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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2795 条记录，以下是2711-2720 订阅

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Dynamics based control with an application to area-sweeping problems 07

Dynamics based control with an application to area-sweeping ...

引用

Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems

作者： Zinovi Rabinovich Jeffrey S. Rosenschein Gal A. Kaminka Hebrew University of Jerusalem Jerusalem Israel Bar Ilan University Israel

ISBN: (纸本)9788190426275

In this paper we introduce Dynamics Based control (DBC), an approach to planning and control of an agent in stochastic environments. Unlike existing approaches, which seek to optimize expected rewards (e.g., in Partially Observable Markov Decision Problems (POMDPs)), DBC optimizes system behavior towards specified system dynamics. We show that a recently developed planning and control approach, Extended Markov Tracking (EMT) is an instantiation of DBC. EMT employs greedy action selection to provide an efficient control algorithm in Markovian environments. We exploit this efficiency in a set of experiments that applied multi-target EMT to a class of area-sweeping problems (searching for moving targets). We show that such problems can be naturally defined and efficiently solved using the DBC framework, and its EMT instantiation.

关键词： multiagent systems robotics control dynamics based control target dynamics

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Hardware Acceleration of Monte-Carlo Sampling for Energy Efficient Robust Robot Manipulation

Hardware Acceleration of Monte-Carlo Sampling for Energy Eff...

引用

international conference on Field Programmable Logic and Applications

作者： Yanqi Liu Giuseppe Calderoni Ruth Iris Bahar Dept. of Computer Science Brown University Providence RI USA Dept. of Automation and Informatics Politecnico di Torino Torino Italy Brown University Providence RI USA

ISBN: (数字)9781728199023

ISBN: (纸本)9781728199030

Algorithms based on Monte-Carlo sampling have been widely adapted in robotics and other areas of engineering due to their performance robustness. However, these sampling-based approaches have high computational requirements, making them unsuitable for real-time applications with tight energy constraints. In this paper, we investigate 6 degree-of-freedom (6DoF) pose estimation for robot manipulation using this method, which uses rendering combined with sequential Monte-Carlo sampling. While potentially very accurate, the significant computational complexity of the algorithm makes it less attractive for mobile robots, where runtime and energy consumption are tightly constrained. To address these challenges, we develop a novel hardware implementation of Monte-Carlo sampling on an FPGA with lower computational complexity and memory usage, while achieving high parallelism and modularization. Our results show 12X-21X improvements in energy efficiency over low-power and high-end GPU implementations, respectively. Moreover, we achieve real time performance without compromising accuracy.

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Dual Active Marker Modules for Enhanced 6D Pose Estimation

Dual Active Marker Modules for Enhanced 6D Pose Estimation

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international conference on control, automation and Systems ( ICCAS)

作者： Hyeon-Ju Choi Yeong-Bin Kim Bum Yong Park Dong-Hyun Lee Department of IT Convergence Engineering Kumoh National Institute of Technology Gumi Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

this study proposes the development and application of dual active marker tracking modules for enhanced 6D pose estimation, aiming to overcome the limitations of traditional marker-based pose estimation methods. Traditional approaches, which rely on the installation of multiple 2D markers or volumetric markers, often encounter issues like marker loss, damage, and recognition difficulties from certain angles. To address these challenges, our system incorporates two synchronized marker tracking modules, each equipped with an embedded computer, a 2-axis actuator, an augmented reality (AR) marker, and a camera. these modules actively track each other’s markers, ensuring reliable performance even in large workspaces. By aggregating data from both modules and employing a Kalman filter (KF), our system achieves precise estimation of the relative positions and orientations between the modules. through the integration of dual active marker tracking modules, our approach not only enhances pose estimation accuracy but also expands the possibilities for innovative applications in robotics, virtual reality, and AR applications.

关键词： Technological innovation Filtering Pose estimation Refining Data integration control systems Reliability Kalman filters Synchronization Robots

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Internet of things using publish and subscribe method cloud-based application to NFT-based hydroponic system

Internet of things using publish and subscribe method cloud-...

