This is an innovative System for any client generally focusing on the matured populace as a clinical aide. This paper proposes an application which is an integration of many important medical implementations into a si...
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We consider a new type of inverse combinatorial optimization, Inverse Submodular Maximization (ISM), for human-in-the-loop multi-robot coordination. Forward combinatorial optimization - solving a combinatorial problem...
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ISBN:
(纸本)9798350377712;9798350377705
We consider a new type of inverse combinatorial optimization, Inverse Submodular Maximization (ISM), for human-in-the-loop multi-robot coordination. Forward combinatorial optimization - solving a combinatorial problem given the reward (cost)-related parameters - is widely used in multi-robot coordination. In the standard pipeline, the reward (cost)related parameters are designed offline by domain experts. These parameters are utilized for coordinating robots online. What if non-expert human supervisors desire to change these parameters during task execution to adapt to some new requirements? We are interested in the case where human supervisors can suggest what actions to take, and the robots need to change these internal parameters accordingly. We study such problems from the perspective of inverse combinatorial optimization, i.e., the process of finding parameters given solutions to the problem. Specifically, we propose a new formulation for ISM, in which we aim to find a new set of parameters that minimally deviate from the current parameters while causing a greedy algorithm to output actions which are the same as those desired by the human supervisors. We show that such problems can be formulated as a Mixed Integer Quadratic Program (MIQP) which is intractable for existing solvers when the problem size is large. We propose a new Branch & Bound algorithm to solve such problems. In numerical simulations, we demonstrate how to use ISM in multi-robot multi-objective coverage control, and we show that the proposed algorithm provides significant advantages in running time and peak memory usage compared to directly using an existing solver.
In view of the performance and security problems existing after the replacement of specialized security protection equipment for power grids with domestic software and hardware, and in response to the security protect...
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Vehicle platooning is deemed a promising solution to improve traffic safety, reduce fuel consumption and increase traffic throughput and road capacity. Road throughput can be increased by driving at small inter-vehicl...
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ISBN:
(纸本)9798350399462
Vehicle platooning is deemed a promising solution to improve traffic safety, reduce fuel consumption and increase traffic throughput and road capacity. Road throughput can be increased by driving at small inter-vehicle distances. Adjusting the spacing with both the preceding and the succeeding vehicles using bidirectional communication can potentially improve the platoon cohesiveness and is crucial when considering the synchronized merging scenario. Additional functionalities such as gap closing and collision avoidance are addressed using the concept of artificial potential fields (APF). This paper presents vehicle controllers for cooperative adaptive cruise control (CACC) for heterogeneous vehicle platoons. To achieve desired inter-vehicle spacing with respect to a predecessor and a follower, a bidirectional communication scheme is employed. Moreover, conditions for vehicle stability are provided. Finally, effectiveness of the controller is verified in a simulation study.
This paper discusses two powerful methods of data analysis, neural networks and self-organising Kohonen maps. The main emphasis is on the importance of correct data preparation before analysis. Their impact on the acc...
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AC microgrids play a crucial role in integrating distributed energy resources and facilitating localized power management in contemporary power networks. Nevertheless, conventional droop control methods in these micro...
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ISBN:
(纸本)9798350318562;9798350318555
AC microgrids play a crucial role in integrating distributed energy resources and facilitating localized power management in contemporary power networks. Nevertheless, conventional droop control methods in these microgrids have constraints in guaranteeing precise power distribution, stability of voltage/frequency, and flexibility in response to changing operating conditions. This study introduces an approach, with adaptive droop control using Biomimetic Valence Learning (BVLAC). Inspired by the emotional and rational decision-making processes within the brain, BVLAC dynamically adjusts droop coefficients, optimizing power sharing and transient response in microgrid operation. Simulations were conducted using SIMULINK/MATLAB and the results showcase the superiority of the proposed BVLAC approach in achieving precise power-sharing, maintaining voltage and frequency stability, and improving the control performance of microgrids, under varying load conditions. This work advances the field of microgrid control by offering a robust, AI-inspired solution for the challenges faced by conventional droop control techniques.
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipula...
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ISBN:
(纸本)9798350377712;9798350377705
Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires continuously changing the grasp point by in-hand sliding while holding the DLO to prevent it from falling. Achieving such a skill is very challenging for robots without using specially designed but not versatile end-effectors. Previous works have attempted using generic parallel grippers, but their robustness is unsatisfactory owing to the conflict between following and holding, which is hard to balance with a one-degree-of-freedom gripper. In this work, inspired by how humans use fingers to follow DLOs, we explore the usage of a generic dexterous hand with tactile sensing to imitate human skills and achieve robust in-hand DLO following. To enable the hardware system to function in the real world, we develop a framework that includes Cartesian-space arm-hand control, tactile-based inhand 3-D DLO pose estimation, and task-specific motion design. Experimental results demonstrate the significant superiority of our method over using parallel grippers, as well as its great robustness, generalizability, and efficiency.
Cybersecurity-enabled smart renewable energy system security requires a multifaceted strategy that includes proactive risk assessment, strong defenses, stakeholder cooperation, and the combination of cutting-edge tech...
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ISBN:
(纸本)9798350361261;9798350361278
Cybersecurity-enabled smart renewable energy system security requires a multifaceted strategy that includes proactive risk assessment, strong defenses, stakeholder cooperation, and the combination of cutting-edge technology such as Artificial Intelligence (AI) and blockchain. To safeguard vital infrastructure and guarantee a continuous supply of energy, defense-in-depth strategies such as encryption protocols, and access controls can be put into place in conjunction with cybersecurity awareness campaigns and regular security audits. In the face of changing cyber threats, these initiatives are crucial to protect data privacy and system resilience for the development of sustainable energy. This study aims to provide important insights into current practices, identify areas for improvement, and provide insight for further studies and regulations intended to improve the energy infrastructure's security and resilience in the digital era.
The current challenges faced by inland shipping, such as the shortage of nautical personnel and freight structure effect, demand innovative and future-oriented concepts. At the same time, the potential for digitalizat...
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ISBN:
(纸本)9798350399462
The current challenges faced by inland shipping, such as the shortage of nautical personnel and freight structure effect, demand innovative and future-oriented concepts. At the same time, the potential for digitalization is increasing the possibilities for sensory perception, processing of large amounts of data, data transmission and connectivity. Additionally, the transition to sustainable transportation requires efficient and low-emission solutions for ship operations. The Smart and Green Ship concept presented here serves as a testbed to answer current research questions in automated, remotely controlled, interconnected and green inland shipping. The focus of this paper lies in presenting the research gap to be closed, the selection and concept of sensor technology for environmental perception, and the choice of an appropriate IT infrastructure.
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene ...
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ISBN:
(纸本)9798350377712;9798350377705
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations, existing methods show unrealistic reconstruction results or the inability of online quality evaluation. Due to the recent advancements in explicit radiance field technology, online active high-fidelity reconstruction has become achievable. In this paper, we propose GS-Planner, a planning framework for active high-fidelity reconstruction using 3D Gaussian Splatting. With improvement on 3DGS to recognize unobserved regions, we evaluate the reconstruction quality and completeness of 3DGS map online to guide the robot. Then we design a sampling-based active reconstruction strategy to explore the unobserved areas and improve the reconstruction geometric and textural quality. To establish a complete robot active reconstruction system, we choose quadrotor as the robotic platform for its high agility. Then we devise a safety constraint with 3DGS to generate executable trajectories for quadrotor navigation in the 3DGS map. To validate the effectiveness of our method, we conduct extensive experiments and ablation studies in highly realistic simulation scenes.
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