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Static Standing Balance With Musculoskeletal models Using PPO With Reward Shaping

Static Standing Balance With Musculoskeletal Models Using PP...

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2023 international conference on Biomimetic Intelligence and robotics

作者： Chen, Wenqian Chen, Yaru Wang, Yongxuan Liu, Rong Liaoning Key Laboratory of IC BME System School of Biomedical Engineering Dalian University of Technology Dalian116024 China School of Information Engineering Dalian University Dalian116622 China

The ability of the human body to maintain static standing balance is the basis for other lower limb movements. To compensate for the shortcomings of existing musculoskeletal model control methods in standing balance such as few degrees of freedom, short control time, and low simulation confidence, this paper proposes a method based on proximal policy optimization with reward shaping to achieve the balance task of human-like models. First, a reward function on pelvis velocity and muscle fatigue was defined according to the model features and moving target, and a proximal policy optimization with reward shaping was used to train the controller and finish the expected mission. Then, the kinematic and dynamic data of human static balance were collected, and the effectiveness of the method was verified by calculating and comparing the center of mass, ground reaction force, and joint angle in the agent and subjects. The results show that the agent swaying distance of the center of mass is smaller than the mean value of subjects, which is 0.4 mm and 2.6 mm shorter in the sagittal and coronal planes, respectively;the error between the agent ground reaction force and subjects is less than 0.03;and the joint angle of the agent were all within the range measured by the experiment. The method allows efficient and prolonged control of 3D lower limb musculoskeletal models, providing strong evidence for the feasibility of deep reinforcement learning techniques in synthesizing physiologically accurate movements. © 2023 The Authors. Published by Elsevier B.V.

关键词： Reinforcement learning

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Motion Coupling Analysis for the Decoupled Design of a Two-segment Notched Continuum Robot

Motion Coupling Analysis for the Decoupled Design of a Two-s...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Zeng, Wenhui Yan, Junyan Huang, Xu Cheng, Shing Shin Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Peoples R China Chinese Univ Hong Kong Shun Hing Inst Adv Engn Hong Kong Peoples R China Chinese Univ Hong Kong Multiscale Med Robot Ctr Hong Kong Peoples R China

ISBN: (纸本)9781728190778

Multi-segment continuum robots, that offer inherent compliance and distal dexterity, are suitable for deployment in minimally invasive surgical procedures. Cable-driven mechanism is commonly used in continuum surgical robots but could lead to inter-segment motion coupling in a multi-segment robot. In this paper, we present a coupled mechanics model for a two-segment notched continuum robot to analyze the coupled deflection in the proximal segment due to the distal cable force. The model has been developed for two different conditions in which the proximal segment is initially bent (general condition) and initially straight (special condition). It allows us to introduce a decoupled design methodology that systematically determines a stiffness parameter in each of the segments, based on the desired coupled bending angle and other design requirements. Using the method, we fabricated a decoupled notched continuum robot and evaluated the model accuracy compared with experimental data with mean errors of 0.57 degrees and 0.61 degrees, respectively for general and special conditions throughout the 90 degrees distal segment bending angle. It was also shown in a demonstration in a maxillary sinus phantom that the distal segment was capable of independently perform omnidirectional steering without the proximal segment getting in contact with its surrounding nasal wall.

关键词： Couplings Analytical models Motion segmentation Design methodology Computational modeling Phantoms Nose

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A Review on Text Supervised Learning methods for Classification of IT Ticket and Bugs 2

A Review on Text Supervised Learning Methods for Classificat...

引用

2nd international conference on Artificial Intelligence and Smart Energy, ICAIS 2022

作者： Bajariya, Asha Patel Jaiminee, J. Kalol Institute and Research Center Ahmedabad India Gujarat Technological University Ce Department Gandhinagar India

ISBN: (纸本)9781665400527

Background: The corporate world deals with task management in a variety of ways all having some form of triaging process to correctly assign tickets to developers. automation of this task has proven elusive with less accuracy for Web and SaaS companies that handle high volumes of tickets in the form of exceptions, support requests, user-reported bugs, and crash reports. Purpose: This paper analyzes different Machine Learning and Deep Learning algorithms for predicting assignees for new tickets based on past tickets. The key area of work was to investigate the usefulness of various machine learning (ML) methods to accurately construct mathematical models for predicting bugs and tickets. Method: The paper highlights the important of features Term Frequency Inverse Document Frequency (TF-IDF) and relevant data word rate to ensure high accuracy is obtained by the utilized ML models. Conclusion: In this Review will discuss about Text Supervised Learning methods for IT Ticket and Bugs classification using its pros and cons. Also gives future idea about IT Ticket and Bugs classification. © 2022 IEEE.

