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

共 1479 条记录，以下是91-100 订阅

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Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight

Contrastive Learning for Enhancing Robust Scene Transfer in ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Jiaxu Xing Leonard Bauersfeld Yunlong Song Chunwei Xing Davide Scaramuzza Department of Informatics Robotics and Perception Group University of Zurich Department of Neuroinformatics University of Zurich and ETH Zurich Switzerland

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab environment. Existing scene transfer end-to-end policy learning approaches often suffer from poor sample efficiency or limited generalization capabilities, making them unsuitable for mobile robotics applications. This work proposes an adaptive multi-pair contrastive learning strategy for visual representation learning that enables zero-shot scene transfer and real-world deployment. control policies relying on the embedding are able to operate in unseen environments without the need for finetuning in the deployment environment. We demonstrate the performance of our approach on the task of agile, vision-based quadrotor flight. Extensive simulation and real-world experiments demonstrate that our approach successfully generalizes beyond the training domain and outperforms all baselines. Video: https://***/4A4YyPgEWD8

关键词： Training Representation learning Visualization Contrastive learning Robustness Safety Task analysis

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Implementing a Reduction Clause to Overcome Critical Section Deficiencies in Parallel Computing

Implementing a Reduction Clause to Overcome Critical Section...

引用

control & automation, Electronics, robotics, Internet of Things, and Artificial Intelligence (CERIA), IEEE international conference on

作者： Sadly Syamsuddin Jufri Jufri Asmah Akhriana Ahyuna Ahyuna Baharuddin Rahman Risnayanti Andi Djamro Indra Samsie dept. of Informatics Dipa Makassar University Makassar Indonesia dept. of Informatics Management Dipa Makassar University Makassar Indonesia dept. of Information System Dipa Makassar University Makassar Indonesia

ISBN: (数字)9798331511166

ISBN: (纸本)9798331511173

Parallel programming is a method we can use to increase processor performance in parallel computers because almost all multicore computers integrate more than one individual processor and cache memory. There are several techniques that can be used in parallel computing, one of which is by utilizing the Critical Section to protect the occurrence of data inconsistencies in the parallel computing process. There are advantages and disadvantages to using Critical Section, namely Mutually Exclusive where no work can be done simultaneously in a Critical Section on one parallel program. So in this journal we will try to discuss solutions to protect data inconsistencies in parallel computing without having to experience Mutually Exclusive, namely by using the Reduction Clause method. The results of this study show that Reduction Clause can function without the need for a waiting process and offset parallel looping with correct results without data inconsistency and also increase parallel computing work time when compared to us using Critical Section.

关键词： Computers Parallel programming Multicore processing Source coding Scalability Parallel processing System recovery Synchronization Internet of Things Robots

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The Furtherance of Autonomous Engineering via Reinforcement Learning 18

The Furtherance of Autonomous Engineering via Reinforcement ...

引用

18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Antensteiner, Doris Dietrich, Vincent Fiegert, Michael Siemens Technol Siemens AILab Munich Germany

ISBN: (纸本)9789897585227

Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. Through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. These processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.

关键词： Autonomous Engineering Reinforcement Learning Artificial Intelligence Industrial robotics 6D Pose Estimation Computer Vision

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A Rule-Compliance Path Planner for Lane-Merge Scenarios Based on Responsibility-Sensitive Safety

A Rule-Compliance Path Planner for Lane-Merge Scenarios Base...

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： Pengfei Lin Ehsan Javanmardi Yuze Jiang Manabu Tsukada Dept. of Creative Informatics The University of Tokyo Tokyo Japan

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Lane merging is one of the critical tasks for self-driving cars, and how to perform lane-merge maneuvers effectively and safely has become one of the important standards in measuring the capability of autonomous driving systems. However, due to the ambiguity in driving intentions and right-of-way issues, the lane merging process in autonomous driving remains deficient in terms of maintaining or ceding the right-of-way and attributing liability, which could result in protracted durations for merging and problems such as trajectory oscillation. Hence, we present a rule-compliance path planner (RCPP) for lane-merge scenarios, which initially employs the extended responsibility-sensitive safety (RSS) to elucidate the right-of-way, followed by the potential field-based sigmoid planner for path generation. In the simulation, we have validated the efficacy of the proposed algorithm. The algorithm demonstrated superior performance over previous approaches in aspects such as merging time (Saved 72.3%), path length (reduced 53.4%), and eliminating the trajectory oscillation.

