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Deep Reinforcement Learning of Robotic Manipulation for Whip Targeting

Deep Reinforcement Learning of Robotic Manipulation for Whip...

引用

IEEE international conference on simulation, modeling, and Programming for Autonomous Robots (SIMPAR)

作者： Xiang Bai Junyi Wang Xiaofeng Xiong Evangelos Boukas Applied Mathematics and Computer Science Technical University of Denmark Copenhagen Denmark Automation and Control Group Electrical and Photonics Engineering Technical University of Denmark Copenhagen Denmark SDU Biorobotics Mærsk Mc-Kinney Møller Institute University of Southern Denmark Odense Denmark

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

This paper aims at a deep reinforcement learning (DRL) controller for fast (< 1.5s) manipulation of a flexible tool (i.e., whip) to hit a target in 3D space. The controller consists of a DRL algorithm for optimizing joint motions, and a proportional-derivative (PD) mechanism for tracking the optimized motions. Their objective is to minimize the distance between the whip-end-tip and the target. The proposed controller was validated in a 7-DOF robot arm by comparing four DRL algorithms in the physical simulator MuJoCo. It shows that the proximal policy optimization (PPO) outperforms others by obtaining the maximum average reward. Notably, PPO can still effectively interact with the environment under sparse or even unrewarding conditions, making it a robust choice for complex and dynamic tasks. Our work provides preliminary knowledge of DRL applications to fast robotic arm control in flexible object manipulation.

关键词： Three-dimensional displays Target tracking Heuristic algorithms Programming Aerospace electronics Deep reinforcement learning Manipulators Optimization Autonomous robots

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Towards a Size-Aware Implicit 2-D Cloth Rendering

Towards a Size-Aware Implicit 2-D Cloth Rendering

引用

IEEE international conference on Artificial Intelligence and Virtual Reality (AIVR)

作者： Bastian Scharnagl Christian Groth Hof University of Applied Sciences Hof Germany

ISBN: (数字)9798331521578

ISBN: (纸本)9798331521585

There is a huge demand for trying on clothing at home. Recent methods to capture your figure mostly work in a 2d image plane and despite recent improvements of available technology the simulation of clothing is still not satisfactory. Especially the rendering of different clothing sizes is still a major challenge, which is only addressed by COTTON [1]. We propose an improvement to this approach by adding more control over the image generation process. For this we employ a special type of conditional diffusion model, namely ControlNet, and take keypoints of the fashion as conditional input.

关键词： Solid modeling Image synthesis Clothing Fitting Process control Virtual reality Rendering (computer graphics) Diffusion models Cotton Artificial intelligence

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Deep Reinforcement Learning for Delay-Optimized Task Offloading in Vehicular Fog Computing

Deep Reinforcement Learning for Delay-Optimized Task Offload...

引用

international CSI computer conference, CSICC

作者： Mohammad Parsa Toopchinezhad Mahmood Ahmadi Computer Engineering and Information Technology Department Razi University Kermanshah Iran

ISBN: (数字)9798331523114

ISBN: (纸本)9798331523121

The imminent rise of Autonomous Vehicles (AVs) is revolutionizing the future of transport. The Vehicular Fog Computing (VFC) paradigm has emerged to alleviate the load of compute-intensive and delay-sensitive AV programs via task of-floading to nearby vehicles. Effective VFC requires an intelligent and dynamic offloading algorithm. As a result, this paper adapts Deep Reinforcement Learning (DRL) for VFC offloading. First, a simulation environment utilizing realistic hardware and task specifications, in addition to a novel vehicular movement model based on grid-planned cities, is created. Afterward, a DRL-based algorithm is trained and tested on the environment with the goal of minimizing global task delay. The DRL model displays impressive results, outperforming other greedy and conventional methods. The findings further demonstrate the effectiveness of the DRL model in minimizing queue congestion, especially when compared to traditional cloud computing methods that struggle to handle the demands of a large fleet of vehicles. This is corroborated by queuing theory, highlighting the self-scalability of the VFC-based DRL approach.

