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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Multiobjective Problem to Find Paths through Swarm robotics 2019

Multiobjective Problem to Find Paths through Swarm Robotics

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3rd international conference on automation, control and Robots (ICACR)

作者： Solis-Ortega, Rebeca Calderon-Arce, Cindy Costa Rica Inst Technol Sch Math Cartago 30101 Costa Rica

ISBN: (纸本)9781450372886

In this paper, we present a scheme to solve the problem to explore, cover and define paths in dangerous environments. The proposal is organized in three phases: exploration, mapping and path planning. Swarm robotics is used in the first phase along with a stigmergy approach for the communication between the agents. The explored cell will be stored in order to create a grid map. In the path planning phase, a multiobjective problem is used to minimize distance and danger, through a graph obtained by an adapted RRG, and a genetic algorithm called modified NSGA-II.

关键词： Swarm robotics exploration stigmergy multiobjective optimization path planning graph search rapidly exploring random graph (RRG) NGSA-II

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Low-cost foil/paper based touch mode pressure sensing element as artificial skin module for prosthetic hand

Low-cost foil/paper based touch mode pressure sensing elemen...

引用

IEEE international conference on Soft robotics (RoboSoft)

作者： Rishabh B. Mishra Sherjeel M. Khan Sohail F. Shaikh Aftab M. Hussain Muhammad M. Hussain MMH Labs Electrical Engineering King Abdullah University of Science and Technology (KAUST) Thuwal Kingdom of Saudi Arabia Center for VLSI and Embedded Systems Technology (CVEST) International Institute of Information Technology (IIIT) Hyderabad Telangana India

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

Capacitive pressure sensors have several advantages in areas such as robotics, automation, aerospace, biomedical and consumer electronics. We present mathematical modelling, finite element analysis (FEA), fabrication and experimental characterization of ultra-low cost and paper-based, touch-mode, flexible capacitive pressure sensor element using Do-It-Yourself (DIY) technology. The pressure sensing element is utilized to design large-area electronics skin for low-cost prosthetic hands. The presented sensor is characterized in normal, transition, touch and saturation modes. The sensor has higher sensitivity and linearity in touch mode operation from 10 to 40 kPa of applied pressure compared to the normal (0 to 8 kPa), transition (8 to 10 kPa) and saturation mode (after 40 kPa) with response time of 15.85 ms. Advantages of the presented sensor are higher sensitivity, linear response, less diaphragm area, less von Mises stress at the clamped edges region, low temperature drift, robust structure and less separation gap for large pressure measurement compared to normal mode capacitive pressure sensors. The linear range of pressure change is utilized for controlling the position of a servo motor for precise movement in robotic arm using wireless communication, which can be utilized for designing skin-like structure for low-cost prosthetic hands.

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Using real-time laboratory models in the process of control education 3rd

引用

3rd conference on Innovation, Engineering and Entrepreneurship, Regional HELIX 2018

作者： Gazdos, Frantisek Faculty of Applied Informatics Tomas Bata University in Zlin Nam. T.G. Masaryka 5555 Zlin760 01 Czech Republic

ISBN: (纸本)9783319913339

The paper describes usage of real-time scale-models in the process of education in the field of Automatic control at Tomas Bata University in Zlin, Czech Republic. It presents both hardware and software solutions utilized in the presented laboratory together with some typical tasks for students related to a selected process. Teacher’s experiences and students’ feedback from a regular course in this lab are also given, as well as some future plans. Consequently, this work can serve as an inspiration for other similarly-oriented departments. © 2019, Springer international Publishing AG, part of Springer Nature.

关键词： Real time systems

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Simulation of adaptive control for cloud computing as queueing system 3

Simulation of adaptive control for cloud computing as queuei...

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3rd international conference on Advances in Artificial Intelligence, ICAAI 2019

作者： Tjahyadi, Hendra Aribowo, Arnold Yugopuspito, Pujianto Lazarusli, Irene Murwantara, I. Made Computer Engineering Department Faculty of Computer Science Universitas Pelita Harapan Tangerang Indonesia Informatics Department Faculty of Computer Science Universitas Pelita Harapan Tangerang Indonesia

ISBN: (纸本)9781450372534

Cloud computing is a complex system with high uncertainty factors. To guarantee the reliability and performance of the cloud computing despite the presence of uncertainty factors, a control system is required. In this paper simulation of control system in cloud computing is presented. The cloud computing is modeled as a queueing system with one unlimited queue and one server, and a simple adaptive control is employed to keep the achievement of the desired performance. The variation of arrival rate of clients, λ, is represent the uncertainty factor and the service rate, μ, is used as the control signal. Simulation results show that the proposed controller has a promising potential to be used in cloud computing. © 2019 ACM.

