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Research and Application of an Improved TD3 Algorithm in Mobile Robot Environment Perception and Autonomous Navigation

Research and Application of an Improved TD3 Algorithm in Mob...

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robotics, Artificial Intelligence and Intelligent control (RAIIC), international conference on

作者： Bo Fu Xulin Yao School of computer science and engineering Xi’an University of Technology Xi’an China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

Mobile robots demonstrate broad application potential in industrial, medical, and agricultural fields, with their core autonomous behavior capabilities relying on environmental perception technology. Environmental perception involves multiple aspects such as map construction and target recognition, requiring high real-time performance and accuracy. However, traditional methods are limited by predefined rules and models, making it difficult to adapt to complex and dynamic environments. This paper proposes an improved TD3 algorithm based on the PReLU activation function. The algorithm combines policy gradient and deep learning, optimizing algorithm training through the PReLU activation function to enhance convergence speed and model robustness. By integrating GCNV2 with the improved TD3 algorithm, the approach leverages the feature extraction capabilities of graph-structured data and the decision-making abilities of reinforcement learning, enhancing mobile robot performance in environmental perception and decision-making. This combined method exhibits significant advantages in handling complex graph-structured data and continuous control tasks. In a simulated environment, the dynamic scenario created in this study validates the effectiveness of the improved algorithm, achieving a high task completion rate for exploration. The algorithm was also deployed on a real vehicle, further verifying its robustness.

关键词： Visualization Adaptation models Simultaneous localization and mapping Heuristic algorithms Decision making Feature extraction Robustness

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An Improved Method for Identifying SSVEP Single-Channel Target Frequency for BCI Systems

An Improved Method for Identifying SSVEP Single-Channel Targ...

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Emerging Trends in Electrical, control, and Telecommunication Engineering (ETECTE), international conference on

作者： Adeel Wahab Umar Shahbaz Khan Tahir Nawaz Hassan Akbar Syed Tayyab Hussain Shah Zulfiqar Hasan Khan Department of Mechatronics Engg National University of Sciences and Technology Islamabad Pakistan National Centre of Robotics and Automation National University of Sciences and Technology Islamabad Pakistan Department of Basic Sciences and Humanities National University of Sciences and Technology Islamabad Pakistan Faculty of Electrical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi Pakistan

ISBN: (数字)9798331504861

ISBN: (纸本)9798331504878

Steady-state visual evoked potential (SSVEP) is a brain response to flickering visual stimuli in the occipital area. SSVEP detection methods usually utilize multichannel configurations, which can be intricate and uncomfortable. Conversely, single-channel configurations are simple and user-friendly, but attaining the necessary accuracy is difficult, requiring the development of a reliable and accurate single-channel technique. For this purpose, this study introduces a hybrid VMD-LGBM approach to single-channel SSVEP detection. The proposed technique utilizes VMD as a preprocessor that decomposes the SSVEP signal into harmonic, intrinsic mode functions (IMFs), and noisy IMFs. To separate harmonic IMFs from noisy IMFs, the crest factor of the cross-correlation function was introduced. Then the restored SSVEP signal is used to extract features using power spectral density analysis (Welch's approach), followed by classification using a Light Gradient Boosting Machine. Our proposed approach performs better than available techniques in terms of classification accuracy and information transfer rate. The proposed single-channel approach provides better efficiency and user-friendliness for practical applications.

关键词： Visualization Accuracy Noise Harmonic analysis Feature extraction Reliability engineering Market research Communications technology Steady-state Noise measurement

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Design and Development of an Unmanned Ground Vehicle with Serial Manipulator and its control Mechanism 3

Design and Development of an Unmanned Ground Vehicle with Se...

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3rd international conference on Electrical, Communication and Computer Engineering, ICECCE 2021

作者： Ali, Muhammad Hamza Kabir, Muhammad Salman Skolkovo Institute of Science and Technology Department of Energy System Moscow Russia Innopolis University Department of Robotics Innopolis Russia

ISBN: (纸本)9781665438971

The use of robotic vehicles for doing various jobs has been significantly increases in the last decade. Industries as well as militaries around the world, use them to perform their day to day operations. In this paper, a computationally efficient, cost-effective and user-friendly Arduino based, control methodology is presented to control an Unmanned Ground Vehicle (UGV) and its serial manipulator. A transmitter made up of a gamepad, WiFi module, and Arduino as a main controller is used to send commands. These commands reside on a cloud server from where the receiver picks them up and activates its various peripherals to fulfill them. The designed control mechanism is implemented on a fabricated UGV for real-time performance evaluation. Field tests indicate the effectiveness of the proposed methodology. © 2021 IEEE.

关键词： Cost effectiveness

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The Relocation of Lost Unmanned Combat Vehicle in One Group Based on Fog Computing Method 3

The Relocation of Lost Unmanned Combat Vehicle in One Group ...