关键词： Training Machine learning algorithms Computational modeling Heuristic algorithms Urban areas Deep reinforcement learning Delays Vehicle dynamics Queueing analysis Edge computing

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Constant Voltage Output Control Technique for Wireless Power Transfer System Based on S-S Topology

Constant Voltage Output Control Technique for Wireless Power...

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Power Electronics, computer Applications (ICPECA), IEEE international conference on

作者： Penghui Qian Tingyang Chen Kai Ji Fengwei Chen Tingqiang Fu Ke Li College of Automation Chongqing University Chongqing China National Key Laboratory of Electromagnetic Energy Wuhan China Chongqing University Chongqing China

ISBN: (数字)9798331533694

ISBN: (纸本)9798331533700

This paper addresses the modeling and control of an S-S wireless power transfer (WPT) system in the presence of load variation. The WPT systems can experience output voltage instability due to external or internal system perturbations. To better handle this situation, nonlinear active disturbance rejection control (NLADRC) is suggested to control the dynamic behavior of the system. NLADRC attributes uncertainties, such as the system's unmodeled dynamics and unknown external disturbances, to the total system disturbance and then estimates and compensates for them. In this paper, we construct a transfer function model of a WPT system based on the SS topology, on which we demonstrate the feasibility of the primary-side phase-shift control strategy for application in this system. Next, a first-order NLADRC is designed for closed-loop control of the system output voltage, integrating the system model with NLADRC theory and determining the tuning direction for each component. A prototype WPT device utilizing NLADRC is designed to test the feasibility and performance of the proposed control method. The experimental results highlight the robustness and accuracy of the developed modeling and control strategy.

关键词： Robust control Uncertainty simulation Transfer functions Wireless power transfer Control systems Topology Nonlinear dynamical systems Voltage control Tuning

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Evaluating Cost-Effective Reconfigurable Hardware for Quantum simulation 20th

Evaluating Cost-Effective Reconfigurable Hardware for Quant...

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20th international conference on Grid, Cloud, and Cluster Computing, GCC 2024, 3rd international conference on Quantum Technologies, ICEQT 2024, and 21st international conference on modeling, simulation and Visualization Methods, MSV 2024, held as part of the World Congress in computer Science, computer Engineering and Applied Computing, CSCE 2024

作者： Islam, Ishraq Jha, Vinayak Nobel, Alvir Levy, David Chaudhary, Manu Kneidel, Dylan Facer, Audrey El-Araby, Esam University of Kansas LawrenceKS66045 United States

ISBN: (纸本)9783031858833

Quantum computing promises to provide significant speedup over classical computing in several important problem domains, which has garnered the attention of many researchers. Yet, developing and executing algorithms on quantum hardware pose economic challenges, especially for individuals and small research groups. Quantum simulators can bridge this gap by enabling researchers to use readily available classical hardware to perform quantum experiments. However, publicly available simulators are often time-shared through cloud-based high performance computing (HPC) environments and are not customizable to the particular needs of the developer. Moreover, local simulators running on consumer-grade CPUs, suffer from prolonged execution times. Therefore, the acceleration and customization of quantum simulations using local and dedicated hardware accelerators such as FPGAs can provide a better developer experience, faster design iteration, and potentially a cost-effective solution for quantum computing research and prototyping. In this paper, we evaluate using cost-effective, commercial-off-the-shelf FPGA boards for quantum application development on standard and full-featured quantum simulation frameworks such as IBM-Qiskit. More specifically, we provide a trade-off study of using FPGAs for such quantum simulation frameworks with respect to performance, resource, and cost requirements. In our experiments, we use commercially available FPGA boards such as the PYNQ-ZU, KV260, and RFSoC 4x2 for simulating resource and compute-intensive multidimensional quantum convolution as a case study. We leverage the performance-cost-ratio (PCR) metric to compare these boards against a server-grade CPU and show that cost-effective reconfigurable hardware can be a practical, accessible, and affordable option for quantum computing research. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Quantum computers

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A 3D Virtual Physics Lab simulation for Android: Bridging Laboratory Gaps in Resource-Constrained Schools through Performance-Optimized Mobile Technology

A 3D Virtual Physics Lab Simulation for Android: Bridging La...

