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检索条件"任意字段=International Conference on Methods and Models in Automation and Robotics"

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Fleet Size of Multi-Robot Systems for Exploration of Structured Environments

Fleet Size of Multi-Robot Systems for Exploration of Structu...

引用

IEEE/RSJ international conference on Intelligent Robots and Systems (IROS)

作者： Cabrera-Mora, Flavio Xiao, Jizhong Vaughn Coll Aeronaut & Technol Engn & Technol Dept Flushing NY 11369 USA

ISBN: (纸本)9781479969340

The fleet size of a multi-robot system is an important parameter to be considered for real robotics applications since it will determine the cost and the time of execution of any given task. Unfortunately, it is a topic that has received little attention in the robotics literature. The study of the fleet size will allow for the design and implementation of more effective techniques and coordination methods for multi-robot systems. In this paper we study the effects of the fleet size on the time of exploration of a structured environment. We present an analysis that allows us to specify the maximum fleet size that provides the maximum reduction on the exploration time when the structured environment is modeled as a tree. The analysis is applied to the Multi-Robot Depth First Search (MRDFS) algorithm that allows for maximum parallelism when an exploration process starts from a single point. The analysis provides an expression for the average time of exploration of a tree and for the maximum number of robots that produces a significant reduction on the exploration time.

关键词： Algorithm design and analysis Analytical models Mathematical model Multi-robot systems Robot kinematics Vehicles multi-robot systems Algorithm design and analysis Robot kinematics Exploration ANALYSIS models Fleet vehicle Mathematical Model Robot System

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Application of topological derivative to accelerate genetic algorithm in shape optimization for semilinear elliptic equation

Application of topological derivative to accelerate genetic ...

引用

international conference on methods and models in automation and robotics (MMAR)

作者： Katarzyna Szulc Antoni Żochowski Polish Academy of Sciences Systems Research Institute Warsaw

A new variant of the genetic algorithm for finding the location and size of small holes in the domain described by the non-linear boundary value problem is considered. The expansion of the shape functional defined in non-linear domain is provided in order to determine the form of topological derivative. The value of topological derivative is used for computing the probability density applied later to generate location and size of holes by the genetic algorithm.

关键词： Shape Sociology Statistics Genetic algorithms Optimization Vectors Numerical models

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Applications Of Wireless Sensor Networks in Biomedical Research and Healthcare

Applications Of Wireless Sensor Networks in Biomedical Resea...

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2024 international conference on Control and automation, Electronics, robotics, Internet of Things, and Artificial Intelligence, CERIA 2024

作者： Dhanraj, Abhilasha Attar, Bilal Ahmad Sharma, Soumil Kshirsagar, Ujwala Symbiosis Institute of Technology Symbiosis International Pune India

ISBN: (纸本)9798331511166

The introduction of Wireless Sensor Networks (WSNs) has sparked a transformative shift in healthcare, offering answers for real-time affected person monitoring, chronic disorder management, and emergency response. By utilising a community of small, low-electricity sensors, WSNs can reveal physiological parameters and provide continuous remarks, enabling early interventions and improving the high-quality of existence for patients. This paper delves into the applications of WSNs in healthcare, that specialize in Body Area Networks (BANs) and electricity-conscious routing, which decorate the performance of WSN structures. We advocate a methodology for integrating WSNs into current healthcare frameworks, supported via power-green routing algorithms. Through simulations, we reveal the impact of WSNs on patient results, underscoring the capacity of those technology to revolutionize healthcare transport. The paper additionally addresses demanding situations which in- cludes records security, community reliability, and power intake, supplying solutions for his or her mitigation. Our consequences imply great enhancements in information accuracy and gadget performance, laying the basis for destiny studies in power-efficient healthcare technologies. © 2024 IEEE.

关键词： Physiological models

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Novel Two-stage Hybrid IBVS Controller Combining Cartesian and Polar based methods 12

Novel Two-stage Hybrid IBVS Controller Combining Cartesian a...

