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An Open-source Sim2Real Approach for Sensor-independent Robot Navigation in a Grid

An Open-source Sim2Real Approach for Sensor-independent Robo...

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international conference on Robotics and Automation Engineering (ICRAE)

作者： Murad Mehrab Abrar Souryadeep Mondal Michelle Hickner Department of Mechanical Engineering University of Washington Seattle WA USA

ISBN: (数字)9798331518301

ISBN: (纸本)9798331518318

this paper presents a Sim2Real (Simulation to Reality) approach to bridge the gap between a trained agent in a simulated environment and its real-world implementation in navigating a robot in a similar setting. Specifically, we focus on navigating a quadruped robot in a real-world grid-like environment inspired by the Gymnasium Frozen Lake — a highly user-friendly and free Application programming Interface (API) to develop and test Reinforcement Learning (RL) algorithms. We detail the development of a pipeline to transfer motion policies learned in the Frozen Lake simulation to a physical quadruped robot, thus enabling autonomous navigation and obstacle avoidance in a grid without relying on expensive localization and mapping sensors. the work involves training an RL agent in the Frozen Lake environment and utilizing the resulting Q-table to control a 12 Degrees-of-Freedom (DOF) quadruped robot. In addition to detailing the RL implementation, inverse kinematics-based quadruped gaits, and the transfer policy pipeline, we open-source the project on Github and include a demonstration video of our Sim2Real transfer approach. this work provides an accessible, straightforward, and low-cost framework for researchers, students, and hobbyists to explore and implement RL-based robot navigation in real-world grid environments.

关键词： Training Navigation Pipelines Lakes Robot sensing systems Sensors Quadrupedal robots Robots Application programming interfaces Software development management

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Research on Pricing Strategy of Shared Energy Storage and Integrated Energy Microgrid Cluster Transaction Based on Stackelberg Game theory

Research on Pricing Strategy of Shared Energy Storage and In...

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IEEE international conference on Power and Power and Renewable Energy (ICPRE)

作者： Siwen Wang Hui Chen Zhixin Wang Yanfei Shang Chunyang Gong College of Automation Engineering Shanghai University of Electric Power Shanghai China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China LITHOS NEW ENERGY GROUP COMPANY LIMITED Shanghai China College of Automation Engineering College of Electrical Engineering Shanghai University of Electric Power Shanghai China

ISBN: (数字)9798350377460

ISBN: (纸本)9798350377477

With the rapid development of renewable energy technologies, shared energy storage systems play a crucial role in enhancing the efficiency of integrated energy microgrid clusters. this paper introduces the cooperative operational architecture of multiple microgrids, including shared energy storage, and thoroughly analyzes the interactions and interests of each participant. the study further explores how to achieve synergistic energy optimization among microgrids using shared energy storage, considering the spatial and temporal complementarities of their net load characteristics. Additionally, the dynamic game relationships among microgrid operators (MO), shared energy storage operators (SESO), and user aggregators (UA) are analyzed, highlighting how the strategies of MO and SESO mutually constrain each other and together form the leadership layer of a Stackelberg game, with user aggregators in the lower layer. Finally, the paper demonstrates the uniqueness of the Stackelberg equilibrium and employs a combination of genetic algorithms and quadratic programming to solve it. the effectiveness of the proposed method is validated through case studies.

关键词： Renewable energy sources Leadership Microgrids Games Pricing Quadratic programming Game theory Optimization Energy storage Genetic algorithms

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Forward Displacement Analysis of the 4SPS-2CCS Generalized Stewart Platform Based on Hyper-chaotic Neural Network Mathematical programming Method

Forward Displacement Analysis of the 4SPS-2CCS Generalized S...

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2008 international Workshop on Chaos-Fractals theories and Applications & the 9th international conference for Young Computer Scientists

作者： Youxin Luo 1, Xiguang Huang 2, Bin Zeng1 1 Department of Mechanical Engineering, Hunan University of Arts and Science, Changde,415000 China , 2School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

the displacement analysis problem of parallel robot mechanism can be finally transformed into solving nonlinear equations and the finding-process is very difficult. Moreover, the more CCS kinematic pair the more complexly to find. the mathematical programming method is adopted when the iteration diverges with the Newton and quasi-Newton methods. If chaotic sequences are considered as the initial guess value, the mathematical programming method can find all solutions. Based on the existing chaos system or finding new chaotic system to obtain chaotic sequences with good characteristic is the key problem of chaos-based mathematical programming. By eliminating the simulated annealing mechanism of transiently chaotic neuron,this paper presents a kind of chaotic neuron which can permanently sustain chaotic *** on the connection topology of chaotic neural network composed of the four chaotic neurons,hyper-chaos exists in the chaotic neural network system. A new method to find all solutions by utilizing hyper-chaotic neural network to obtain locate initial points of mathematical programming method to find all solutions of the nonlinear questions was proposed. the forward displacement mathematic model of a 4SPS-2CCS Stewart platform robot was created based on quaternion. An example was given and the result and the find-process were compared with homotopy continuation method. the analysis results proves that the proposed algorithm is simple, the solution-find is carried through real number range, the efficiency is high and can be used to kinematics of other generalized Stewart platform. the research builds the theory basis for dimensional design, trajectory planning and control of this type of manipulator.

