users and resources, without pre-defining any data features deemed to be relevant but rather looking to create a more autonomous miner capable of identifying such relevance from raw data. We use a public ICU health metric data set showing that the miner can work on both logs as well as policy specifications. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Information management

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Fractional order based RISE controller for autonomous aerial vehicle 3

Fractional order based RISE controller for autonomous aerial...

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3rd international conference on Range Technology, ICORT 2023

作者： Dixit, Abhishek Agrawal, Pooja Misra, Ajay Delhi India Defence Institute of Advanced Technology School of Robotics Pune India Defence Institute of Advanced Technology Department of Aerospace Engineering Pune India

ISBN: (纸本)9781665493314

In this work, fractional order based robust integral of the sign of the error controller (FRISE) is proposed to achieve longitudinal and lateral stability for fixed wing autonomous aerial vehicle (AAV). The AAV dynamics under consideration are affected because of external disturbances. A robust control strategy is essential for mitigating the effects of external disturbances. In this regard, the proposed FRISE controller is a viable approach. The proposed FRISE controller consists of self tuned gain. Here, the mentioned self tuned gain is modeled as an error function based on a fractional order. The stability analysis based on Lyapunov is done for the proposed FRISE controller. The simulation results provide a comparison between the proposed FRISE controller and the conventional sliding mode controller (SMC). The effectiveness of the FRISE controller is also validated with performance indices based on Integral Absolute Time Error (IATE). As a result, the robustness provided by the FRISE controller makes it more efficient for real-time applications. © 2023 IEEE.

关键词： controllers

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