关键词： Text processing

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Based on the improved YOLOV8 small target detection algorithm

Based on the improved YOLOV8 small target detection algorith...

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2024 international conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2024

作者： Jia, Libin Gao, Hongwei Wang, Qingyv Jiao, Canguang Sun, Jian School of Automation and Electrical Engineering Shenyang Ligong University Liaoning Shenyang110159 China Institute of International Engineering Shenyang Ligong University Liaoning Shenyang110159 China China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110159 China

ISBN: (纸本)9781510689176

With the rapid development of drone technology, drone-based target detection has become a hot topic in current research. However, existing methods face challenges such as low detection accuracy and poor real-time performance. To address this issue, we propose an improved target detection method named YOLOV8-SNP for application in aerial images. The algorithm combines a more lightweight startnet backbone network to enhance detection speed. Additionally, we utilize the consistent dual assignment strategy(CDAS)method to accelerate post-processing and add a dedicated layer for small targets to improve their accurate detection. Experimental results show that our YOLOV8-SNP improves detection accuracy by 3% compared to YOLOV8 on the Visdrone dataset. © 2025 SPIE.

关键词： Aircraft detection

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Centralized Reliability and Security models for Home-based and Consumer Internet of Things

Centralized Reliability and Security Models for Home-based a...

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international conference on robotics and automation Engineering (ICRAE)

作者： Balachandar S R. Chinnaiyan C. Kalaiarasan Yugabyte Bengaluru Karnataka India VTU-RC MCA CMR Institute of Technology Bengaluru India School of CSE & IS Presidency University Bengaluru India

Consumer IOT is one of the fastest growing market in ICT (Information and Communication Technology) space which needs constant attention on device protection to safeguard the consumers data from cyber security attacks and threat. We elucidated the home IOT security management, framework and different topologies are required to deploy at home. The AI based models are required to predict the Malware (Botnet) attacks with limited consumer IOT resources and this AI based model could deployed along with home automation software or hardware or separately using microcontroller like Raspberry Pi. The local government IOT regulation and privacy act are playing vital role on data collection and data sharing between home IOT and cloud server.

关键词： Space technology Security management Predictive models Reliability engineering Data models Information and communication technology Topology

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AI Integrated Dialogic Alphabet Zone Board for Kids in Pre-childhood Education

AI Integrated Dialogic Alphabet Zone Board for Kids in Pre-c...

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

作者： Asif Mahmud Tahsin Faisal M. Akhtaruzzaman Jamal Uddin Tanvin Sachitra Halder Fahim Shahryer Department of Computer Science and Engineering Military Institute of Science and Technology Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798350357509

ISBN: (纸本)9798350357516

The smart Dialogic Alphabet Zone Board (DAZ-Board) aims to address the issue of learning process for pre-childhood education among the children. It is importance to facilitate a healthy and effective environment for early childhood education in shaping a child’s cognitive development, language acquisition, and literacy skills. Traditional teaching methods often fail to engage young learners effectively, leading to limited understanding and retention. On the other hand, dependencies on mobile devices raise the physical and mental health issues. This study introduces an interactive, auditory, and multisensory game board providing a wonderful and healthy experiences in tailoring the developmental needs of children. The objective of this research is to design and develop an interactive alphabet board with necessary sensors, electronics, and controller modules. Moreover, designing a Machine Learning (ML) model for voice-based alphabet recognition is one of the important contributions of this research. Among the results of different ML models, Naïve Bayes Classifier outperforms the most with accuracy ≈ . %. The proposed system will facilitate the preschoolers to learn in modern and interactive way, while keeping away from being addicted to the mobile devices.