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IEEE international conference on System Engineering and Technology

作者： Muhammad Agus Triawan Hilwadi Hindersah Desta Yolanda Febrian Hadiatna School of Electrical Engineering and Informatics Bandung Institute of Technology Bandung Indonesia

ISBN: (纸本)9781509050901

the integration Internet of things (IoT) generally identical with Cloud computing. IoT aims to connect the heterogeneous objects/devices with each other, in order to communicate or exchange data/information. Development of the Cloud IoT system, have challenges to achieve these objectives, such as middleware, interoperability and scalability of system. In this paper, we will discuss the solution of the challenges, by applying the publish and subscriber method, using MQTT protocol. this paper, proposed of architecture model design, which is implemented in the form of system topology. this topology apply to monitor and control the provision of nutrition hydroponics, accessible as a Cloud SaaS. From the test results, average node response time needed to connect and communicate with IoT Cloud system (online) is 7.21 seconds. the time required to declare offline state of a node is 21.55 seconds. the test results of Cloud IoT (broker), obtained that number of nodes for each level QoS, affecting resource usage of CPU and throughput. the highest resource usage of CPU is 19% of 2.0GHz and throughput TX/RX is 34.68KBps/49.4KBps. this result obtained from 1000 nodes scheme testing with 1 messages/node, by using simulation application, on QoS level 2. the average of minimum bandwidth used is ± 0.90Kbps by 1 publisher, to send 1 message with 115 Bytes of payload size, on each 3 levels of QoS MQTT, and approximately ± 0.04Kbps on subscriber to receive that message.

关键词： scalability IoT Cloud broker publish subscribe middleware interoperability MQTT

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Android Application for controlling Air Conditioner Using Fuzzy Logic

Android Application for Controlling Air Conditioner Using Fu...

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international conference of Information and Communication Technology (ICoICT)

作者： Andhika Cahya Pratama Riyanarto Sarno Departmement of Business Management Technology Institut Teknologi Sepuluh Nopember Surabaya Indonesia Informatics Departement Institut Teknologi Sepuluh Nopember Surabaya Indonesia

ISBN: (纸本)9781538645734

there are many kind of electronic appliances around us such as microwave, lamp, television, and air conditioner around us. Sometimes many people are confuse and do not know how to manage those electronic appliances. It is hard to manage whenever they aren't at home or go to another places. By using electronic appliance in our daily life, it always need our electrical resources and some electronic devices consume more electrical energy such as Air Conditioner, Microwave and also a computer. those devices are makes our electricity bill can be increased and makes some people surprised when they looked on their bill, they don't know how to reduce the power consumption all those electronic parts since they don't understand how to maintain those parts some people often forgot to turn off the electronic devices when they leave for working, school and any other activities, so this is make that electronic devices would be turn on all day long then makes our electricity resources provide more energy for those electronic devices so automatically your electronic bill will be increase as long as it used. In this paper, we provide some method and tools to maintain those electrical component can be controlled and measureable, by using IoT devices like adruino and artificial intelligence such as Fuzzy Logic. Based on research, Fuzzy logic can save around 40% energy saving.

关键词： Temperature sensors Fuzzy logic Temperature measurement Temperature distribution Humidity Light emitting diodes Temperature control

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Statistical multiplexing for neural nanonetworks in case of neuron specific faults

Statistical multiplexing for neural nanonetworks in case of ...

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international conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Hakan Tezcan Sema Oktug Fatma Nese Kok Faculty of Computer and Informatics Istanbul Technical University Istanbul TURKEY Faculty of Molecular Biology and Genetics Istanbul Technical University Istanbul TURKEY

ISBN: (纸本)9781479952922

Although nanonetworking is in its infancy, a wide range of appealing application areas especially in human healthcare field draws the attention of both the medical and scientific communities. Many neurological diseases like paralysis are caused by the interruption of spike propagation due to the malfunctioning neurons in the signaling pathway where the spikes are carried. In this paper, we propose a neuron specific statistical multiplexing scheme to substitute a faulty sensory neural pathway with a neighboring functional one. Since the spikes are stereotyped events and they have no addressing information, we developed an addressing scheme utilizing the spikes themselves. the performance achieved by the proposed technique is analyzed in terms of the percentage of the spikes transmitted under various scenarios. We also compared the results obtained with the previously proposed TDMA based multiplexing schemes. the proposed statistical multiplexing based technique has lower implementation complexity than the previously introduced TDMA based techniques. Additionally, we evaluated the performance of the proposed technique when a priority mechanism is employed. the concept of multiplexing spikes to substitute a faulty neural pathway with a functional pathway reveals new opportunities in neuronal communication and may pave the way to the real healthcare applications of nanonetworking in the near future.