引用

IEEE international conference on Mechatronics & automation

作者： Ye, Guoqiang Li, Weiguang Wan, Hao Lou, Huidong South China Univ Technol Sch Mech & Automot Engn Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781479970988

in this paper, we address the issue of two-stage visual servoing using pure 2D visual data. For robotics visual control, Imaged based visual servoing(IBVS) is considered more efficient and robust. Classical IBVS system is usually defined in the Cartesian coordinate space as image points. It is known that classical IBVS may cause unexpected camera movements for cases involve large rotation motion around optical axis, while IBVS based on polar coordinate can overcome this problem. We made a further study on polar-based IBVS control, and proposed a two-stage strategy combining both basic IBVS methods. Based on task decomposition using information from homography, we designed a novel two-stage controller considering strengths of both basic IBVS systems. Simulations are taken to compare with the basic IBVS methods. Finally, the results are presented to illustrate the effectiveness and optimal performance of the proposed method.

关键词： visual servoing polar-based IBVS two-stage strategy homography

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Fast construction of speech recognition model based on sample selection strategy

Fast construction of speech recognition model based on sampl...

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IEEE international conference on automation and Logistics

作者： Pan, Xiuqin Zhao, Yue Cao, Yongcun Department of Automation Minzu University of China Beijing 100081 China

ISBN: (纸本)9781424483754

In the process of building speech recognition models, accurate labeling of speech utterances is extremely time consuming and requires trained linguists. For fast building the speech recognition models in some industrial applications, we present a novel sample selection strategy that can use very few labeled speech utterances to construct the effective recognition model. The experimental results show that our approach has better performance than state-of-the-art methods and passive learning, and has enough robust to be accepted in the worse case of building speech recognition models. © 2010 IEEE.

关键词： Speech recognition

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A distributed multi-robot adaptive sampling scheme for complex field estimation

A distributed multi-robot adaptive sampling scheme for compl...

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11th international conference on Control, automation, robotics and Vision, ICARCV 2010

作者： Mysorewala, Muhammad F. Cheded, Lahouari Baig, Mirza Salman Popa, Dan O. Systems Engineering Department King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX United States

ISBN: (纸本)9781424478132

Monitoring widespread environmental fields is a complex task that is of great use in many areas, such as building models of natural phenomenon: e.g. moisture in a crop field, oil reservoirs, etc. A successful monitoring of such spatio-temporally distributed fields hinges upon the use of wireless sensor networks which, through their distributed nature, allow for an effective adaptive sampling procedure to gather the statistical information necessary for field density estimation. The adaptive nature of the sampling procedure used embodies a strategy which selects the next sampling location based on the gathered statistical information, and which evolves with past measurements. This paper presents a novel distributed multi-robot "Adaptive sampling algorithm", which is an extension of the algorithm proposed earlier for complex field estimation using a single-robot only. New formulations of sensor fusion in a centralized, decentralized, federated-decentralized, and distributed sensor network are presented for field density estimation, and not just cloud boundary determination. A comparison of the various computational loads involved is included. Simulation results show that adding an efficient partitioning of the sampling area and parallel multi-robot sampling improves the field reconstruction time. With N robots, more than an N-fold reduction in the number of sampling times is observed. The federated and distributed scheme also leads to an improved communication and computational efficiency. ©2010 IEEE.

关键词： Computational efficiency

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A Modular Simulation Platform for Training Robots via Deep Reinforcement Learning and Multibody Dynamics 2019

A Modular Simulation Platform for Training Robots via Deep R...

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3rd international conference on automation, Control and Robots (ICACR)

作者： Benatti, Simone Tasora, Alessandro Fusai, Dario Mangoni, Dario Univ Parma Dept Engn & Architecture Parco Area Sci 181-A Parma Italy

ISBN: (纸本)9781450372886

In this work we focus on the role of Multibody Simulation in creating Reinforcement Learning virtual environments for robotic manipulation, showing a versatile, efficient and open source toolchain to create directly from CAD models. Using the Chrono::Solidworks plugin we are able to create robotic environments in the 3D CAD software Solidworks (R) and later convert them into PyChrono models (PyChrono is an open source Python module for multibody simulation). In addition, we demonstrate how collision detection can be made more efficient by introducing a limited number of contact primitives instead of performing collision detection and evaluation on complex 3D meshes, still reaching a policy able to avoid unwanted collisions. We tested this approach on a 6DOF robot Comau Racer3: the robot, together with a 2 fingers gripper (Hand-E by Robotiq) was modelled using Solidworks (R), imported as a PyChrono model and then a NN was trained in simulation to control its motor torques to reach a target position. To demonstrate the versatility of this toolchain we also repeated the same procedure to model and then train the ABB IRB 120 robotic arm.

