High accuracy and frequency local localization is the key technology of unmanned aerial vehicles (UAVs) in the confined areas and complicated conditions such as indoor flight, landing on ship deck and flight in GPS-de...
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ISBN:
(数字)9781728164793
ISBN:
(纸本)9781728164809
High accuracy and frequency local localization is the key technology of unmanned aerial vehicles (UAVs) in the confined areas and complicated conditions such as indoor flight, landing on ship deck and flight in GPS-denied environments and so on. In this paper, based on ultra-wideband (UWB) technique an observation-augmented EKF based local 3-D localization method is proposed for improving the accuracy when a moving target is tracked. In the first, a weighted least square (WLS) localization algorithm is proposed based on range measurements for improving the accuracy of 3-D localization. In the second, the position estimated by WLS is taken as partial measurements in an Extended Kalman Filter (EKF) to achieve the localization of a moving target so that the observation of the system is augmented and the accuracy is thus improved. Besides that, the ranging error model is analyzed with P440, a commercial UWB range sensor. Based on the result, the simulations are conducted to validate of the proposed method and the results show that the localization accuracy of the proposed method is greatly improved without remarkable computational complexity.
Finding code smells in a program code must be done as soon as possible to improve the software maintainability. Nowadays, various automatic code smell detection tools have been developed. However, to increase the qual...
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ISBN:
(纸本)9781538672600;9781538672594
Finding code smells in a program code must be done as soon as possible to improve the software maintainability. Nowadays, various automatic code smell detection tools have been developed. However, to increase the quality, the role of humans who do manual detection is still needed. therefore, in this work, we develop a platform called CODECEOD, which involves crowd to detect code smells. this platform implements crowdsourcing method by decomposing requested tasks, in the form of uploaded source codes, into microtasks to enable the distribution of tasks to multiple workers. To guarantee the quality of the detection results, we introduced a quality assurance method called Find, Vote, Verify. Based on the evaluation involving software engineers, CODECOD is capable to detect more code smells with high accuracy compared to an automatic tool. Moreover, we also show that the proposed Find, Vote, Verify technique delivers an improved accuracy compared to the traditional output-agreement quality assurance technique.
Application of mobile and cyber-physical systems play an important role in cognitive infocommunications, especially in the Socio-Cognitive ICT area, because they are able to facilitate the requested information to use...
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Application of mobile and cyber-physical systems play an important role in cognitive infocommunications, especially in the Socio-Cognitive ICT area, because they are able to facilitate the requested information to users quickly. the Android platform is a good foundation for such systems since it runs on a wide variety of devices and provides some advanced mechanisms for integrating loosely coupled components. these capabilities facilitate efficient component-based development. However, these mechanisms also introduce some difficulties into the development process. On one hand, some functionalities are not encapsulated into a single piece of code but have to be implemented and configured at several distinct source files. On the other hand, it is easy to break the consistency among these artefacts. In this paper, we report on our work in progress tool, which addresses these issues by modeling commonly used functionalities in Android applications and generating a skeleton for the implementation. We also report on the design of this tool. the tool and the experiences of its development will be useful for software developers that aspire to create code generators and cognitive infocommunications related mobile applications based on the Android platform.
this paper deals with a control technique for multilevel converter topologies base on Direct Lyapunov control Method (DLCM) for integration of Renewable Energy Resources (RER) into the power grid. the compensation of ...
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this paper deals with a control technique for multilevel converter topologies base on Direct Lyapunov control Method (DLCM) for integration of Renewable Energy Resources (RER) into the power grid. the compensation of variations in reference current components is considered properly in this control plan, which is the main contribution and novelty of this work in comparison with other control strategies. the proposed control technique provides the injection of harmonic current components of loads via the interfacing system, which is based on multilevel converter topologies and compensation of loads reactive power. then, the active power in fundamental frequency will be supplied through the main grid and a unity Power Factor (PF) between the grid current and load voltage is obtained during the connection of nonlinear load to the grid. High performance of DLCM is validated through simulation results during dynamic and steady-state operating conditions.
this article is devoted to the development of Intelligent Verbal Interaction Methods with Non-Player Characters in Metaverse Applications. the creation of a character model using MetaHuman Creator and the implementati...
this article is devoted to the development of Intelligent Verbal Interaction Methods with Non-Player Characters in Metaverse Applications. the creation of a character model using MetaHuman Creator and the implementation of dialogue animation are considered. the construction of answers based on text analysis and their submission to the chat window is described. the system has been tested and found to be stable and have a satisfactory response time of approximately 2 seconds. the results show the successful implementation of methods of verbal interaction with non-game characters in metaverse, which can be useful for further research and development in this area.
Head motion naturally occurs in synchrony with speech and may carry paralinguistic information, such as intention, attitude and emotion, in dialogue communication. Withthe aim of verifying the relationship between he...
