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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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18th international conference on Informatics in Control, automation and robotics, ICINCO 2021

18th International Conference on Informatics in Control, Aut...

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18th international conference on Informatics in Control, automation and robotics, ICINCO 2021

ISBN: (纸本)9783031264733

The proceedings contain 10 papers. The special focus in this conference is on Informatics in Control, automation and robotics. The topics include: Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection;output Feedback Reference Tracking and Disturbance Rejection for Constrained Linear Systems Using Invariant Sets;output-Feedback Model Predictive Control Using Set of State Estimates;prediction of Overdispersed Count Data Using Real-Time Cluster-Based Discretization of Explanatory Variables;preface;approximation methods and Reference Values for Maximum Allowed Collaborative Operating Speeds in Quasi-Static and Transient Contact Cases;model-Based Optimization of Vaccination Strategies in Different Phases of Pandemic Virus Spread;Toward Real-Time Multi-objective Optimization for Bus Service KPIs.

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A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function 39

A Memory-based SO(3) Parameterization: Theory and Applicatio...

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IEEE international conference on robotics and automation (ICRA)

作者： Jeong, Jinyeong Mishra, Hrishik Ott, Christian Kim, Min Jun Korea Adv Inst Sci & Technol Intelligent Robot Syst Lab Daejeon South Korea Inst Robot & Mech German Aerosp Ctr DLR Wessling Germany

ISBN: (纸本)9781728196817

This paper proposes a parameterization method to represent SO(3) over multiple turns. This method is called a memory-based parameterization, because the idea is to integrate the past trajectory of exponential coordinates. The parameterization is consistent in the sense that the true rotation matrix can be reconstructed by using the exponential map. As an application of the proposed method, a 6D impedance controller is designed with a radially unbounded potential function. Consequently, in contrast to the conventional methods, an arbitrarily large angular deflection can be accommodated, resulting in a more realistic impedance behavior. The proposed schemes are validated through simulations and experiments.

关键词： automation Aerospace electronics Trajectory Behavioral sciences Impedance

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From models to Interfaces: Leveraging the Two-Hemisphere Model for Automated UI Generation 65

From Models to Interfaces: Leveraging the Two-Hemisphere Mod...

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65th international Scientific conference on Information Technology and Management Science

作者： Babris, Kristaps Nikiforova, Oksana Riga Tech Univ Fac Comp Sci Informat Technol & Energy Riga Latvia

ISBN: (纸本)9798331533847;9798331533830

In the evolution of software engineering, significant focus has been directed toward automating various stages of software product development, encompassing everything from documentation creation to the generation of startup and installation scripts. The automation of user interface element generation has consistently been a key area of research. Despite the existence of numerous solutions aimed at supporting the automation of various processes and components, the lack of widely adopted methods and tools for user interface generation indicates that this challenge remains unresolved. This paper proposes a solution for web application user interface prototype generation based on the Two-hemisphere model, which represents problem domain scenarios for the application to be generated and the preliminary data structures.

关键词： user interface code generation model transformation two-hemisphere model

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Corporate Carbon Emission Prediction Based on Multi-Source Data Fusion 4

Corporate Carbon Emission Prediction Based on Multi-Source D...

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4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Shen, Jiaguan Fu, Xinyue Guo, Weiyu Central University of Finance and Economics School of Information Beijing China Central University of Finance and Economics School of Finance Beijing China

ISBN: (纸本)9798331531225

Accurate forecasting of corporate carbon emissions is imperative for investors, policymakers, and the global environmental agenda. Traditional methods, primarily leveraging structured data, often fail to capture the nuanced, influential factors pertinent to corporate emissions. This paper introduces a new pathway that integrates multi-source data to construct diverse machine learning models for enhanced prediction. We implemented a semi-supervised machine learning framework to analyze CSR reports from Chinese A-share companies, extracting textual features through a specially developed Corporate Green Action Index (CGAI). We conduct a comparative analysis of carbon emissions prediction using five machine learning models. The experimental results show that the fusion of numerical and textual data provides a new prediction accuracy and climate risk assessment model, and the prediction accuracy is significantly improved compared with traditional models. © 2024 IEEE.