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Iron Oxide Nanomaterials for Bacterial Inactivation and Biomedical Applications 9th

Iron Oxide Nanomaterials for Bacterial Inactivation and Biom...

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9th international Research and Practice conference on Nanotechnology and Nanomaterials, NANO 2021

作者： Tatarchuk, Tetiana Olkhovyy, Ostap Lapchuk, Ivanna Dmytryshyn, Roman Department of Chemistry Vasyl Stefanyk Precarpathian National University Ivano-Frankivsk76018 Ukraine Faculty of Chemistry Jagiellonian University Kraków30-387 Poland Faculty of Pharmacy Jagiellonian University Medical College Medyczna 9 Kraków30-688 Poland Faculty of Mathematics and Computer Science Vasyl Stefanyk Precarpathian National University 57 Shevchenko Street Ivano-Frankivsk76018 Ukraine

ISBN: (纸本)9783031181030

In recent years, more and more attention has been paid to the development of various synthesis methods for magnetic nanoparticles and the study of their biomedical properties. the use of magnetic nanomaterials in medicine and pharmacology is a priority area of research, which allows to solve current problems related to the diagnosis and treatment of various diseases, including cancer. the use of magnetic nanoparticles simplifies the detection of affected areas of tissue at an early stage, targeted drug delivery, as well as therapy of pathological areas with the latest promising techniques. To date, oxide magnetic nanoparticles are of particular interest to medicine. they exhibit stable magnetic properties, are more resistant to oxidation than metal nanoparticles, and have low toxicity. Magnetic oxide nanoparticles, modified by different functional groups, are used in medicine as carriers of biologically active substances, as contrast materials for magnetic resonance imaging, as biosensors, as media for targeted delivery. In addition, magnetic nanoparticles have been used in thermal therapy (magnetic hyperthermia), which involves heating with ultrahigh-frequency radiation of cancer-affected tissue in combination with a magnetic field, which provides targeted delivery of nanoparticles to the cancer cells. the review summarizes the use of magnetic nanoparticles in biomedical applications. It describes the synthesis methods that will produce the nanoparticles with a narrow size distribution, high magnetic characteristics, stable composition and physical parameters. Due to low toxicity, iron oxides have recently been actively studied, especially their antibacterial properties. Various synthesis methods of oxide nanoparticles and their effect on biocidal properties have been presented. the main probable mechanisms of bacterial inactivation, particularly ROS generation, as well as membrane, DNA, protein and lipid damaging were considered. Fe oxides are potential nanomateri

关键词： Iron oxides

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Preliminary results of 3D-DDTC pixel detectors for the ATLAS upgrade

Preliminary results of 3D-DDTC pixel detectors for the ATLAS...

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9th international conference on Large Scale Applications and Radiation Hardness of Semiconductor Detectors, RD 2009

作者： La Rosa, Alessandro Boscardin, M. Dalla Betta, G.-F. Darbo, G. Gemme, C. Pernegger, H. Piemonte, C. Povoli, M. Ronchin, S. Zoboli, A. Zorzi, N. Bolle, E. Borri, M. Da Via, C. Dong, S. Fazio, S. Grenier, P. Grinstein, S. Gjersdal, H. Hansson, P. Huegging, F. Jackson, P. Kocian, M. Rivero, F. Rohne, O. Sandaker, H. Sjobak, K. Slavicek, T. Tsung, W. Tsybychev, D. Wermes, N. Young, C. CERN CH-1211 Geneve Switzerland Via Sommarive 18 38123 Povo di Trento Italy University of Trento INFN Via Sommarive 14 38123 Povo di Trento Italy INFN - Genova Via Dodecaneso 33 16146 Genova Italy University of Oslo Fysisk Institutt Postbooks 1048 Blindern 0316 Oslo Norway INFN University of Torino Via P. Giuria 1 10125 Torino Italy University of Manchester Oxford Road Manchester M13 9PL United Kingdom SLAC 2575 Sand Hill Road Menlo Park CA 94025 United States University of Calabria Via P. Bucci Cubo 31 C 87036 Arcavacata di Rende Cosenza Italy Spain University of Bonn Nussallee 12 53115 Bonn Germany University of Bergen Allegaten 55 5007 Bergen Norway Czech Technical University - Prague Zlkova 4 16636 Prague Czech Republic Stony Brook Stony Brook 11794 NY United States