关键词： Neurons Multiplexing Time division multiple access Biological neural networks Delay lines Neural pathways Nanobioscience

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AREsTA - An Augmented Reality Exposure therapy Application

AREsTA - An Augmented Reality Exposure Therapy Application

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Experiment@ international conference (exp.at)

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

ISBN: (数字)9798350314403

ISBN: (纸本)9798350314410

One of the most common treatments for phobias is in vivo exposure therapy. this method is considered a very robust solution with a great success rate but presents some drawbacks that can be solved by recurring to technological alternatives like virtual or augmented reality. the goal is to present the development of an augmented reality application that allows the loading of several phobic elements and the creation of distinct scenarios in a flexible and interactive way. this approach should allow the patient to observe and interact with their phobic elements using the Hololens 2 while the therapist has full control over all these elements, creating a unique and personalized experience based on the patient's needs.

关键词： In vivo Visualization Hospitals Loading Anxiety disorders Collaboration Aerospace electronics

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Lite-HRPE: A 6DoF Object Pose Estimation Method for Resource-Limited Platforms

Lite-HRPE: A 6DoF Object Pose Estimation Method for Resource...

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international conference on control and automation (ICCA)

作者： Xin Liu Qi Guan Shibei Xue Dezong Zhao Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China James Watt School of Engineering University of Glasgow Glasgow U.K.

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Accurately estimating the six-degree-of-freedom pose of objects is essential for intelligent robotics. Although significant progress has been made in this area, most studies fail to account for specific hardware limitations for model deployment, which remains a major challenge for resource-constrained scenarios. To address this issue, we propose Lite-HRPE, a lightweight RGB-based pose estimation method, which leverages a multi-branch parallel structure to extract spatial and semantic information of key points for pose estimation. Additionally, Lite-HRPE adopts the G-block and G-neck modular structure and streamlines the original feature extraction network to realize a compact network structure. this allows Lite-HRPE to strike a balance between pose estimation accuracy, parameter count, computational load, and runtime speed. Our evaluation on public datasets shows that Lite-HRPE achieves a 95.7% accuracy with only 10.8% of the number of parameters and 11.8% of the FLOPs compared to Hybridpose.

关键词： Training Accuracy Runtime Pose estimation Semantics Feature extraction Real-time systems

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Overview of Assistive Technologies for the Blind: Navigation and Shopping

Overview of Assistive Technologies for the Blind: Navigation...

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international conference on control, automation, robotics & Vision

作者： Karen Duarte Jose Cecilio Pedro Furtado Department of Informatics Engineering University of Coimbra Portugal

ISBN: (纸本)9781479952007

One of the major driving forces behind technology development is the establishment of equality among everyone. It is intended that the strategic use of technology complements competencies or diminished capacities, improving self confidence and autonomy. Blind and partially sighted people often deal with this inequality in the performance of tasks or daily activities. the presented work reviews some of the proposed technologies to assist visually impaired people in common activities, specifically navigation and going shopping.

关键词： Global Positioning System RFID tags Robot sensing systems Mobile handsets

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Integrating Flexibility into a Structured Dialogue Model: Some Design Considerations

Integrating Flexibility into a Structured Dialogue Model: So...

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6～(th) international conference on Spoken Language Processing

作者： MichaelF.McTear SusanAllen LauraClatworthy NoelleEllison ColinLavelle HelenMcCaffery Faculty of Informatics University of Ulster at Jordanstown United Kingdom Faculty of Informatics University of Ulster at Jordanstown United Kingdom Faculty of Informatics University of Ulster at Jordanstown United Kingdom Faculty of Informatics University of Ulster at Jordanstown United Kingdom Faculty of Informatics University of Ulster at Jordanstown United Kingdom Faculty of Informatics University of Ulster at Jordanstown United Kingdom

Structured dialogue models are the most commonly used dialogue models in commercial systems, particularly as they are relatively easy to design and re-use. the current paper reports on a study that examined the feasibility of combining more flexible dialogue control with a structured dialogue model. Several systems were built using the RAD (Rapid Application Developer) component of the CSLU toolkit, augmented with the Phoenix natural language parsing system and a dialogue manager that used a representation of the system's information

关键词： Integrating Flexibility into a Structured Dialogue Model Some Design Considerations

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