关键词： Cloud computing

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Fundamental Frequency Detection of Underwater Acoustic Target Using DEMON Spectrum and CNN Network

Fundamental Frequency Detection of Underwater Acoustic Targe...

引用

IEEE international conference on Unmanned Systems (ICUS)

作者： Jiamin Lu Sanming Song Zhiqiang Hu Shuo Li State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

The fundamental frequency, or F0, is directly determined by the vibration frequency of sound source. Therefore, by detecting and tracking F0, it is possible to estimate the attributes and motion state of an underwater maneuvering object, including the rotation speed of the propeller, the shaft number and so on. Unfortunately, coupled with mechanical noise and continuous noise, and further polluted by the marine ambient noise, some spectral lines that correspond to the the fundamental frequency and its harmonics would be distorted, like amplitude attenuation or position shift, which severely discounts the detection precision of the state-of-art methods. To improve the precision and stability of F0 detection, especially in low SNR situation, we propose to estimate the state of sound source by learning the hydrophone array signal with a deep neural network. Specifically, in the preprocessing stage, the DEMON spectrum is extracted from noise signal for each hydrophone channel, and it is subsequently cleaned by the wavelet denoising. Then, we use a comb filter to compensate the spectral line distortion effects. Finally, the purified frequency spectrum features are fed into a CNN network to determine F0 by classification. Simulation experiments show that the data-driven deep learning method outperforms traditional model-based algorithms in the case of low-SNR noise signals.

关键词： Neural networks Sonar equipment Feature extraction Harmonic analysis Underwater acoustics Power harmonic filters Signal to noise ratio

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Performance Measurements of Function as a Service Platforms 3

Performance Measurements of Function as a Service Platforms

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3rd international Symposium on Computer Science and Intelligent control, ISCSIC 2019

作者： Hegyi, Gellért István Maliosz, Markosz Simon, Csaba Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781450376617

This paper evaluates the current state of the Function as a Service (FaaS) landscape and investigates the extent of the applicability of this new technology for the use-cases of today. We have selected the most popular Function as a Service platforms and have measured the relevant application performance parameters (latency and database access rate) under different types of load. Our source code used by our experiments is available from our public repository. Our measurements confirm that the investigated FaaS technologies have stable performance characteristics under various load conditions. They can be safely applied to a large number of use-cases, and their performance will hold up to the traditional solutions with also added benefits as well, such as less operational costs and better scalability. © 2019 ACM.

关键词： Analysis Faas Performance Serverless

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A Study of the Optimization Algorithms in Deep Learning 3

A Study of the Optimization Algorithms in Deep Learning

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3rd international conference on Inventive Systems and control, ICISC 2019

作者： Zaheer, Raniah Shaziya, Humera Najran University Department of CS India Informatics Nizam College Osmania University India

ISBN: (纸本)9781538639504

Training the deep learning models involves learning of the parameters to meet the objective function. Typically the objective is to minimize the loss incurred during the learning process. In a supervised mode of learning, a model is given the data samples and their respective outcomes. When a model generates an output, it compares it with the desired output and then takes the difference of generated and desired outputs and then attempts to bring the generated output close to the desired output. This is achieved through optimization algorithms. An optimization algorithm goes through several cycles until convergence to improve the accuracy of the model. There are several types of optimization methods developed to address the challenges associated with the learning process. Six of these have been taken up to be examined in this study to gain insights about their intricacies. The methods investigated are stochastic gradient descent, nesterov momentum, rmsprop, adam, adagrad, adadelta. Four datasets have been selected to perform the experiments which are mnist, fashionmnist, cifar10 and cifar100. The optimal training results obtained for mnist is 1.00 with RMSProp and adam at epoch 200, fashionmnist is 1.00 with rmsprop and adam at epoch 400, cifar10 is 1.00 with rmsprop at epoch 200, cifar100 is 1.00 with adam at epoch 100. The highest testing results are achieved with adam for mnist, fashionmnist, cifar10 and cifar100 are 0.9826, 0.9853, 0.9855, 0.9842 respectively. The analysis of results shows that adam optimization algorithm performs better than others at testing phase and rmsprop and adam at training phase. © 2019 IEEE.