引用

international conference on Electrical, computer and Communication Engineering (ECCE)

作者： Prieom Majumder Tanmoy Mandal M. Hasnat Kabir Department of Information and Communication Engineering University of Rajshahi Rajshahi Bangladesh

ISBN: (数字)9798350357509

ISBN: (纸本)9798350357516

In many resource-constrained regions, including rural and coastal areas of Bangladesh, students face significant challenges in conducting hands-on science experiments due to a lack of laboratory infrastructure and trained instructors. This research presents the development and evaluation of a 3D Virtual Physics Lab simulation, an Android-based application designed to bridge this gap. Aligned with the physics curriculum for 9th and 10th-grade students in Bangladesh, the app provides realistic 3D simulations of multiple laboratory experiments, enabling students to perform practical tasks offline on low- to mid-range *** app integrates 3D models created in Blender with simulations developed in Unity Engine, using C# for scripting to implement interactive functionality. Key features include interactive tools for experiment manipulation, touch-based controls, and real-time feedback comparing user inputs with predefined values. Performance profiling demonstrated that the app achieves higher frame rates on octa-core devices compared to quad-core devices with similar RAM configurations while maintaining consistent loading *** testing with 200 students showed a moderate normalized gain of = 0.44, indicating improvements in engagement and understanding despite only 30 minutes of practice. This suggests that regular use will lead to greater proficiency. This research highlights the transformative role of mobile technology in providing accessible and practical science education in economically disadvantaged regions. While focused on Bangladesh, the methodology and findings offer a replicable model for enhancing science education globally.

关键词： Performance evaluation Solid modeling Three-dimensional displays Biological system modeling Education Sea measurements Random access memory Real-time systems Physics Testing

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An Integrated Positioning Method Based on Weighted Factor Graph Optimization

An Integrated Positioning Method Based on Weighted Factor Gr...

引用

Consumer Electronics and computer Engineering (ICCECE), 2021 IEEE international conference on

作者： Tianjiao Hao Changgeng Li Changshui Liu School of Electronic Information Central South University Changsha China

ISBN: (数字)9798331533113

ISBN: (纸本)9798331533120

The intelligent transportation system requires positioning services to ensure safe driving applications. The fusion positioning method of GNSS and inertial navigation system (INS) provides high-precision location services in environments with good GNSS signal reception. However, in satellite signal denial environments such as tunnels, GNSS signals become weak or interrupted due to obstructions, resulting in a decline in observation quality or even making the signals unavailable, which leads to a sharp deterioration in positioning accuracy. Ground-based navigation system can serve as a supplement and enhancement to GNSS, offering a solution for continuous high-precision positioning both inside and outside tunnels, as well as in enclosed spaces. To address the above issues, this study proposes a weighted factor graph optimization algorithm that integrates inertial navigation and ground-based navigation. Based on the traditional factor graph model, weighted factors are introduced to reduce the impact of outlier observations on positioning results, enhance the model's anti-interference and fault tolerance capabilities, and improve the system's positioning performance. The sliding window optimization method is employed to reduce computational complexity while retaining effective historical data, improving computational speed, and ensuring real-time positioning output. simulation results indicate that, compared with unweighted factor graph positioning schemes, the proposed integrated positioning algorithm improves positioning accuracy by 75.8%, while significantly reducing the computational load of information fusion.

关键词： Global navigation satellite system Accuracy Satellites Computational modeling simulation Optimization methods Inertial navigation Sensor fusion Real-time systems Load modeling

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A Comprehensive simulation and Validation of Single Particle Aging Mechanism Model for Lithium-Ion Batteries 8th

A Comprehensive Simulation and Validation of Single Particle...

