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On the Possibility of Managing Energy Systems Based on the Use of Optimization and Geoinformation Approaches 3

On the Possibility of Managing Energy Systems Based on the U...

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3rd international conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2021

作者： Klimenko, Yuri Preobrazhensky, Andrey Choporov, Oleg Lvovich, Igor Faculty of Informatics Voronezh Institute of High Echnologies Voronezh Russia Voronezh State Technical University Faculty of Information Technology and Computer Security Voronezh Russia

ISBN: (纸本)9781665439817

The article deals with the issues of rational use of material and human resources of structural units of energy services of enterprises. Periodic statistics do not fully reflect dynamic processes. Forecasting should form new approaches to the development of operational solutions to reduce the risks of the accident rate at power facilities. To improve management efficiency, it is necessary to introduce an energy monitoring system based on geoinformation technologies. The analysis of the possibility of using geoinformation technologies in the energy sector is carried out. A structural diagram of the integration of geographic information systems, modeling, forecasting and decision-making has been developed. An optimization model of the multivariate choice of solutions is presented. © 2021 IEEE.

关键词： Forecasting

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Research on 3D Semantic Map Based on SLAM and YOLOv4 3

Research on 3D Semantic Map Based on SLAM and YOLOv4

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3rd international conference on Machine Learning and Computer Application, ICMLCA 2022

作者： Qin, Lijuan Ma, Zeqi School of Information Science and Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China

ISBN: (纸本)9781510664814

To enable mobile robots to perform different tasks intelligently and autonomously in different work scenarios, we usually use SLAM to achieve simultaneous localization and map building of the robot mainly using to complete the functions. Localization and mapping are done only by detecting and matching feature points in the image, which only utilizes the geometric information in the environment and cannot obtain the linguistic information in the environment, resulting in the robot not being able to perceive the surrounding environment well. Location and mapping can only be done by detecting and matching the feature points in the image. Only the geometric information in the environment is used, and the linguistic information in the environment cannot be obtained, which makes the robot unable to perceive the environment well. In this paper, a three-dimensional semantic map is implemented based on the system design. The data uses RGBD image sequence, and the target detection algorithm YOLOv4 is applied to ORB-SLAM2 system to extract the semantic information in the environment. A three-dimensional dense point cloud map constructed by ORB-SALM2 system is segmented using an improved LCCP algorithm. Semantic information in the environment is projected to the three-dimensional point cloud according to the globally consistent camera posture, and a three-dimensional dense point cloud map with semantic information is constructed. © 2023 SPIE.

关键词： Robots

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Highly Sensitive Flexible Resistance Strain Sensor Based on PDMS and Silver Nanowire

Highly Sensitive Flexible Resistance Strain Sensor Based on ...

引用

Computer, control and robotics (ICCCR), international conference on

作者： Weiming Sun Mei Liu Aristide Djoulde Xinyue Liu Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

Flexible sensing film has a broad application prospect in the fields of medicine, wearable electronic devices, complex environment sensing, and others. In this paper, dimethylsiloxane (PDMS) was used as a flexible substrate to prepare composite conductive films by covering silver nanowires (AgNWs) with specific lines on the substrate surface. The resistance change of the sensor is mainly caused by the change in the number of contact points between AgNWs on the film surface, which has higher linearity than the traditional resistance strain gauge. The sensor is very sensitive and has a very good measuring effect on the pressure of 0-6N and the micro-bending caused by 0-1N. Common sensors made of micro-nano materials are usually affected by transverse strain. The sensor in this experiment designs a special circuit structure, which can effectively avoid the lateral effect. The sensor also has the characteristic of self-recovery, which can achieve self-recovery under a certain degree of damage. It can be used to detect small changes in the skin.

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The Two-dimensional Problem with Free Boundary in Problems of Medicine 3

The Two-dimensional Problem with Free Boundary in Problems o...

