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Experimental Analysis of Gmapping SLAM Algorithm for Mobile Robot Indoor Navigation

Experimental Analysis of Gmapping SLAM Algorithm for Mobile ...

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Artificial Intelligence, robotics and control (AIRC), international conference on

作者： Mohamed Reda Ahmed Abdulbaky Haitham El-Hussieny Mahmoud Magdy Mechanical Engineering Dept. The British University in Egypt (BUE) Cairo Egypt InnoVision Systems Company Cairo Egypt Mechatronics and Robotics Engineering Dep. Egypt-Japan University of Science and Technology (E-JUST) Alexandria Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

the main subject of this paper is the experimental analysis of LiDAR-SLAM-based indoor navigation for a mobile robot, considering the effect of the mobile robot's linear and angular velocities on the deviation that occurs in the resulting 2D map. Our objective in this paper is to utilize the robotics Operating System (ROS) and the Gmapping method, which rely solely on LiDAR and IMU for simultaneous localization and mapping (SLAM). It was observed that as the velocity increases, the deviation of the map decreases. After experimenting with various velocities, it was determined that the optimum velocity is 1.0 m/s. this velocity is optimal for indoor navigation within the scope of our experimental environment, exhibiting the minimum deviation from the ground truth map.

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Augmenting Shared Spaces in Psychotherapy Contexts

Augmenting Shared Spaces in Psychotherapy Contexts

引用

Experiment@ international conference (exp.at)

作者： Bruno Patrão Paulo Menezes Nuno Gonçalves Institute of Systems and Robotics Dept. Electrical and Computer Eng. University of Coimbra Portugal

the ongoing growing of computational power of small portable devices allow the emergence of new forms of Augmented Realities, such as, virtual shared spaces. In this work, we will explore the use of this technology to improve the collaborative work between people in the same physical space or in remote locations sharing virtual contents. the idea is to have a scene shared between several people where everyone can see and interact with it. those live interactions can improve the quality of collaborative work by presenting in real time ideas and thoughts of any participant directly on top of the 3D model. Our main goal is to apply this concept to psychological therapies, specially to exposure therapies, where it is very important for the therapist to control and manipulate the scene that the patient is exposed to in order to obtain the desired results.

关键词： Augmented reality Psychology three-dimensional displays Physiology Robots Medical treatment

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Toward Coactivity

Toward Coactivity

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ACM/IEEE international conference on Human-Robot Interaction (HRI)

作者： Matthew Johnson Jeffrey M. Bradshaw Paul J. Feltovich Catholijn Jonker Maarten Sierhuis Birna van Riemsdijk Florida Institute of Human and Machine Cognition (IHMC) Pensacola FL USA EEMCS Delft University of Technnology Delft Netherlands NASA Ames Research Center Moffett Field CA USA

ISBN: (纸本)9781424448920;9781424448937

this paper introduces the concept of Coactivity as a new focal point for Human-Robot Interaction to address the more sophisticated roles of partner or teammate envisioned for future human-robot systems. We propose that most approaches to date have focused on autonomy and suggest that autonomy is the wrong focal point. the envisioned roles, if properly performed, have a high level of interdependence that cannot be addressed solely by autonomy and necessitate a focus on the coactivity.

关键词： Robot kinematics Humans Medical robotics Teamwork Collaboration control systems Intelligent robots Cognition Space technology NASA

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Visual Guidance of Aerial Vehicle for Target Recognition and Pose Estimation

Visual Guidance of Aerial Vehicle for Target Recognition and...

引用

IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Zhaoyang Zhang Guangyu Zhang Liying Yang Yuqing He Siliang Li Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

this paper proposes a deep learning-based target pose estimation method for aerial vehicle, a robotic system combining a rotary-wing UAV and a robotic arm, which is difficult to accurately acquire the pose of the target when performing tasks in the field environment. Firstly, in the offline stage, the YOLOv5 model is improved by adding angle prediction branches to make it capable of pose estimation; secondly, the offline model is used to complete target recognition, target segmentation and pose estimation in combination with online images, and the online visual point cloud is combined with statistical filtering to complete the position estimation of targets; Finally, the effectiveness and feasibility of this visual guidance method is verified through indoor static experiments and outdoor flight experiments, and this method successfully guided the aerial vehicle to complete the torch docking task.