引用

8th international conference on Life System modeling and simulation, LSMS 2024 and 8th international conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2024

作者： Shi, Kaiyan Lu, Tianpeng Zhou, Xingyu Sun, Tao Wang, Yu Han, Xuebing Zheng, Yuejiu University of Shanghai for Science and Technology Shanghai200093 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China

ISBN: (纸本)9789819602315

Aging mechanisms of graphite-LiFePO4 Li-ion batteries and accurately predicting their remaining useful life is crucial for effective battery management in energy storage systems. This study proposes a comprehensive modeling approach based on battery aging side reactions and validates its reliability through durability tests and electron microscopy characterizations. The model, which is based on single particle aging mechanisms, elucidates primary degradation reactions such as solid electrolyte interface layer growth, active material loss, and lithium plating. Durability tests under various cycling and calendar aging conditions confirm the model’s accuracy, with errors below 2%. Post-mortem analysis and material characterization tests further validate the model’s physical effectiveness using SEM, TEM, and FIB-SEM electron microscopy techniques. The findings provide valuable insights into the aging mechanisms of graphite-LiFePO4 Li-ion batteries and contribute to the development of improved battery management strategies. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Lithium-ion batteries

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DATCloud: A Model-Driven Framework for Multi-Layered Data-Intensive Architectures

DATCloud: A Model-Driven Framework for Multi-Layered Data-In...

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IEEE international conference on Software Architecture Workshops (ICSAW)

作者： Moamin Abughazala Henry Muccini DISIM Department University of L'Aquila L'Aquila Italy Department of Information Technology An Najah N. University Nablus Palestine

ISBN: (数字)9798331533366

ISBN: (纸本)9798331533373

The complexity of multi-layered, data-intensive systems demands frameworks that ensure flexibility, scalability, and efficiency. DATCloud is a model-driven framework designed to facilitate the modeling, validation, and refinement of multi-layered architectures, addressing scalability, modularity, and real-world requirements. By adhering to ISO/IEC/IEEE 42010 standards, DATCloud leverages structural and behavioral meta-models and graphical domain-specific languages (DSLs) to enhance reusability and stakeholder communication. Initial validation through the VASARI system at the Uffizi Gallery demonstrates a 40% reduction in modeling time and a 32% improvement in flexibility compared to manual methods. While effective, DATCloud is a work in progress, with plans to integrate advanced code generation, simulation tools, and domain-specific extensions to further enhance its capabilities for applications in healthcare, smart cities, and other data-intensive domains.

关键词： Software architecture Smart cities Scalability ISO Standards computer architecture Medical services Manuals Data models Stakeholders Standards

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Intelligent Design System for Wave-Absorbing Metamaterials Based on Broadband Polarization-Independent Characteristics

Intelligent Design System for Wave-Absorbing Metamaterials B...

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Electronics, Energy Systems and Power Engineering (EESPE), IEEE international conference on

作者： Huili Dai Junshan Zhang Aixia Wang Xiaoqing Yan Rui Yan Jing Wei Xinrong Guo Xiuku Dan Department of Basic Sciences Engineering University of PAP Xi'an China Department of Basic Sciences Air Force Engineering University Xi'an China

ISBN: (数字)9798350389579

ISBN: (纸本)9798350389586

Wave-absorbing metamaterial has important application value in electromagnetic shielding and stealth protection, but their design procedures are complicated and the traditional design procedures are inefficient. In this study, an intelligent design system for wave absorber metamaterial based on B/S architecture is designed, realizing the integrated design of parametric modeling, electromagnetic simulation and intelligent optimization. The system adopts an improved genetic algorithm for structure optimization, integrates multiple basic structure unit automatic modeling function, and supports broadband polarization-independent property performance evaluation. The test results show that the system achieves efficient intelligent design of metamaterial structures and provides powerful tool support for metamaterial engineering applications, outperforming existing commercial software in terms of computational accuracy, optimization efficiency, and resource utilization.

关键词： Accuracy Electromagnetic scattering computer architecture Metamaterials Software Parametric statistics Broadband communication Reflection coefficient Resource management Optimization

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