3D Silicon sensors fabricated at FBK-irst with the Double-side Double Type Column (DDTC) approach and columnar electrodes only partially etched through p-type substrates were tested in laboratory and in a 1.35 Tesla magnetic field with a 180GeV pion beam at CERN SPS. the substrate thickness of the sensors is about 200μm, and different column depths are available, with overlaps between junction columns (etched from the front side) and ohmic columns (etched from the back side) in the range from 110μm to 150μm. the devices under test were bump bonded to the ATLAS Pixel readout chip (FEI3) at SELEX SI (Rome, Italy). We report leakage current and noise measurements, results of functional tests with Am241 γ-ray sources, charge collection tests with Sr90 β-source and an overview of preliminary results from the CERN beam test.

关键词： Gamma rays

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Open-Digital-Industrial and Networking pilot lines using modular components for scalable production - ODIN project approach 9

Open-Digital-Industrial and Networking pilot lines using mod...

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9th CIRP conference on Assembly Technology and Systems, CATS 2022

作者： Makris, Sotiris Michalos, George Kousi, Niki Papavasileiou, Apostolis Campos, Urko Esnaola Bravo, Jon Oñativia Cueva, Hector Herrero Siltala, Niko Wang, Lihui Suppa, Michael Ubis, Fernando Broechler, Raimund Koukas, Spyridon Laboratory for Manufacturing Systems and Automation Department of Mechanical Engineering and Aeronautics University of Patras Patras26504 Greece Fundacion Tecnalia Research and Innovation Parque Cientifico Y Tecnologico De Gipuzkoa Paseo Mikeletegi 2 San Sebastian Donostia20009 Spain Tampere University Kalevantie 4 Tampere33100 Finland KTH Royal Institute of Technology Brinellvägen 8 Stockholm10044 Sweden Roboception GmbH Kaflerstraße 2 München81241 Germany Visual Components Vänrikinkuja 2 Espoo02600 Finland INTRASOFT International 2B Rue Nicolas Bové Luxembourg City1253 Luxembourg

While robots have very well proven their flexibility and efficiency in mass production and are recognized as the production resource of the future, their adoption in lower volume, diverse environment is heavily constrained. the main reason for this is the high integration and deployment complexity that overshadows the performance benefits of this technology. this paper presents the vision of ODIN European funded project which is to strengthen the EU production companies' trust in utilizing advanced robotics, by demonstrating that novel robot-based production systems are not only technically feasible, but also efficient and sustainable for immediate introduction at the shopfloor. To achieve that, ODIN brings together, by means of hardware and software, the latest technological advancements in the fields of a) collaborating robots and human robot collaborative workplaces, b) autonomous robotics and AI based task planning, c) mobile robots and reconfigurable tooling, d) Digital Twins and Virtual Commissioning and e) Service Oriented Robotics Integration and Communication Architectures. ODIN will provide a systematic approach for integrating these technologies under modular and reconfigurable large-scale robotic pilots. the performance of these robotic pilots will be tested and validated in three case studies, from the automotive, the white goods and the aeronautics industry. © 2022 Elsevier B.V.. All rights reserved.

关键词： C (programming language)

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Gesture Based Symbiotic Robot programming for Agile Production

Gesture Based Symbiotic Robot Programming for Agile Producti...

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IEEE international conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications

作者： Carl Gä bert Achraf Djemal Hiba Hellara Bilel Ben Atitallah Rajarajan Ramalingame Rim Barioul Dennis Salzseiler Ellen Fricke Olfa Kanoun Ulrike thomas Robotics and Human-Machine Interaction Lab Chemnitz University of Technology Professorship for Measurements and Sensor Technology Chemnitz University of Technology Chair German Linguistics Semiotics and Multimodal Communication Chemnitz University of Technology

ISBN: (数字)9781665434454

ISBN: (纸本)9781665434461

Agile production lines call for an effective and intuitive way of programming robots. However, traditional approaches rely on providing low-level instructions using either a script-based language or a graphical user interface to export low-level instructions. this, however, can be tedious for assembly tasks. In this work, we present an approach that generates low-level robot control commands from highly abstract communicative hand gestures. In contrast to other works, we use several abstraction layers to generate such commands with as little user input as possible. For this, we use a body-attached multi-sensor setup consisting of a pressure band, a smart glove, EMG and IMU units. their combined signals define a multi-dimensional vector per time step. We use a Recurrent Neural Network to infer the gesture class from the pre-processed data stream. From these user inputs we generate a set of symbolic spatial relations describing the assembly process. this formal description is then used to select and execute robot skills such as grasping. Hence, we reduce the ambiguity of abstract instructions in several steps and allow for effective gesture-based robot programming. In our work we give insights in defining and detecting such gestures. In addition, we illustrate the functionality of the whole system at real-world examples.