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the MANTIS Architecture for Proactive Maintenance

The MANTIS Architecture for Proactive Maintenance

引用

international conference on control, Decision and Information Technologies

作者： Csaba Hegedus Pal Varga Istvan Moldovan AITIA International Inc. Budapest Hungary Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Budapest Hungary

Data collection, processing and visualization techniques has been going through a rapid evolution in recent years. Various applications utilize these new results;especially combined. Parallel to this, there are new developments within the Cyber-Physical Systems (CPS) domain. Beside the main purpose of CPS - getting physical systems serve to work better, faster, more optimized -, the concept can improve the longterm usability of the physical equipment, as well. the principles of proactive maintenance are rooted from the need of shortterm fault correction and long-term usability. the idea is to track system status not only for operations but for maintenance purpose as well. this allows for scheduling maintenance based on need - rather than based on operating time or "mileage". this paper presents the MANTIS framework for proactive maintenance. It utilizes CPS concepts for system modeling, furthermore, it proposes a combined tool set for data collection, processing and presentation. In order to cover the full value chain, the framework applies for all the three Tiers: the Edge, the Platform, and the Enterprise, as well.

关键词： Maintenance engineering Computer architecture Data collection Business Standards Ontologies Internet of things

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Attitude determination from single camera vector observations

Attitude determination from single camera vector observation...

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international IEEE conference on Intelligent Systems, IS

作者： Vasko Sazdovski Peter M G Silson Antonios Tsourdos Autonomous Systems Group Department of Informatics and Sensors Cranfield University Defence Academy of the United Kingdom Swindon UK

Attitude determination is of major importance in Guidance and control Systems of the Unmanned Aerial Vehicles (UAV's). Supplying wrong or not precise attitude very often turns to be catastrophic for the UAV's. Vision sensors are must nowadays. they provide reach source of information given as relative measurements between the vehicle navigation parameters (position, velocity and attitude) and the environment. this paper presents a framework for attitude determination from single camera vector observations. We assume known environment in a form of a map and true vehicle positions from which each observation has been taken. Two different methods for attitude determination are presented: an iterative numerical solution based on Gauss Newton's method and an exact method known as the Davenport q-method. Pros and cons of the both solutions are presented.

关键词： Position measurement Cameras Unmanned aerial vehicles Navigation control systems Information resources Velocity measurement Iterative methods Gaussian processes Newton method

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A Hybrid Cryptography Algorithm to Improve Cloud Computing Security

A Hybrid Cryptography Algorithm to Improve Cloud Computing S...

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international conference on Contemporary Computing and informatics (IC3I)

作者： Narahari Dudiki S. Sangeetha Asmita Manna Rajesh Pokhariyal T A Mohanaprakash Arun Pratap Srivastava Department of CSE Malla Reddy Institute of Technology Hyderabad Telangana Veltech Multitech Dr. Rangarajan Dr. Sakunthala Engineering College Engineering Avadi Chennai India Department of Computer Engineering Pimpri Chinchwad College of Engineering Pune Maharashtra Department of Computer Science & Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India Department of Computer Science & Engineering Panimalar Engineering College Poonamallee Tamilnadu India Department of CSE Lloyd Institute of Engineering and Technology Greater Noida Uttar Pradewsh India

Cloud computing is the use of a virtual repository of resources dispersed throughout the Internet. It is a development of computer technology that is based on the Internet. Depending on their demands, several levels of users can access cloud computing services. However, data security on the Internet is the most crucial concern for cloud computing. Confidentiality, security, anonymity, and authenticity are common problems experienced by both cloud service providers and customers. Cloud service users do not have complete access to or control over these services. However, the cloud service provider must guarantee that the client’s login information is safe. To strengthen cloud security, we were able to recognize and look at a wide range of encryption problems. A hybrid framework for cloud computing security is taken into consideration based on these techniques.

