Obtaining and utilizing as-is information with 3D imaging technologies, such as laser scanners, during various phases of facility life-cycle is becoming common practice. Both during construction and facility operation...
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Obtaining and utilizing as-is information with 3D imaging technologies, such as laser scanners, during various phases of facility life-cycle is becoming common practice. Both during construction and facility operations information derived from laser scanner data can serve many purposes by providing accurate information about the conditions of the facilities at the time of the scanning. Currently, the information derived from point clouds is typically represented as building information models (BIMs). Despite the benefits of having accurate as-is BIMs, current BIM approaches and tools have limitations in representing as-is information. The reason is partly that current methods of as-is BIM generation are based on existing as-designed BIM generation and representation processes. We identified five main concepts that are unique to as-is BIMs and are not represented with existing BIMs. These characteristics are point density, noise, occlusions, model deviations, and the links between the points and building components. This paper investigates these unique characteristics of as-is conditions and discusses how representing them within a BIM can provide advantages to downstream users, such as enabling decisions based on more complete data than would otherwise be possible.
The MOBOT∗ project aims to develop assistive devices that support elderly patients with mobility disabilities during gait and sit-to-stand (STS) transfer. The device is supposed to help such patients to maintain an in...
The MUSES-C mission is the world's first sample and return attempt to/from the near Earth asteroid. In deep space, it is hard to navigate, guide, and control a spacecraft on a real-time basis remotely from the ear...
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The range of vision of vehicle sensors used by auto-mated driving functions is considerably influenced by the lateral movement of vehicles within their lane, both of the recording vehicle and of vehicles around it. To...
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In recent years, the Design of Experiments (hereafter, DOE) and the Taguchi methods have been used to decide optimum processing conditions with narrow dispersion and achieve robust designs. However, when large interac...
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ISBN:
(纸本)9781509065363
In recent years, the Design of Experiments (hereafter, DOE) and the Taguchi methods have been used to decide optimum processing conditions with narrow dispersion and achieve robust designs. However, when large interactions between several control factors are present, since they behave as confounding variables, the estimation accuracy is significantly reduced and making practical use of the DOE and Taguchi methods can be extremely difficult in some cases. As a common countermeasure, calculation accuracy is confirmed by comparing, through the S/N ratio and sensitivity results, the best and worst gain results. This can be of great harm in terms of time and labor and, if the difference between the best and worst gain results is large, could result in the Taguchi methods estimations being ignored. In this study, a tool for the easy determination of control factor interactions in the DOE and the Taguchi methods was developed and evaluated. Then a software of the tool was a developed and evaluated under several mathematical models. It was concluded that: (1) a usable tool for the easy determination of control factor interactions in the DOE and the Taguchi methods was developed;(2) The tool was able to determine control factor interactions in DOE or the Taguchi methods.
We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal c...
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We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.
The proceedings contain 16 papers. The topics discussed include: artificial intelligence for the future of construction;cobots and industrial robots;predictive maintenance for wind turbine bearings: an MLOps approach ...
The proceedings contain 16 papers. The topics discussed include: artificial intelligence for the future of construction;cobots and industrial robots;predictive maintenance for wind turbine bearings: an MLOps approach with the DIAFS machine learning model;development of an artificial intelligence tool and sensing in informatization systems of mobile robots;PCA-NuSVR framework for predicting local and global indicators of tunneling-induced building damage;design and deployment of data development toolkit in cloud manufacturing environments;research and development of image processing algorithms for effective recognition of various gestures in real time;machine learning models for the recognition of commands in smart home technologies;responsive dehydration: sensor-driven optimisation of production cycles in a solar dehydrator;and formation of the method of description and control of the relative position of the links of the upper limbs of the grip of an anthropomorphic robot.
As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the ex...
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ISBN:
(纸本)9798350342734
As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the excavator arm using nonlinear optimization approaches, including a simplified model that maps the task space to the joint space, as well as an equivalent model that maps the joint space to the actuator space. These models were then used to build a feedforward-PID joint velocity controller and a joint trajectory controller combined with position feedback, which forms the core of our proposed semi-automatic control system for the excavator arm. Our deployment scheme is simple and efficient, and has been deployed on two excavators of different makes and sizes. Experiments show that our deployment scheme performs well on both excavators, with an average error of 0.05 rad/s for the velocity controller and less than 5 cm for the trajectory controller. Using our semi-automatic system, we have completed demonstration experiments for precise digging and grading operations. A demonstration video can be found at https://***/N6I0WZGSF68.
Constrained minimum variance control is offered for nonsquare LTI MIMO systems. A constrained control design takes advantage of the so-called control zeros. The new control strategy is compared with familiar generaliz...
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Constrained minimum variance control is offered for nonsquare LTI MIMO systems. A constrained control design takes advantage of the so-called control zeros. The new control strategy is compared with familiar generalized minimum variance control and possible application areas of the two are discussed.
In this paper visual odometry method for processing single-view images has been presented. The developed system is designed as a main navigation sensor for a police mobile robot used for investigation of crime scenes....
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In this paper visual odometry method for processing single-view images has been presented. The developed system is designed as a main navigation sensor for a police mobile robot used for investigation of crime scenes. Verification of correctness of the algorithms have been performed and results of preliminary simulated tests are included as well as guidelines for further development of the method.
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