关键词： Physical Simulation Multibody Simulation Reinforcement Learning Deep Learning Neural Networks robotics Control

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Using adaline neural networks for compensation of structured uncertainty in manipulators

Using adaline neural networks for compensation of structured...

引用

1992 IEEE/RSJ international conference on Intelligent Robots and Systems, IROS 1992

作者： Kuan, A. Bavarian, B. Department of Electrical and Computer Engineering University of California California Irvine IrvineCA92717 United States

ISBN: (纸本)0780307372

This paper proposes a Neural Network Adaptive Compensator augmented Computed Torque architecture for manipulator control. The scheme has been developed such that parameter estimate errors can be learned. The proposed Neural Network Adaptive Compensator is implemented by Adaline artiflcial neural networks. A specific weight adaptation law is derived based on the Lyapunov method. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Lyapunov methods

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Sampling-based approximate optimal temporal logic planning

Sampling-based approximate optimal temporal logic planning

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2017 IEEE international conference on robotics and automation, ICRA 2017

作者： Li, Lening Fu, Jie Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States Robotics Engineering Program Department of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States

ISBN: (纸本)9781509046331

In this paper, we propose a sampling-based policy iteration for optimal planning under temporal logic constraints. The method integrates approximate optimal control, importance sampling, and formal methods. For a subclass of linear temporal logic, the planning problem is transformed to an optimal control problem for a hybrid system where discrete transitions are triggered by linear time events in temporal logic. Instead of solving the Hamilton-Jacobi-Bellman equation, we use policy function approximation to reduce the problem into a search of an optimal weight vector that parametrizes the near-optimal policy for given bases. Then, we incorporate Model Reference Adaptive Search - an importance sampling-based optimization algorithm to perform a sample-efficient search within the parameter space of policy function approximations. Facing the discontinuity in cost function introduced by temporal logic constraints and system dynamics, we introduce 1) a rank function in formal logic specifications to enable sample-efficient search;2) specification-guided basis selection. Under mild technical assumptions, the proposed algorithm converges, with probability one, to a global approximate optimal policy that ensures the satisfaction of temporal logic constraints. The correctness and efficiency of the method are demonstrated through numerical experiments including temporal logic planning for a linear system and a nonlinear mobile robot. © 2017 IEEE.

关键词： Temporal logic

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An Error-In-Variables (EIV) based Bayesian Probabilistic Approach to Estimating Cell Mechanical Properties Using Atomic Force Microscopy

An Error-In-Variables (EIV) based Bayesian Probabilistic App...

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4th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics (BioRob) / Symposium on Surgical robotics

作者： Roy, Rajarshi Li, Lei Keefer, Carol Desai, Jaydev P. Univ Maryland Robot Automat & Med Syst RAMS College Pk MD 20742 USA Univ Maryland Dept Anim & Avian Sci College Pk MD 20742 USA

ISBN: (纸本)9781457712005

Contact mode Atomic Force Microscopy (AFM) is popularly used by the biophysics community to study mechanical properties of cells and tissue due to its ability to quantify biological processes like disease proliferation and stem cell differentiation. While AFM indentation experiments are relatively straightforward, interpretation of the AFM data is subject to some debate. Three factors make the AFM force data prone to incorrect interpretation, namely, the appropriate contact model to use to fit the post-contact AFM data, identifying the point when the AFM probe contacts the cell, and variability in the stiffness of the probe used to estimate material properties of cells. A lot of research has been directed towards developing constitutive models based on sample material property assumptions, however, variability in the AFM probe stiffness and contact point uncertainty has received limited attention. This suggests the need to have an integrated probabilistic model to estimate mechanical properties from the AFM force data which can account for errors contributed from these two sources. In this work, we have developed an Error-In-Variables (EIV) based Bayesian Changepoint model to estimate the contact point and the Young's Modulus from AFM force curves on fixed mouse Embryonic Stem cells (mESC) in the indentation range of 1-1.5 mu m. Our results indicate that the EIV-based Bayesian Approach can be used to obtain robust estimates of material properties of biomaterials.

关键词： Atomic Force Microscopy Material properties atomic force microscopy data Mechanical properties Bayes methods Elastic Modulus Cells Constitutive models Stem Cell Differentiation Point contacts Bayesian inference Contact Information

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