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IEEE 3rd international conference on Mechatronics, robotics and automation (ICMRA)

作者： Lei, Sun Beijing Original Change Co Tongfang Bldg88 Shuangqing Rd Beijing Peoples R China

ISBN: (纸本)9781728190327

Unmanned combat vehicle group is composed of different intelligent individuals which can obtain location information by sensor installed on vehicle. Try to relocate the vehicle that cannot obtain location information for certain reason by itself, center control unit can use fog calculating method basing on information delivered by other appropriate close vehicles, combined with particle filtering and Bayesian prediction, then center control unit inform whole unmanned combat vehicle group to ensure cooperative combat.

关键词： unmanned combat vehicle group relocation of lost unit fog calculating method particle filtering bayesian prediction

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Investigating the Effect of Ground Distance on the Characteristics of a Coupled Meander Microstrip Line

Investigating the Effect of Ground Distance on the Character...

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informatics, Electronics, and Radio Engineering (PIERE), international conference Problems of

作者： Mikhail S. Murmansky Nikita O. Kuzmin Viacheslav E. Mikhailenko Department of Ultra High Frequency and Quantum Radio Engineering Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Engineer of research Laboratory of «Safety and Electromagnetic Compatibility of Radioelectronic Facilities» Tomsk State University of Control Systems and Radioelectronics Tomsk Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

This paper investigates the influence of the distance between the ground plane and a coupled meander microstrip line on its characteristics in the frequency and time domains. It is shown that at a distance of 2.5 mm the ground plane has no impact on the characteristics in both domains. The structure with a ground plane has the greatest influence at a distance of 0.5 mm from the line, resulting in a decrease in the average values of $\vert S_{11}\vert$ by 1.5 $\text{dB}$ and an increase in the average values of $\vert S_{21}\vert$ and $\vert S_{41}\vert$ by 1 and 3 $\text{dB}$ , respectively. Electromagnetic modeling of the investigated structure was carried out in the frequency range from 0 to 20 GHz using COMSOL Multiphysics. N-norms were employed for a more detailed assessment of the time-domain response. The analysis of the N-norms showed that increases in the distance to the ground structure do not affect the $\boldsymbol{N}_{1}$ values. The structure with a distance to the ground plane of 0.5 mm possesses the maximum $N_{2-5}$ values.

关键词： Time-frequency analysis Power transmission lines Grounding Resonant frequency Interference Electromagnetic modeling Topology Microstrip Time-domain analysis informatics

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Assessment of the Performance of a Technical Object Based on Identification of the Model of the controlled Parameter

Assessment of the Performance of a Technical Object Based on...

引用

informatics, Electronics, and Radio Engineering (PIERE), international conference Problems of

作者： Sergei I. Klevtsov Institute of Radiotechnical Systems and Control Southern Federal University SFEDU Taganrog Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

A detection method based on segmentation of the signal under study based on the formation of cumulative sums is proposed for recording jumps in the average value. The method is based on the use of the Page-Hinckley likelihood criterion. It allows you to detect in real time abrupt changes in the average value of a monitored parameter of an object under noise conditions. It is assumed that the signal is described by a time series of values of the signal under study. Separate consecutive sections are distinguished from the series. These sections can be considered as some signal models. Test statistics are used to compare two or three models. They are evaluated from different parts of the signal. This makes it possible to detect discontinuous changes in model parameters. It is assumed that a piecewise constant signal with additive noise is considered. Jumps in the average signal value can have different signs. They also significantly exceed the original value in modulus. As a result, a criterion was selected that allows minimizing the delay time in detecting a jump in the average value of the recorded signal with a minimum of false alarms. In this case, segmentation of the signal under study is used based on the formation of cumulative sums. Approbation of the method shows that the use of the Page-Hinckley likelihood criterion makes it possible in real time to detect abrupt changes in the average value of the controlled object parameter under noise conditions.

关键词： Time series analysis Process control control systems Real-time systems Time measurement Delays Recording Object recognition informatics Monitoring

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YOLO v5, v7 and v8: A Performance Comparison for Tobacco Detection in Field

YOLO v5, v7 and v8: A Performance Comparison for Tobacco Det...

