Previous most studies have been using a constant power control method to obtain the maximum efficiency of power generation, and have not considered the impact of the control method on the floating platform and the moo...
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Avian species taxonomy is an important activity in the domain of ornithology, wildlife preservation, and ecological research. Convolutional Neural Networks (CNNs) a widely used tool for automating categorization jobs ...
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In multilingual civilizations like India, where many languages coexist, language identification is an essential problem in natural language processing. This study investigates the effectiveness of supervised learning ...
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This paper investigates the advantages and boundaries of actor-critic reinforcement learning algorithms in an industrial setting. We compare and discuss Cycle of Learning, Deep Deterministic Policy Gradient and Twin D...
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ISBN:
(数字)9781665490429
ISBN:
(纸本)9781665490429
This paper investigates the advantages and boundaries of actor-critic reinforcement learning algorithms in an industrial setting. We compare and discuss Cycle of Learning, Deep Deterministic Policy Gradient and Twin Delayed Deep Deterministic Policy Gradient with respect to performance in simulation as well as on a real robot setup. Furthermore, it emphasizes the importance and potential of combining demonstrated expert behavior with the actor-critic reinforcement learning setting while using it with an admittance controller to solve an industrial assembly task. Cycle of Learning and Twin Delayed Deep Deterministic Policy Gradient showed to be equally usable in simulation, while Cycle of Learning proved to be best on a real world application due to the behavior cloning loss that enables the agent to learn rapidly. The results also demonstrated that it is a necessity to incorporate an admittance controller in order to transfer the learned behavior to a real robot.
Malicious software, or malware, poses a persistent and evolving threat to cybersecurity. Traditional detection methods based on signatures and heuristics are challenged by the rapid proliferation of polymorphic and ze...
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Automatic quality examination is now receiving attention as a vital element of the industry 4.o. However, because of the variety of products, challenges associated with creating uniformly high-quality product pictures...
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Humans possess the uncanny ability to perceive and manipulate deformable objects with agility. Deformable objects, such as a ziplock bag, with their infinite configurations, are particularly challenging. Manipulating ...
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ISBN:
(数字)9781665490429
ISBN:
(纸本)9781665490429
Humans possess the uncanny ability to perceive and manipulate deformable objects with agility. Deformable objects, such as a ziplock bag, with their infinite configurations, are particularly challenging. Manipulating deformable objects is hard as deciding corrective action demands great familiarity with its state transitions. Humans learn to manipulate such objects by leveraging multimodal perception capabilities wherein they build a rich understanding by exploration and active manipulation. For robots, such adaptability is lacking as multimodal perception is still limited. In this work, we emulate human-like learning by extending multimodal perception to assist in exploratory manipulation-to build a rich understanding of the deformable object- and purposeful manipulation- to learn to achieve the desired state based on the knowledge of the object. To validate this framework, we undertake the task of closing a ziplock bag as it is a challenging perception task with a simple state structure demanding multi-sensory modes. The bag's parameters are learned in 10mins during exploratory manipulation. With the multimodal inputs of the three sensors, the accuracy of state detection improves significantly across the different types of bags, illustrating the adaptability. The multimodal perception achieves a maximum state detection accuracy of 95.5%. The bags are closed fully in all 50 trials with the purposeful manipulation framework.
Regarding the continuing increase of renewable energy in smart grid, energy storage system (ESS) has play an important role in deal with the fluctuation of new energy, such as PV and wind. However, the application of ...
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In order to solve many technical problems of high temperature thermocouple for gas turbine temperature detection, such as large heat capacity, slow response time, and inability to mount table, a ceramic MEMS high temp...
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This paper presents an optimization-based approach for the Electric Vehicle Routing Problem considering Smart-Charging methods. The objective, based on the application of the model, is to obtain the shortest route for...
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ISBN:
(数字)9781665490429
ISBN:
(纸本)9781665490429
This paper presents an optimization-based approach for the Electric Vehicle Routing Problem considering Smart-Charging methods. The objective, based on the application of the model, is to obtain the shortest route for each of the electric vehicles that have to deliver freight to a set of customers minimizing the charging/discharging cost. Based on the Smart-Charging method, in which vehicles can charge/discharge energy from/to the grid, the power grid limits, and balancing needs are considered. In this way, both the charging points and the energy districts are prevented from exceeding the maximum allowed energy peak. A real case study in the Apulia Italian region (Italy) shows the effectiveness of the proposed optimization model.
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