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ISBN:
(纸本)9781424448920;9781424448937
Head motion naturally occurs in synchrony with speech and may carry paralinguistic information, such as intention, attitude and emotion, in dialogue communication. Withthe aim of verifying the relationship between head motion and the dialogue acts carried by speech, analyses were conducted on motion-captured data for several speakers during natural dialogues. the analysis results first confirmed the trends of our previous work, showing that regardless of the speaker, nods frequently occur during speech utterances, not only for expressing dialogue acts such as agreement and affirmation, but also appearing at the last syllable of the phrase, in strong phrase boundaries, especially when the speaker is talking confidently, or expressing interest in the interlocutor's talk. Inter-speaker variability indicated that the frequency of head motion may vary according to the speaker's age or status, while intra-speaker variability indicated that the frequency of head motion also differs depending on the inter-personal relationship withthe interlocutor. A simple model for generating nods based on rules inferred from the analysis results was proposed and evaluated in two types of humanoid robots. Subjective scores showed that the proposed model could generate head motions with naturalness comparable to the original motions.
the article is devoted to the study of machine learning approaches in the processing of the user interface of mobile ecosystems in order to test the approach of adaptive interfaces, which formalizes them as a stochast...
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the article is devoted to the study of machine learning approaches in the processing of the user interface of mobile ecosystems in order to test the approach of adaptive interfaces, which formalizes them as a stochastic sequential decision problem, as well as the use of multi-agent model-based reinforcement learning for adaptation planning. this article introduces for the first time the use of reinforcement learning in a mobile adaptive user interface. the article presents adaptation options based on changing the representation of elements, as well as a transition function for the model of Markov decision processes. this article proposes a novel method called MARLMUI, a Multi-Agent Reinforcement Learning Mobile User Interface. In conclusion, Dec-POMDP, a decentralized partially observable MDP model, is considered as a proposed interface processing algorithm based on multi-agent reinforcement learning. this study is first attempt to systematize knowledge and practically implement an adaptive interface in the mobile ecosystem.
Redundant robots motion planning and control in uncertain task is addressed by model-based approach. Instead of controlling and adapting the environment to the robot or applying a complex visual servoing system, we mo...
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Redundant robots motion planning and control in uncertain task is addressed by model-based approach. Instead of controlling and adapting the environment to the robot or applying a complex visual servoing system, we model the redundancy resolution on the parameter spaces that quantify uncertainties of the task. the modeling tool is a successive approximation (SA). It provides very advantageous properties: small computational effort and small model size, accurate output, extrapolation, and generalization across the parameter set obtained by random addressing of the model. the task discussed is press loading with typical two-dimensional uncertainties in pick-up and unloading locations. the robot used is a 4-DOF planar robot. the SA-based models of redundancy resolution in a 2D parameter spaces are highly efficient: for more than 30 times less computational efforts resulted in a zero end-point errors, regardless of the task uncertainty.
the popularity of smartphones is growing every day. the hardware components of the mobile devices are renewed almost every six months. however the smartphones still cannot stay awake for more than one day. this is one...
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the popularity of smartphones is growing every day. the hardware components of the mobile devices are renewed almost every six months. however the smartphones still cannot stay awake for more than one day. this is one of the biggest problem today both in the mobile industry and among users as well. the engineers try to reduce the energy usage not just through hardware optimization but also software solutions are made. these solutions are mostly unsuitable for everyday usage, but what happens if we optimize the energy consumption based on the most frequent user habits? the users usually use their devices to be continuously notified about the latest messages, activities, phone calls etc. this behavior can be sometimes unnecessary, for example during the night it is not important to synchronize all e-mails of the users. From that point of view, the users and their devices can form a socio-cognitive channel, which can help to create behavior-based technologies. In this paper we introduce a model which represents the most common smartphone usage scenarios using Markov chains. Based on this model we make suggestions how the processes can be modified to improve the energy consumption of the mobile devices.
this paper describes partial results of ongoing research at the Department of Automatic control and robotics Faculty of Electrical Engineering, Bialystok University of Technology, Poland, in the field of application o...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper describes partial results of ongoing research at the Department of Automatic control and robotics Faculty of Electrical Engineering, Bialystok University of Technology, Poland, in the field of application of industrial robots for the improvement of robotic surgical procedures by the doctors, analogous to procedures performed on expensive surgical systems class of the Da Vinci system from the Intuitive Surgical Company. Selected issues related to force feedback teleoperation are discussed. the problem of positioning the surgical instrument (the tool of a surgical robot) in remote centre of motion mode was defined. Developed applications controlling the UR5 industrial cobot from company Universal Robots in teleoperation mode were discussed: definition of application problems on the industrial cobot platform, used and custom-built subsystems for positioning and learning by demonstration.
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