关键词： Cloud computing security Encryption informatics

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Closed-Loop control of a Helmholtz Coils System for 3-axis Magnetic Field Generation with High Precision

Closed-Loop Control of a Helmholtz Coils System for 3-axis M...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Jialin Jiang Lidong Yang Li Zhang The Chinese University of Hong Kong (CUHK) Hong Kong China CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

3-axis Helmholtz coils system is capable of generating spatial uniform magnetic field, and has been widely used in biomedical applications for magnetic micro/nanorobot actuation and steering. this paper reports a control scheme for 3-axis Helmholtz coils system to realize precise and fast current tracking. the controller is based on model predict control (MPC) algorithm, and the nominal mathematical model of the coil series connected with the amplifier is obtained by sweeping frequency method, and a 4th-order super-twisting sliding mode observer (STSMO) is proposed for disturbance and state value observation. Moreover, we perform different experiments to validate the feasibility of the proposed scheme. the results show that the electromagnetic coils system can achieve accurate tracking for sine and square current reference. the bandwidth and precision of the system are significantly improved with the proposed control scheme.

关键词： Coils Mathematical model Magnetic materials Photonic crystals Magnetosphere Frequency control Magnetoacoustic effects

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A Container Cloud Elastic Scaling Method Based on GRU Attention Mechanism

A Container Cloud Elastic Scaling Method Based on GRU Attent...

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Computer Engineering and Intelligent control (ICCEIC) international conference on

作者： Yue Zhang Yong Sun Chunhe Song Pengpei Gao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798331507992

ISBN: (纸本)9798331508005

In modern container cloud computing environments, achieving efficient elastic scaling is crucial to optimizing resource utilization and improving system performance. this paper proposes a new prediction model based on gated recurrent unit (GRU) and attention mechanism for load prediction and elastic scaling strategy optimization. the model uses the time series processing capability of GRU combined with the optimization characteristics of the attention mechanism to improve the accuracy and real-time performance of load prediction. Experimental results show that compared with traditional methods, the model can more accurately capture the load change trend and achieve more agile and efficient resource scheduling and management, thereby effectively reducing resource waste and improving service quality. this study provides a novel and effective solution for elastic scaling in container cloud environments.

关键词： Cloud computing Attention mechanisms Computational modeling System performance Time series analysis Containers Predictive models Resource management Optimization Load modeling

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Skin Cancer Prediction using Machine Learning and Neural Networks

Skin Cancer Prediction using Machine Learning and Neural Net...

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international conference on Contemporary Computing and informatics (IC3I)

作者： Neha Tyagi Logeshwari Dhavamani Mohammed Saleh Al Ansari Bhasker Pant Dilip Kumar Jang Bahadur Saini Joshuva Arockia Dhanraj Department of CSE Amity University Greater Noida Uttar Pradesh India Department of Information Technology St. Joseph’s College of Engineering Chennai India Department of Chemical Engineering College of Engineering University of Bahrain Bahrain UAE Department of Computer Science & Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India Department of Computer Science and Engineering Himalayan School of Science and Technology Swami Rama Himalayan University Swami Ram Nagar Jolly Grant Dehradun Uttarakhand India Department of Automation and Robotics (ANRO) Department of Mechatronics Engineering Hindustan Institute of Technology and Science Padur Chennai India

the apparent similarities between skin conditions have made medical diagnosis difficult. Although melanoma is the most well-known type of skin cancer, other diseases have recently been responsible for a large number of fatalities. One of the biggest challenges in creating a dependable automatic categorization system is the absence of massive data. A deep learning (DL) system for identifying skin cancer is presented in this paper. the rapid development rate of melanoma skin cancer, its massive price of surgery, and its mortality rate have all heightened the need for timely diagnosis of skin disease. Most of the time, treating cancer cells requires time and careful detection. the commitment to deep learning powered by machine learning (ML) has been repeatedly shown in the medical sector. Skin cancer categorization has benefited significantly from growing study attention since it is amenable to visual pattern recognition. Studies have revealed that DL-based image classifications may be utilised to enhance skin cancer diagnosis or are on par with or even outperform human specialists. In this study, we provide a deep learning architecture that can identify skin cancer. Five state-of-the-art convolutional neural networks were trained using transfer learning to provide a simple classifier and a hierarchical (with two stages) classification that can differentiate between seven different species of moles. Experiments were conducted using data from the HAM10000 database, a huge collection of dermatoscopic pictures, with the use of data augmentation methods to boost results. the DenseNet201 network performed well in this experiment, as seen by the high classification accuracies and F-measures achieved with very few false negatives. the simple model outperformed the 2-levels model, with the best result coming from the first level, or a binary classification between nevi and non-nevi.

关键词： Deep learning Visualization Databases Sensitivity analysis Transfer learning Surgery Melanoma

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