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3rd international conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2021

作者： Kudayeva, Fatimat Kh. Zhemukhov, Aslan Kh. Nagorov, Aslan L. Kaygermazov, Arslan A. Khashkhozheva, Diana A. Irugova, Elmira Z. Institute of Physics and Mathematics Kabardino-Balkarian State University Named after Kh.M. Berbekov Department of Applied Mathematics and Informatics Nalchik Russia Kabardino-Balkarian State Agricultural University Named after V. M. Kokov Faculty of Economics and Management Department of Management Nalchik Russia

ISBN: (纸本)9781665439817

The proposed work is devoted to the study of a two-dimensional problem with free boundaries, which arises in the mathematical modeling of medical problems. A new formulation of the two-dimensional problem with free boundaries is considered, a simpler two-dimensional stationary Stefan problem is obtained, and the asymptotic integration of the problem is carried out. The equations of zero and first approximation are obtained after asymptotic expansion. © 2021 IEEE.

关键词： Medical problems

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Second -Order Differential Dynamic Programming for Whole -Body MPC of Legged Robots 3

Second -Order Differential Dynamic Programming for Whole -Bo...

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3rd Modeling, Estimation and control conference (MECC)

作者： Nganga, John N. Li, He Wensing, Patrick M. Univ Notre Dame Dept Aerosp & Mech Engn Notre Dame IN 46556 USA

ISBN: (纸本)9781713872344

This paper presents the first use-case of full second-order Differential Dynamic Programming (DDP) with a whole-body model for model predictive control on legged robot hardware. Recent advances in the literature show that DDP can be simplified by exploiting the dynamics structure in the algorithm, allowing the use of reverse-mode derivative accumulation to efficiently compute dynamics sensitives. These advances allow DDP to be run at similar compute times as the iterative LQR (iLQR) algorithm, its first-order counterpart. Beyond a hardware implementation of these past theoretical developments, this paper provides a characterization of DDP vs. iLQR following push disturbances. One challenge is that DDP often requires regularization to ensure the algorithm improves its control law from iteration to iteration, and an expensive matrix reconditioning is often necessary. We explore a novel methodology to carry out this matrix reconditioning, which considers the local geometry of the cost landscape. The resulting controller is shown to achieve lower costs and withstand larger disturbances as compared to traditional regularization schemes.

关键词： Optimal control Hybrid systems robotics Optimization Model predictive control

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Smart System To Monitor and control Transformer Health Condition in Sub-Station

Smart System To Monitor and Control Transformer Health Condi...

引用

international conference on robotics,Electrical and Signal Processing Techniques (ICREST)

作者： Sagor Dash Sanjoy Das MD. Baki Billah Balaram Das Istiaque Ahamed Abir Ahmed Department of Computer Engineering (CoE) American International University - Bangladesh (AIUB) Dhaka Bangladesh Department of Electrical and Electronics Engineering (EEE) American International University - Bangladesh (AIUB) Dhaka Bangladesh

A substation is the most important component of transporting or distributing electricity in any region or industry. To control and monitor the substation, different automation structures are developed in our country and around the world. The proposed system is to develop an IoT-based smart solution for monitoring and controlling the transformer in a substation. The control unit serves as the hub for all the system equipment and activities. Using an ultrasonic sensor and the DHT11, this smart solution can monitor transformer oil and temperatures. When the temperature of the transformer climbs over the specified value, the cooling fan turns on and provides sufficient air to lower the temperature. The voltage and current sensors' collected data determine whether the circuit is open or closed. This eliminates the expense at the substation by minimizing operating costs. As a result, both observational and operational effectiveness will undoubtedly improve.

关键词： Temperature sensors Temperature measurement Substations Prototypes Switches Oil insulation Signal processing

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Point Cloud Saliency Maps Based on Non-Contribution Factors 22

Point Cloud Saliency Maps Based on Non-Contribution Factors

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3rd international conference on control, robotics and Intelligent System, CCRIS 2022

作者： Liang, Ao Zhang, Hao Hua, Haiyang Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Hunnan Qu Shenyang Shi China Shenyang Institute of Automation Chinese Academy of Sciences Hunnan Qu Shenyang Shi China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Hunnan Qu Shenyang Shi China University of Chinese Academy of Sciences Beijing Shi China

ISBN: (纸本)9781450396851

The special properties of the point cloud structure lead to difficulties in interpreting the features learned from Deep Neural Networks. In this paper, a method for obtaining point cloud saliency maps in point cloud target recognition models is proposed. Several free factors are randomly released in the target space and fed into the model. Then the pooled features output from the backbone of the model are made to deviate as much as possible from the pooled features output from the target point cloud during recognition process. The iterative factors contribute "zero"to the prediction of the model, so that moving any point in the target to these factors has exactly the same effect on the recognition result as dropping the point. Since the movement of the point is differentiated, saliency maps can be obtained based on the gradient information. We generate saliency maps on PointNet, and the saliency maps are evaluated to be of good generality. © 2022 Owner/Author.

