This paper introduces CBFKIT, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier functions for mobility systems within...
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ISBN:
(纸本)9798350377712;9798350377705
This paper introduces CBFKIT, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier functions for mobility systems within both deterministic and stochastic environments. It can be connected to the ROS open-source robotics middleware, allowing for the setup of multi-robot applications, encoding of environments and maps, and integrations with predictive motion planning algorithms. Additionally, it offers multiple CBF variations and algorithms for robot control. The CBFKit is demonstrated on the Toyota Human Support Robot (HSR) in both simulation and in physical experiments.
In this work, a methodology to find the best view of a grape stem and approach angle in order to crop it is proposed. The control scheme is based only on a classified point cloud obtained by the in-hand camera attache...
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ISBN:
(纸本)9798350377712;9798350377705
In this work, a methodology to find the best view of a grape stem and approach angle in order to crop it is proposed. The control scheme is based only on a classified point cloud obtained by the in-hand camera attached to the robot's end effector without continuous stem tracking. It is shown that the proposed controller finds and reaches the optimal view point and subsequently the stem fast and efficiently, accelerating the overall harvesting procedure. The proposed control scheme is evaluated through experiments in the lab with a UR5e robot with an in-hand RealSense camera on a mock-up vine.
Passive tumbling structures are energy efficient, but often sacrifice control authority due to their under actuated nature. Unlike many passive tumbling robots, Northeastern University's COBRA is a snake robot wit...
ISBN:
(纸本)9798350377712;9798350377705
Passive tumbling structures are energy efficient, but often sacrifice control authority due to their under actuated nature. Unlike many passive tumbling robots, Northeastern University's COBRA is a snake robot with eleven articulated joints that transforms into a wheel-like structure with a high degree of posture control during tumbling, and using this posture manipulation, COBRA can control its forward velocity and heading angle while tumbling. This paper presents a mathematical framework that describes the dynamics of posture manipulation during tumbling and identifies two types of control actions that allow it to control its movement. This is validated in hardware testing to demonstrate obstacle avoidance during passive tumbling using only posture manipulation.
In recent years, with the development of diagnostic imaging equipment, image fusion, which fuses medical images from multiple modalities, has been proposed as a diagnostic imaging application. This has the advantage o...
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Quantum computing is poised to revolutionize numerous fields, including artificial intelligence (AI) and machine learning (ML), by offering the potential for vastly improved computational efficiency and speed. This pa...
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Cyber Physical Production systems are complex systems in nature, consisting of several physical and cyber components communicating through sensing and data communication protocols. These systems have played a crucial ...
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Safe computing platform is a safe architecture for the wayside equipment of CBTC, which keeps train operation control safely and efficiently in urban rail transit system. With the expansion of the subway line and the ...
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ISBN:
(纸本)9798350399462
Safe computing platform is a safe architecture for the wayside equipment of CBTC, which keeps train operation control safely and efficiently in urban rail transit system. With the expansion of the subway line and the increase of passenger flow, the cloud computing technology is introduced into transit system to cope with the increase of maintenance cost and accident risk probability caused by the increase of physical equipments of CBTC. However, the architecture of safe computing platform must be considered when transplant the physical wayside equipment to cloud servers, which is hard to allocate the resources for the wayside equipment softwares to realize a good load-balance value while meeting the safety requirements defined by the safe computing platform. As one of the standard analytical tools, game theory has been applied in various fields to analyze resource allocation and decision-making problems. And stochastic games is good at modeling multi-agent decision-making problems, which is suitable for the problem we face. In this paper, a stochastic games is utilized to formulate the resource allocation of the cloud servers among the safe computing platform softwares and a SARSA based resources allocation algorithm with safety requirements is proposed to solve it. We compare SRAS with other similar algorithms in some simulation scenarios. The simulation results show that the SRAS method can get a better convergence performance and load-balance value of the cloud servers.
The proceedings contain 114 papers. The topics discussed include: examining the performance of sense amplifiers for in-memory computingsystems;considering power losses and voltage drop in average-value modeling of vo...
ISBN:
(纸本)9798331533311
The proceedings contain 114 papers. The topics discussed include: examining the performance of sense amplifiers for in-memory computingsystems;considering power losses and voltage drop in average-value modeling of voltage source inverters in simulations of ac machine drives;application of residual neural network towards semiconductor device modeling;development of a chat history analysis module using advanced machine learning models and vector databases for digital forensic tools;power system network modelling to predict inter-area low frequency oscillations;analysis of control dynamics of a robotic arm using linear quadratic optimal control technique;advancing digital forensics: comparative analysis of deep learning models for deepfake detection;and advances in mango leaf disease detection using deep neural networks.
The increasing energy costs and demand have led many organizations to find smart ways to monitor, control and conserve energy. The intelligent Energy Management System 'EMS' helps reduce costs while meeting th...
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