关键词： Prediction models

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Failure Modeling of Industrial Electric Motors Using Unsupervised Learning methods 28th

Failure Modeling of Industrial Electric Motors Using Unsuper...

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2024 international conference automation

作者： Lutska, Nataliia Zaiets, Nataliia Vlasenko, Lidiia Natl Univ Food Technol UA-01033 Kyiv Ukraine Natl Univ Life & Environm Sci Ukraine UA-03041 Kyiv Ukraine State Natl Univ Trade & Econ UA-02156 Kyiv Ukraine

ISBN: (纸本)9783031782657;9783031782664

The task of detecting breakdowns helps to improve the reliability of industrial devices through early identification of problems and their timely resolution, which helps to improve the resource and energy efficiency of production as a whole. When modeling breakdowns of industrial electric motors, the following characteristics are primarily taken into account: average load, rotational frequency, power supply voltage, current consumption, leakage current, collected from data from a traditional automated control system and breakdown logs of repair teams of an industrial enterprise. The model for detecting reliability and breakdowns of electric motors in the work is built on an anomaly detection algorithm using unsupervised machine learning methods. Its effectiveness has been successfully tested using many evaluation metrics. It can be used for a range of tasks and applications in equipment management and maintenance, visualization, forecasting and management decision support.

关键词： unsupervised learning Gaussian Mixture Model motor modelling breakdown reliability

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Integrating Point and Line Features for Visual-Inertial Initialization 39

Integrating Point and Line Features for Visual-Inertial Init...

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IEEE international conference on robotics and automation (ICRA)

作者： Liu, Hong Qiu, Junyin Huang, Weibo Peking Univ Shenzhen Grad Sch Key Lab Machine Percept Beijing Peoples R China

ISBN: (纸本)9781728196817

Accurate and robust initialization is crucial in visual-inertial system, which significantly affects the localization accuracy. Most of the existing feature-based initialization methods rely on point features to estimate initial parameters. However, the performance of these methods often decreases in real scene, as point features are unstable and may be discontinuously observed especially in low textured environments. By contrast, line features, providing richer geometrical information than points, are also very common in man-made buildings. Thereby, in this paper, we propose a novel visual-inertial initialization method integrating both point and line features. Specifically, a closed-form method of line features is presented for initialization, which is combined with point-based method to build an integrated linear system. Parameters including initial velocity, gravity, point depth and line's endpoints depth can be jointly solved out. Furthermore, to refine these parameters, a global optimization method is proposed, which consists of two novel nonlinear least squares problems for respective points and lines. Both gravity magnitude and gyroscope bias are considered in refinement. Extensive experimental results on both simulated and public datasets show that integrating point and line features in initialization stage can achieve higher accuracy and better robustness compared with pure point-based methods.

关键词： Linear systems Location awareness Closed-form solutions automation Buildings Optimization methods Robustness

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Comparative Analysis of Listwise Reranking with Large Language models in Limited-Resource Language Contexts 4

Comparative Analysis of Listwise Reranking with Large Langua...

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4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Shen, Yanxin Wang, Lun Shi, Chuanqi Du, Shaoshuai Tao, Yiyi Shen, Yixian Zhang, Hang Simon Fraser University Canada Duke University NC United States University of California San Diego CA United States University of Amsterdam Amsterdam Netherlands Johns Hopkins University MD United States

ISBN: (纸本)9798331531225

Large Language models (LLMs) have demonstrated significant effectiveness across various NLP tasks, including text ranking. This study assesses the performance of large language models (LLMs) in listwise reranking for limited-resource African languages. We compare proprietary models RankGPT3.5, Rank4o-mini, RankGPTo1-mini and RankClaude-sonnet in cross-lingual contexts. Results indicate that these LLMs significantly outperform traditional baseline methods such as BM25-DT in most evaluation metrics, particularly in nDCG@10 and MRR@100. These findings highlight the potential of LLMs in enhancing reranking tasks for low-resource languages and offer insights into cost-effective solutions. © 2024 IEEE.