关键词： automation Merging Stability criteria Trajectory Safety Autonomous automobiles Oscillators Standards Robots

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A Neural Network Optimization Approach for Anemia Prediction Using Image Pixels and Hemoglobin Data

A Neural Network Optimization Approach for Anemia Prediction...

引用

control & automation, Electronics, robotics, Internet of Things, and Artificial Intelligence (CERIA), IEEE international conference on

作者： Adli Abdillah Nababan Mardi Turnip Abdi Dharma Yennimar Agung Prabowo Dhanny Rukmana Manday Department of Informatics Engineering Universitas Prima Indonesia Medan Indonesia

ISBN: (数字)9798331511166

ISBN: (纸本)9798331511173

This study developed a neural network optimization model to predict anemia using image pixel data and hemoglobin levels. The model was designed to address class imbalance and achieved strong performance, with a test accuracy of 97%, precision of 97%, and recall of 96.88%. Data preprocessing techniques such as z-score normalization and ordinal encoding were applied to standardize the input features, while L2 regularization was used to prevent overfitting. The model's performance was assessed using multiple metrics, such as the F1-score and AUC, highlighting its reliability in anemia prediction. The results indicate that this model offers a reliable and efficient approach for non-invasive anemia detection, making it a valuable tool for clinical use in diagnosing anemia based on image data and hemoglobin levels.

关键词： Accuracy Computational modeling Anemia Data preprocessing Predictive models Data models Real-time systems Reliability Robots Overfitting

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Implementation of 8-Puzzles Game on Android Operating System Based on Accelerometer Sensor control

Implementation of 8-Puzzles Game on Android Operating System...

引用

international conference on Innovation and Intelligence for informatics, Computing, and Technologies (3ICT)

作者： Syahdi Gharizah Ahsan Hilal H. Nuha Satria Akbar Mugitama Hassan Rizky Putra Sailellah Rana Zaini Fathiyana School of Computing Telkom University Bandung Indonesia School of Computing Telkom University Jakarta Jakarta Indonesia

ISBN: (数字)9798331533137

ISBN: (纸本)9798331533144

Game8-Puzzles is a game that is widely known not only in Indonesia but also in the world. The modern 8-Puzzles game has been downloaded up to 100 million times on the Play Store platform. However, there has not been any 8-puzzles game that is played by tilting or rotating the device. This can be an opportunity for innovation by implementing an accelerometer sensor in the game. However, the accelerometer is very sensitive to changes that occur so that sometimes it has results that are not in accordance with the user's wishes. Therefore, an additional method is needed to be able to maximize this integration by adding Proportional Integral Derivative (PID) control. This method has been widely used, especially in industrial fields such as automation and robotics. Its simplicity and ease of implementation make it superior to other methods. Many industrial devices can be linearized without many errors. In this study, the implementation of the 8-puzzles game with accelerometer sensor control was successful even with a low percentage of correct movements. Furthermore, the PID control method was applied in the game and resulted in an increase in the percentage of correct movements by almost 20%. This proves that PID control can function well in the game.

关键词： Accelerometers Technological innovation PI control automation Service robots Operating systems Games Robot sensing systems PD control informatics

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Design and evaluation of a modular robotic system for microsurgery

Design and evaluation of a modular robotic system for micros...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Jenireth Torrealba Molina Toqa AbuBaker Yanpei Huang Xiaoxiao Cheng Alexis Devillard Etienne Burdet Department of Bioengineering Imperial College of Science Technology and Medicine London UK School of Engineering and Informatics University of Sussex Brighton UK Department of Electrical and Electronic Engineering University of Manchester Manchester UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The manipulation of instruments under a microscope suffers from physiological tremor and human errors, which are inevitable in long microsurgery interventions. Robotic systems developed in recent years for microsurgery are expensive and not flexible, as they cannot use standard instruments, and need the surgeon to modify their operative skills and strategies. In this paper, we introduce a modular robotic system for microsurgery enabling the surgeon to operate using conventional instruments. Our system was implemented using a commercial Kinova robot and a dedicated modular end-effector that uses standard microsurgery instruments. An initial teleoperation validation was carried out by eleven participants, who could successfully control the microsurgery tools to perform basic surgical movements. Furthermore, participants performed a simple anastomosis task with the robot and compared it to manual control. The results showed that robotic control is superior to manual control in simple surgical tasks and the converse in complex tasks. Participants preferred the proposed robotic system due to its user-friendliness and effort reduction.