引用

Digital Futures and Transformative Technologies (ICoDT2), international conference on

作者： Zaid Mahboob Ayesha Zeb Umar S. Khan College of EME National University of Science and Technology Islamabad Pakistan National Center of Robotics and Automation Pakistan

Accurate tobacco plant detection is crucial for effective agricultural management strategies. Due to the challenges posed by high plant variability, adverse lighting conditions, and occlusions, existing machine learning algorithms and convolutional neural networks (CNNs) have struggled to achieve satisfactory detection accuracy under real-world scenarios. This paper employs YOLOv8, a state-of-the-art object detection algorithm, to reliably detect tobacco plants. A comprehensive evaluation and benchmark of 12 state-of-the-art YOLO object detection algorithms including the YOLOv8, is established for tobacco detection. YOLOv8 demonstrates remarkable test accuracy of 96.4compared to YOLOv5 and YOLOv7. Performance comparisons with YOLOv5 and YOLOv7, two ancestor algorithms, using test images further solidify YOLOv8’s superior detection capabilities for tobacco plants. YOLOv8’s real-time object detection ability renders it an ideal solution for mobile and embedded devices, opening new possibilities for on-the-go agricultural management.

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Flexible Target Grasping Strategy of Industrial Robot Based on Eye-in-Hand 3D Machine Vision

Flexible Target Grasping Strategy of Industrial Robot Based ...

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robotics and Technologies for Industrial automation (ROBOTHIA), IEEE international conference on

作者： Zhang XiaoYang Muhammad Azmi Ayub Fazlina Ahmat Ruslan Shuzlina Abdul-Rahman Sukarnur Che Abdullah College of Engineering UiTM Shah Alam Shah Alam Selangor Malaysia College of Computing Informatics and Media UiTM Shah Alam Shah Alam Selangor Malaysia

ISBN: (数字)9798350356755

ISBN: (纸本)9798350356762

Object grasping is the most common application direction of robots, and machine vision technology is also the most common application of grasping. With the deepening of the research of machine vision technology, the initial application in static target capture has gradually expanded to some moving target tracking and capture. Estimating and predicting the moving state of a target by detecting its position is a common method for obtaining a stable moving target. Once the target motion changes position due to unpredictable interference, the original predicted position will be invalid. Therefore, it is necessary to constantly locate and track the target and judge the deviation, so as to constantly approach the new target position and finally achieve the capture. In this paper, we utilize the open-source Robot Operating System (ROS) platform to investigate dynamic grasping strategies based on visual feedback. In this paper, we use ROS, based on UR5 robot arm and RealSense D435i camera, based on the eye-in-hand mode, to study the dynamic grasping strategy based on visual feedback. A visual feedback control strategy based on fixation approximation is designed to enable the grasping of moving targets on a conveyor belt. Finally, it is verified that the machine vision-driven feedback capturing algorithm substantially meets the practical application requirements of engineering, demonstrating high feasibility and accuracy.

关键词： Visualization Target tracking Three-dimensional displays Service robots Machine vision Operating systems Robot vision systems Grasping Object detection Industrial robots

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Robot automation Testing of Software Using Genetic Algorithm

Robot Automation Testing of Software Using Genetic Algorithm

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Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), international conference on

作者： Vinod Yadav Raphael Kwaku Botchway Roman Senkerik Zuzana Oplatkova Kominkova Faculty of Applied Informatics Tomas Bata University in Zlin Zlin Czech Republic

The demand for excellent software has significantly increased in recent years, bringing the importance of testing-related challenges into the limelight. When generating test data for software testing, the test data must be able to unearth potential software defects, while the test adequacy criterion guarantees the quality of test cases. However, optimizing test data during software testing can improve software reliability. Recently, population-based metaheuristic search techniques (e.g., evolutionary testing) have been utilized in software testing. In this study, we propose and implement a method that utilizes a genetic algorithm to optimize test data for robot testing. Due to its advantages over traditional testing methods, several businesses have recently started using robot-automated testing systems for various applications. We implement a Robot Framework (R.F.) where we receive the data generated by a genetic algorithm. Furthermore, this generated data then acts as a request body for R.F. to test the fitness values and use the generated data as our necessary data sets.

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Research and Application of Display System of Component-Based Virtual Instrument for Land and Air Platforms 3

Research and Application of Display System of Component-Base...

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2021 3rd international conference on Computer, Communications and Mechatronics Engineering, CCME 2021

作者： Cai, Hao Mao, Zheng Department of Informatics Beijing University of Technology Beijing China

With the diversified combat missions in the new era and the development of industrialization, the demand for military and civilian equipment continues to increase, and the development and upgrade standards of land-air dual-use platforms must also move toward standardization. As the core of information visualization and control standardization, the component-based virtual instrument display platform is an important part of the integrated information display system of the land-air platform. The component display platform takes the optimization of the research and development, design and maintenance of the land and air mobile platform as the starting point, and at the same time meets the needs of wartime and meets the development trend of future informatization. It adopts engineering design ideas, hierarchical software layout and componentized ideas of man-machines. The concepts of interaction design are based on componentization techniques, serial communication, data dictionaries, pattern transformations, etc. A comprehensive information display platform aims to increase software productivity, reduce development costs and degree of coupling, and meet human-computer interaction as well as user-friendliness requirements. © Published under licence by IOP Publishing Ltd.

关键词： Instrument displays

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