关键词： Stochastic systems

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Tip Localization Analysis for Mobile Manipulator in Construction Field 3

Tip Localization Analysis for Mobile Manipulator in Construc...

引用

3rd IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Guo, Shuai Li, Shenyang Song, Tao Wei, Bangguo Shanghai Univ Shanghai Key Lab Intelligent Mfg & Robot Shanghai Peoples R China

ISBN: (纸本)9781538670668

For the requirements of automation, especially robot-based automation in the domain of construction, a mobile manipulator for the application on construction sites in semi structured environment is presented in this paper. The kinematics of each component of the system is analyzed. In two different cases, sensor fusion method and hybrid force position control method are presented to implement the tip localization of the mobile manipulator. The experiment shows that the studied mobile manipulator can accomplish the on-site work discussed in this paper.

关键词： construction robotics mobile manipulator tip localization

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Hand gesture recognition based on deep neural network and sEMG signal

Hand gesture recognition based on deep neural network and sE...

引用

2019 IEEE international conference on robotics and Biomimetics, ROBIO 2019

作者： Liu, Handong Zhang, Zhen Qian, Jinwu Wang, Wei Kang, Kaixuan School of Mechatronic Engineering and Automation Shanghai University China99 Shangda Rd. Baoshan District Shanghai China

ISBN: (纸本)9781728163215

The physiological electrical signal of human body is the direct response from human behavior intention. By analyzing and interpreting the physiological electrical signal of human body, human subject consciousness can be effectively recognized. In order to enable people with physical disabilities to effectively control peripherals according to their own intentions, this research is based on the classification and recognition of sEMG hand movements. The position of sEMG electrode on the muscle is determined. sEMG signals of 8 kinds of common hand movements in daily life are successfully collected and data collection of sEMG signals is completed. The VGG16 is used to construct the convolutional neural network structure suitable for sEMG gesture recognition. At the same time, a highly biomimetic robotic hand is built according to the bone structure of human hand to complete 8 gestures as an actuator, and STM32 microprocessor is used to control it. Through the comparison and analysis with two VGG16 networks with different convolution kernel sizes, the results show that the VGG16 network structure with convolution kernel size of 3×3 adopted by this method has a high accuracy for the recognition of 8 kinds of hand movements. © 2019 IEEE.

关键词： Convolution

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High Speed Autonomous Navigation of Unmanned Aerial Vehicles using novel Road Identification, Following Tracking (RIFT) Algorithm∗ 3

High Speed Autonomous Navigation of Unmanned Aerial Vehicles...

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3rd IEEE international conference on Distributed Computing, VLSI, Electrical Circuits and robotics, DISCOVER 2019

作者： Kumaar, Saumya Mannar, Sumedh Navaneethkrishnan, B. Raja, S. Pragadeesh Omkar, S.N. Systems and Control University of Twente Enschede Netherlands Robotics Oregon State University Oregon United States Indian Institute of Science Department of Aerospace Engineering Bangalore India

ISBN: (纸本)9781728137353

Autonomous road navigation in unmanned aerial vehicles flying at very low altitudes paves the way for a multitude of applications such as security surveillance, monitoring of traffic or pollution, package delivery, ground- vehicle tracking etc. Most research in the field of autonomous road vehicles is focused on lane tracking and other marker- dependent techniques. In these lines, a novel, computationally efficient method for (front-view) road identification and tracking based on monocular vision is proposed which is designed to work on roads independent of markings. Road identification is implemented using a combination of spectral component analysis, edge energy-based filtering and morphological processing. Road identification and tracking works at 30 frames/sec for a frame size of 120 x 160 pixels, which is profiled on an Odroid XU4 mini-computer. Results indicating the performance of the proposed method as assessed on Cityscapes and KITTI datasets are presented. © 2019 IEEE.

关键词： Ground vehicles

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