关键词： Deep neural networks

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RSVT 2022 - 2022 3rd international conference on robotics Systems and Vehicle Technology

RSVT 2022 - 2022 3rd International Conference on Robotics Sy...

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3rd international conference on robotics Systems and Vehicle Technology, RSVT 2022

ISBN: (纸本)9781450396783

The proceedings contain 13 papers. The topics discussed include: obstacle-recognition method for soccer robot based on human selective attention;development of an underwater cleaning robot with vortex suction mechanism;development of an underwater cleaning robot with vortex suction mechanism;analyzing the influence of driver, route and vehicle-related factors in electric vehicle energy consumption, based on real life data;abuse torque load simulation and design of differential mechanism in hybrid electric vehicle;estimation of maximum friction coefficient using recurrent artificial neural networks;design of intelligent protection device based on numerical control tool;research on working condition transformation of Huangshan test bench based on Markov braking vibration noise;machinery fault diagnosis using continuous wavelet transform and artificial intelligence based classification;and numerical study of the axial mechanical properties of braided corrugated hose with different braiding angles.

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A pixel affinity adaptive expansion weakly supervised skin image segmentation method 3

A pixel affinity adaptive expansion weakly supervised skin i...

引用

3rd international conference on Advanced Algorithms and Signal Image Processing, AASIP 2023

作者： Huang, Shan Fan, Huijie Shenyang Ligong University School of Automation and Electrical Engineering Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shen Yang China

ISBN: (纸本)9781510668522

Image annotation of medical scenes is expensive, then weak supervision methods have emerged. Therefore, this paper proposes a pixel affinity adaptive expansion model for medical image label generation in skin scenes. The method is divided into two stages. In the first stage, initial pseudo label is generated based on the characteristics of the skin image using the proposed self-Adaptation expansion module. In the second stage, the generated initial pseudo label uses the characteristics of the pixel pair to distinguish the foreground background and class boundaries to generate the final label. Finally, the generated tags are used for fully supervised segmentation. Experiments were conducted on the ISIC 2016 and ISIC 2017 datasets, respectively. The MIoU of the proposed method was 63.24% and 50.43% on the two datasets, while the Dice-score was 76.13% and 67.79%, the accuracy rate was 81.28% and 64.79%, and the recall rate was 73.54% and 71.03%, which is higher than most existing weakly supervised semantic segmentation algorithms, and achieved Sota (State of the arts) on the two skin datasets. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Semantics

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Improving 2D Scanning Radar and 3D Lidar Calibration 1

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19th international conference on informatics in control, automation and robotics, ICINCO 2022

作者： Rotter, Jan M. Stanke, Levin Wagner, Bernardo Real Time Systems Group Leibniz University of Hanover Appelstraße 9a Hanover30167 Germany

ISBN: (数字)9783031483035

ISBN: (纸本)9783031483028

Sensor fusion in mobile robots requires proper extrinsic and intrinsic sensor calibration. Robots in the search and rescue robotics domain are often equipped with multiple range sensor modalities such as radar and lidar due to the harsh environmental conditions. This article presents a method to easily calibrate a 2D scanning radar and a 3D lidar without the use of special calibration targets. Therefore, it focuses on the improvement of the feature extraction from the environment by applying filtering algorithms to remove noise and improve the signal-to-noise ratio. Additionally, a second optimization stage is introduced to propagate measurement uncertainties of the lidar to the calibration result. The results are compared to the previous version of the algorithm as well as to the ground truth parameters. Furthermore, statistical tests are performed to confirm the validity of the calibration results. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

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