关键词： Pediatrics Visualization Accuracy Scalability Education Games Speech recognition Sensors Smart phones Systematic literature review

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Masked Autoencoder for ECG Representation Learning 12

Masked Autoencoder for ECG Representation Learning

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12th international conference on Information Science and Technology, ICIST 2022

作者： Yang, Shunxiang Lian, Cheng Zeng, Zhigang School of Automation Wuhan University of Technology WuHan China School of Artificial Intelligence and Automation Huazhong University of Science and Technology WuHan China

ISBN: (数字)9781665485821

ISBN: (纸本)9781665485821

In recent years, self-supervised methods have been widely used in representation learning for electrocardiogram (ECG), but most of the existing methods are based on contrastive learning. Contrastive learning methods usually rely on a large number of negative sample pairs and data augmentation. In this paper, we propose a masked autoencoder-based ECG representation learning model. Our approach is to mask the original ECG signal with a high ratio and then use the autoencoder to reconstruct the original ECG signal. To obtain better ECG features, our model not only extracts local features of ECG using multi-scale convolution, but also global features of ECG using transformer. Our model first pre-trains on the ECG datasets and then fine-tunes on each ECG classification task. Experimental results show that our model outperforms the extant SOTA models for self-supervised learning. © 2022 IEEE.

关键词： Electrocardiograms

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On Identifiability and Adaptive Identification of Decentralized Systems

On Identifiability and Adaptive Identification of Decentrali...

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international conference on Control Systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： Nikolay Karabutov Department of Control Problems MIREA - Russian Technological University Moscow Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

The identification problem of decentralized control systems (DCS) is considered. Analysis shows that this problem has not been given sufficient attention. The complexity of systems and a priori uncertainty require the development of approaches and methods. DCS parametric identifiability (PI) requires a solution. We propose an approach to the PI assessment based on the fulfilment of the condition of constant excitation and consider the relationships in the subsystems. PI conditions are obtained. Algorithms for parametric and signal adaptive identification for DS have been synthesized. The exponential dissipativity of the identification system is proved. The influence of interrelations in subsystems is considered on properties of parameter estimates. Examples are given

关键词： Adaptation models Adaptive systems Uncertainty automation Decentralized control Mathematical models Energy efficiency Complexity theory

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automation of Numerals Form Replacement Process

Automation of Numerals Form Replacement Process

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international Russian automation conference (RusAutoCon)

作者： Nikolai V. Smirnov Mikhail A. Kolchin Institute of Mathematics and Information Technologies Petrozavodsk State University Petrozavodsk Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

Text-to-speech systems usually require numbers in text to be written as words rather than digits. the research presented in the paper is aimed at developing an automatic programming solution for replacing a representation of numbers from digit to word form. the study used ordinal and cardinal numbers from texts in the Russian language. Two different approaches for replacement were applied. the first one implies that it is possible to create certain language processing rules that could cover all of the linguistic patterns. Therefore, this solution must take into account prepositions, and the fact that the word form of a numeral depends on many other syntactic constructions. the second one relies on machine learning methods, where sentences with numbers represented by digits are used as inputs. Aside from model training and fine-tuning, this method includes collecting data in the form of sentences in Russian, which contain different kinds of numbers, such as integer and real numbers, ranges, dates and times. the paper shows the results of testing the developed models.

关键词： Training Analytical models Accuracy automation Neural networks Syntactics Linguistics Transformers Data models Testing

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Simulation of motion control of a cylindrical robot manipulator

Simulation of motion control of a cylindrical robot manipula...

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Smart Information Systems and Technologies (SIST), IEEE international conference on

作者： Nursultan Sultanuly Gulmira Bazil Department of Automation and Control Almaty University of Power Engineering and Telecommunications Named After Gumarbek Daukeyev Almaty Kazakhstan

ISBN: (数字)9798350374865

ISBN: (纸本)9798350374872

In this paper, a dynamic model of a cylindrical robot manipulator of RPP (Revolute-Prismatic-Prismatic) type based on classical laws of mechanics including Euler-Newton, Kane and Lagrange approaches is developed and presented. MATLAB robotics Toolbox tools are used to demonstrate and analyze the manipulator working environment. The main model parameters include generalized coordinate vector (q), generalized velocity vector (dt/dq) and generalized acceleration vector (dt2/dq), which provides a comprehensive approach to controlling the robot dynamics. The presented code is characterized by simplicity and high efficiency in the implementation of robot manipulator control. A key feature of the model is the ability to specify user-defined points, which allows real-time tracking and analysis of the manipulator trajectory, ensuring its adaptability and flexibility under different operating conditions.

关键词： Analytical models Visualization Codes Tracking Robot kinematics Dynamics Mathematical models

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