关键词： Machine translation

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Optimizing Camera Placements for Overlapped Coverage with 3D Camera Projections 39

Optimizing Camera Placements for Overlapped Coverage with 3D...

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IEEE international conference on robotics and automation (ICRA)

作者： Malhotra, Akshay Singh, Dhananjay Dadlani, Tushar Morales, Luis Yoichi InterDigital Comm Wilmington DE 19809 USA Stand Cognit San Francisco CA USA Walmart Bentonville AK USA

ISBN: (纸本)9781728196817

This paper proposes a method to compute camera 6 DoF poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a larger pool of possible camera poses. We propose to minimize the squared error between the desired and the achieved coverage, and formulate the non-linear cost function as a mixed integer linear programming problem. A camera lens model is utilized to project the camera's view on a 3D voxel map to compute a coverage score which makes the optimization problem in real environments tractable. Experimental results in two real retail store environments demonstrate the better performance of the proposed formulation in terms of coverage and overlap for triangulation compared to existing methods.

关键词： Solid modeling Three-dimensional displays automation Computational modeling Robot vision systems Cameras Cost function

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A LLM-Based Robot Partner with Multi-modal Emotion Recognition 17th

A LLM-Based Robot Partner with Multi-modal Emotion Recogniti...

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17th international conference on Intelligent robotics and Applications

作者： Jiang, Yutong Shao, Shuai Dai, Yaping Hirota, Kaoru Beijing Inst Technol Beijing 100081 Peoples R China

ISBN: (纸本)9789819607853;9789819607860

The integration of Large Language models (LLMs) with robotic systems has opened new avenues for the development of empathetic and interactive robot partners. This paper introduces a service robot system that incorporates multi-modal emotion recognition and LLM-based emotion dialogue generation. The system captures user emotions through a tri-modal emotion recognition model (TriMER), which processes audio, text, and facial expressions using advanced techniques like BiLSTM, CNN, and Deformable Convolutional Networks (DCN). Experiments conducted using the IEMOCAP dataset show that our TriMER model achieves an accuracy of 74.15% in recognizing emotions. By combining emotion recognition with LLM, the robot can better understand and respond to human emotions, facilitating more natural and empathetic interactions. This development holds promise for applications in elder care, aiming to enhance both physical and mental well-being.

关键词： Robot Partners Multi-modal Emotion Recognition Large Language models Human-Robot Interaction

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EDPLVO: Efficient Direct Point-Line Visual Odometry 39

EDPLVO: Efficient Direct Point-Line Visual Odometry

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IEEE international conference on robotics and automation (ICRA)

作者： Zhou, Lipu Huang, Guoquan Mao, Yinian Wang, Shengze Kaess, Michael Meituan 7 Rongda Rd Beijing 100012 Peoples R China Univ N Carolina Dept Comp Sci Chapel Hill NC 27599 USA Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA

ISBN: (纸本)9781728196817

This paper introduces an efficient direct visual odometry (VO) algorithm using points and lines. Pixels on lines are generally adopted in direct methods. However, the original photometric error is only defined for points. It seems difficult to extend it to lines. In previous works, the collinear constraints for points on lines are either ignored [1] or introduce heavy computational load into the resulting optimization system [2]. This paper extends the photometric error for lines. We prove that the 3D points of the points on a 2D line are determined by the inverse depths of the endpoints of the 2D line, and derive a closed-form solution for this problem. This property can significantly reduce the number of variables to speed up the optimization, and can make the collinear constraint exactly satisfied. Furthermore, we introduce a twostep method to further accelerate the optimization, and prove the convergence of this method. The experimental results show that our algorithm outperforms the state-of-the-art direct VO algorithms.

关键词： Three-dimensional displays Closed-form solutions automation Optimization methods Optimization Visual odometry Convergence

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