In this paper we present a neural network architecture for learning of robotic grasping tasks. The neural network model allows acquisition of different neural representations of the grasping task through a successive ...
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ISBN:
(纸本)9812835768
In this paper we present a neural network architecture for learning of robotic grasping tasks. The neural network model allows acquisition of different neural representations of the grasping task through a successive learning over two stages in a strategy that uses already learned representations for the acquisition of the subsequent knowledge. Systematic computer simulations have been carried out in order to test learning and generalization capabilities of the system. The proposed model can be used as a high level controller for a robotic dextrous hand during learning and execution of grasping tasks.
In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the ...
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In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the Hammerstein system excitation and the overall Hammerstein system identification problem is decomposed into the linear dynamic control channel subsystem, the corresponding disturbance at linear dynamic control channel subsystem output and input memoryless nonlinearity identification problems. The presented discussion is illustrated by a simulation example showing properties of the presented approach.
We analyse properties of the control system with switchings in parameters. We consider biological model of proteins production in three variants of the model structure: a simple model without any autoregulation, the o...
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We analyse properties of the control system with switchings in parameters. We consider biological model of proteins production in three variants of the model structure: a simple model without any autoregulation, the one with negative feedback loop and one with positive. In the system we introduce an action of drug in order to decrease proteins number. The drug application is considered as a step change of the protein degradation parameter. The aim of this work is to analyse stability of the model.
This paper proposes a novel distributed task allocation method based on improved contract network protocol for collaborative task allocation of reconnaissance and strike tasks on heterogeneous unmanned aerial platform...
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The requirements for data on the surface relief of solid-state materials for the correct study of correlations in their structure are determined. The limitations of methods for studying the surface relief are consider...
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It is possible to obtain an unbiased coefficient estimates of a stable elementary bilinear time-series model by using Saturated Mean Square Error as a cost function of identification algorithm. However, a proper evalu...
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It is possible to obtain an unbiased coefficient estimates of a stable elementary bilinear time-series model by using Saturated Mean Square Error as a cost function of identification algorithm. However, a proper evaluation of Saturation Level is required to ensure correct placement of the global minimum of the cost function therefore, the variance of the original innovation signal is required. Due to lack of this information before the identification run, an approximation procedure is necessary which is proposed in this paper.
Features are very important for high level robot tasks such as localization, mapping, place recognition, or navigation. Line features are useful for man-made environments such as rooms and corridors. There are several...
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ISBN:
(纸本)9780889868625
Features are very important for high level robot tasks such as localization, mapping, place recognition, or navigation. Line features are useful for man-made environments such as rooms and corridors. There are several solutions for extracting multiple lines from range scans. Bottom-up techniques obtain local clusters and then similar clusters are merged;usually, a distance between each pair of current clusters is computed and the closest pair is merged iteratively until a stopping criterion is met. This paper proposes an odds ratio test for deciding when two linear clusters must be merged or not;this test is a good alternative to the classical approaches based on a distance criterion. Experimental results show that the proposed method find reliable lines.
Model checking is a type of automated formal verification that searches a system model's entire state space in order to mathematically prove that the system does or does not meet desired properties. An output of m...
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ISBN:
(纸本)9781424465880
Model checking is a type of automated formal verification that searches a system model's entire state space in order to mathematically prove that the system does or does not meet desired properties. An output of most model checkers is a counterexample: an execution trace illustrating exactly how a specification was violated. In most analysis environments, this output is a list of the model variables and their values at each step in the execution trace. We have developed a language for modeling human task behavior and an automated method which translates instantiated models into a formal system model implemented in the language of the Symbolic Analysis Laboratory (SAL). This allows us to use model checking formal verification to evaluate human-automation interaction. In this paper we present an operational concept and design showing how our task modeling visual notation and system modeling architecture can be exploited to visualize counterexamples produced by SAL. We illustrate the use of our design with a model related to the operation of an automobile with a simple cruise control.
The paper studies two types of fractional opinion formation models with leader: the Hegselmann-Krause and the Cucker-Smale. We aim to design an optimal control strategy for the systems to reach a consensus. A numerica...
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The paper studies two types of fractional opinion formation models with leader: the Hegselmann-Krause and the Cucker-Smale. We aim to design an optimal control strategy for the systems to reach a consensus. A numerical scheme, based on Grünwald-Letnikov approximation of the Caputo fractional derivative, is proposed for solving the fractional optimal control problem. The effectiveness of the proposed control strategy is illustrated by examples.
The article presents a bilateral teleoperation architecture with wave variables that has been applied in a new robotic system for remote medical examination. First we discuss specificity of requirements of the ReMeDi ...
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The article presents a bilateral teleoperation architecture with wave variables that has been applied in a new robotic system for remote medical examination. First we discuss specificity of requirements of the ReMeDi medical system with respect to teleoperation architecture and the process of its selection. Then we discuss implementation issues concerning the architecture. Finally we present evaluation results.
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