关键词： Microscopy Human factors Microsurgery Physiology End effectors Task analysis Robots

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Parameterized Even-Symmetric Function for Stabilizing and Designing Variable Lowpass Filters

Parameterized Even-Symmetric Function for Stabilizing and De...

引用

international conference on control, automation and robotics (ICCAR)

作者： Tian-Bo Deng Informatics Department Faculty of Science Toho University Funabashi Chiba Japan

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

A variable filter (VF) is capable of tuning its frequency-domain response promptly without redesigning a novel filter. Despite the fact that a recursive VF requires less computations as compared with its non-recursive counterpart, it faces a challenging stability issue. The stability issue can be skillfully resolved through replacing the coefficients in the VF's denominator by using some special functions of other parameters. Replacing the denominator coefficients with such special functions enables the stability requirement to be always satisfied without any con-cerns about the values of the new parameters. To perform those parameter replacements, a function (unity-bounded function: UB function) must be used. The UB function needs to meet a special condition. In this paper, such a UB function is presented for carrying out the denominator-parameter replacements, which is an even-symmetric function. Furthermore, this even-symmetric UB function is employed in designing a recursive variable-lowpass-filter, and computer simulations are given for showing the assured stability and achieved high accuracy.

关键词： Measurement Accuracy Shape Computer simulation Frequency-domain analysis Low-pass filters Minimization

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Deep vs. Deep Bayesian: Faster Reinforcement Learning on a Multi-robot Competitive Experiment 18

Deep vs. Deep Bayesian: Faster Reinforcement Learning on a M...

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18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Huang, Jingyi Giardina, Fabio Rosendo, Andre ShanghaiTech Univ Sch Informat Sci & Technol Shanghai Peoples R China Harvard John A Paulson Sch Engn & Appl Sci Cambridge MA USA

ISBN: (纸本)9789897585227

Deep Learning experiments commonly require hundreds of trials to properly train neural networks, often labeled as Big Data, while Bayesian learning leverages scarce data points to infer next iterations, also known as Micro Data. Deep Bayesian Learning combines the complexity from multi-layered neural networks to probabilistic inferences, and it allows a robot to learn good policies within few trials in the real world. In here we propose, for the first time, an application of Deep Bayesian Reinforcement Learning (RL) on a realworld multi-robot confrontation game, and compare the algorithm with a model-free Deep RL algorithm, Deep Q-Learning. Our experiments show that DBRL significantly outperforms DRL in learning efficiency and scalability. The results of this work point to the advantages of Deep Bayesian approaches in bypassing the Reality Gap and sim-to-real implementations, as the time taken for real-world learning can quickly outperform data-intensive Deep alternatives.

关键词： Reinforcement Learning Policy Search robotics

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Multi-talker Verbal Interaction for Humanoid Robots

Multi-talker Verbal Interaction for Humanoid Robots

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Bartlomiej Klin Ryszard Beniak Michal Podpora Arkadiusz Gardecki Joanna Rut Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Department of Computer Science Opole University of Technology Faculty of Production Engineering and Logistics Opole University of Technology

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Working in multi-talker mode is viable under certain conditions, such as the fusion of audio and video stimuli along with smart adaptive beamforming of received audio signals. In this article, the authors verify part of the researched novel framework, which focuses on adapting to dynamic interlocutor’s location changes in the engagement zone of humanoid robots during the multi-talker conversation. After evaluating the framework, the authors confirm the necessity of a complementary and independent method of increasing the interlocutor’s signal isolation accuracy. It is necessary when video analysis performance plummets. The authors described the leading cause as insufficient performance during dynamic conversations. The video analysis cannot derive a new configuration when the interlocutor’s speech apparatus moves beyond the expected margin and the video frame rate drops.

关键词： automation Accuracy Array signal processing Humanoid robots Oral communication Human factors

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