关键词： Symbiosis Tracking thumb Virtual environments Production Sensor systems Electromyography

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Energy Block Pool-Based Two-Stage Clearing Model for Electricity Spot Market

Energy Block Pool-Based Two-Stage Clearing Model for Electri...

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IEEE international conference on Power and Power and Renewable Energy (ICPRE)

作者： Kai Xiao Xiangpeng Zhan Xiaorui Qian Yuying Chen Xionghui Zheng State Grid Fujian Marketing Service Center (Metering Center) Fuzhou China

ISBN: (数字)9798350377460

ISBN: (纸本)9798350377477

In order to satisfy the diverse transaction demands of multiple energy resources and players, and to improve the operational efficiency of the temporal bidding-based electricity spot market, it is urgent to design clearing mechanisms for the electricity spot market that take into account diversification, standardization and flexibility. To solve this problem, in this paper, the clearing models for energy block pool-based electricity spot market are established. First, four types of energy blocks are introduced, and their mathematical models are established according to their physical-economic characteristics. Next, the concept of energy block pool is proposed, and the day-ahead and real-time clearing model of energy block pool-based electricity spot market is established. Moreover, the cost-benefit settlement methods of different energy blocks are given. Finally, the numerical simulations are carried out in the IEEE-9 bus system with fourteen energy blocks. It shows that the established two-stage clearing model is effective. the differentiated characteristics and transaction demands of the four types of energy blocks can be satisfied.

关键词： Integer programming Renewable energy sources Energy resources Electricity Standardization Numerical simulation Mathematical models Real-time systems Numerical models Power systems

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Data-driven Condition-based Maintenance Schedules of Active Distribution Networks

Data-driven Condition-based Maintenance Schedules of Active ...

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IEEE international conference on Power and Power and Renewable Energy (ICPRE)

作者： Fengsheng Li Yuwei Shang Jinli Wang Limei Zhou Shuaitao Bai Wenke Shen Distribution technology center China Electric Power Research Institute Co. Ltd. Beijing China Wenchang power Supply Bureau Hainan Power Grid Co. Ltd. Hainan China

ISBN: (数字)9798350377460

ISBN: (纸本)9798350377477

Scientific maintenance schedules are an effective way to reduce maintenance costs and promote asset management efficiency in distribution networks. With the increasing integration of a large number of stochastic distributed generators (DGs), the deterioration rate of distribution equipment may accelerate significantly owing to heavy/over loading. Conventionally, the distribution networks maintenance scheduling is based on run-to-failure or simplified scheduled maintenance strategies, without considering the integration of DGs and the health condition of distribution equipment. In this paper, the Markov decision model is applied to formulate the condition-based maintenance scheduling problem of active distribution networks. the operation of DGs and failure probability of distribution equipment are considered. the Q-learning method is adopted to optimize the maintenance schedules. Case studies show the effectiveness of the proposed method.

关键词： Schedules Renewable energy sources Costs Q-learning Stochastic processes Distribution networks programming Maintenance Nonlinear dynamical systems Active distribution networks

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Reactive stream processing for data-centric publish/subscribe 15

Reactive stream processing for data-centric publish/subscrib...

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Proceedings of the 9th ACM international conference on Distributed Event-Based Systems

作者： Shweta Khare Kyoungho An Aniruddha Gokhale Sumant Tambe Ashish Meena Vanderbilt University Nashville TN Real-Time Innovations Sunnyvale CA

ISBN: (纸本)9781450332866

the Internet of things (IoT) paradigm has given rise to a new class of applications wherein complex data analytics must be performed in real-time on large volumes of fast-moving and heterogeneous sensor-generated data. Such data streams are often unbounded and must be processed in a distributed and parallel manner to ensure timely processing and delivery to interested subscribers. Dataflow architectures based on event-based design have served well in such applications because events support asynchrony, loose coupling, and helps build resilient, responsive and scalable applications. However, a unified programming model for event processing and distribution that can naturally compose the processing stages in a dataflow while exploiting the inherent parallelism available in the environment and computation is still lacking. To that end, we investigate the benefits of blending Reactive programming with data distribution frameworks for building distributed, reactive, and high-performance stream-processing applications. Specifically, we present insights from our study integrating and evaluating Microsoft .NET Reactive Extensions (Rx) with OMG Data Distribution Service (DDS), which is a standards-based publish/subscribe middleware suitable for demanding industrial IoT applications. Several key insights from both qualitative and quantitative evaluation of our approach are presented.

关键词： reactive programming data distribution service (DDS) stream processing reactive extensions (Rx) publish/subscribe

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