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

共 24967 条记录，以下是781-790 订阅

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Simulated Annealing-based Energy Efficient Route Planning for Urban Service Robots 26

Simulated Annealing-based Energy Efficient Route Planning fo...

引用

26th international conference on methods and models in automation and robotics

作者： Braeutigam, Jacob Gupta, Abhishek Goehlich, Dietmar Tech Univ Berlin Fac Elect Engn & Comp Sci Berlin Germany Tech Univ Berlin Fac Methods Prod Dev & Mechatron Berlin Germany

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Product development and operational methods of autonomous robot MURMEL (Mobiler Urbaner Roboter zur MullEimer Leerung) for smart waste management focuses on all three aspects of sustainability. The robot autonomously empties the dustbins on the streets of Berlin, and concentrates on social sustainability by reducing the impact on the health of the workers. As one of the approaches towards efficient ecological and economical sustainability, MURMEL has its own route planning method delivered from an operation management model. For the operation management, the dustbins are allocated waypoints to the robot. In this paper, a cost function considering energy consumption is optimized in order to improve the robot's global route planning. By conducting numerous experiments with varying algorithm parameter values, the specific weightage of route permutation operators and the initial temperature for a simulated annealing method with nearest neighbour approach was narrowed down to a well-performing set. For an implementation in an actual existing park in Berlin for operation scenario, our simulation results show an average overall reduction of 11% energy consumption as compared to results from a nearest neighbour heuristic.

关键词： Urban service robots Robot-operation management model Robot route planning Simulated annealing Autonomous sustainable waste management model

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AutoDW: Automatic Data Wrangling Leveraging Large Language models 24

AutoDW: Automatic Data Wrangling Leveraging Large Language M...

引用

39th ACM/IEEE international conference on Automated Software Engineering (ASE)

作者： Liu, Lei Hasegawa, So Sampat, Shailaja Keyur Xenochristou, Maria Chen, Wei-Peng Kato, Takashi Kakibuchi, Taisei Asai, Tatsuya Fujitsu Res Amer Inc Santa Clara CA 95054 USA Fujitsu Res Kawasaki Kanagawa Japan

ISBN: (数字)9798400712487

ISBN: (纸本)9798400712487

Data wrangling is a critical yet often labor-intensive process, essential for transforming raw data into formats suitable for downstream tasks such as machine learning or data analysis. Traditional data wrangling methods can be time-consuming, resource-intensive, and prone to errors, limiting the efficiency and effectiveness of subsequent downstream tasks. In this paper, we introduce AutoDW: an end-to-end solution for automatic data wrangling that leverages the power of Large Language models (LLMs) to enhance automation and intelligence in data preparation. AutoDW distinguishes itself through several innovative features, including comprehensive automation that minimizes human intervention, the integration of LLMs to enable advanced data processing capabilities, and the generation of source code for the entire wrangling process, ensuring transparency and reproducibility. These advancements position AutoDW as a superior alternative to existing data wrangling tools, offering significant improvements in efficiency, accuracy, and flexibility. Through detailed performance evaluations, we demonstrate the effectiveness of AutoDW for data wrangling. We also discuss our experience and lessons learned from the industrial deployment of AutoDW, showcasing its potential to transform the landscape of automated data preparation.

关键词： Data Wrangling Machine Learning Large Language models

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methods of Reduction of Fuel Consumption Measurement Error by Thermo-Anemometric Flow Meter 28th

Methods of Reduction of Fuel Consumption Measurement Error b...

引用

2024 international conference automation

作者： Ilchenko, Andrii Korobiichuk, Igor Polissya Natl Univ Agr Engn & Tech Serv Dept Zhytomyr Ukraine Lukasiewicz Res Network Ind Res Inst Automat & Me Warsaw Poland

ISBN: (纸本)9783031782657;9783031782664

It was analyzed the ways of influence on the indexes of radial heat flow in thermo-anemometric flow meter that will influence the indexes of axial heat flow, will make them more informative and this, in its turn, will affect the consumption measurement error. It was formulated the condition of selecting the temperatures distribution with the minimal measurement error for multi-sectional flow meter, it can be obtained by the indexes of thermal transformers of the very pipe of multi-sectional thermo-anemometric flow meter, where the maximal total temperatures difference between all the neighboring thermal transformers was measured. Expanding the range of fuel consumption measurement by the thermo-anemometric flow meter was suggested due to the application of sequentially axially installed sections with different diameters.

关键词： measurement error internal combustion engine fuel consumption thermo-anemometric flow meter temperature distribution hot wire

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Optimal sensor selection for prediction-based iterative learning control of distributed parameter systems 17

Optimal sensor selection for prediction-based iterative lear...

引用

17th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Patan, Maciej Klimkowicz, Kamil Patan, Krzysztof Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland Univ Zielona Gora Inst Control Elect & Elect Engn Zielona Gora Poland

ISBN: (纸本)9781665476874

The purpose of this study is to develop an effective computational scheme to solve the optimal tracking control problem for repeated trials in distributed parameter system where quantity under control cannot be observed directly. In such situations, the reliability of model predictions is of crucial importance as the ultimate objective in model-based control becomes the accurate forecast of the system states. Particularly, given a finite number of possible spatial locations at which sensors may reside, we select gaged sites so as to maximize the prediction accuracy. For that purpose, a suitable output criterion is proposed as a measure of the prediction quality, then the sensor selection problem is formulated in terms of optimization task and effecively solved with dedicated algorithm. The optimal measurement schedule is further incorporated into the iterative learning control scheme for effective solution of the underlying tracking control problem for the friction welding process.

关键词： Iterative methods

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On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing 39

On the Feasibility of Learning Finger-gaiting In-hand Manipu...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Khandate, Gagan Haas-Heger, Maximilian Ciocarlie, Matei Columbia Univ Dept Comp Sci New York NY 10027 USA Columbia Univ Dept Mech Engn New York NY 10027 USA

ISBN: (纸本)9781728196817

Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-orientation of objects. However, achieving these gaits with arbitrary orientations of the hand is challenging due to the unstable nature of the task. In this work, we use model-free reinforcement learning (RL) to learn finger-gaiting only via precision grasps and demonstrate finger-gaiting for rotation about an axis using only on-board proprioceptive and tactile feedback. To tackle the inherent instability of precision grasping, we propose the use of initial state distributions that enable effective exploration of the state space. Our method can learn finger gaiting with better sample complexity than the state-of-the-art. The policies we obtain are robust to noise and perturbations, and transfer to novel objects. Videos can be found at https://***/learnfg/

关键词： Training Perturbation methods Force Tactile sensors Grasping Reinforcement learning Sensors

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Simulation and Fabrication of Soft Robots with Embedded Skeletons 39

Simulation and Fabrication of Soft Robots with Embedded Skel...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Bern, James M. Zargarbashi, Fatemeh Zhang, Annan Hughes, Josie Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA Ecole Polytech Fed Lausanne Computat Robot Design & Fabricat Lab Lausanne Switzerland

ISBN: (纸本)9781728196817

Soft robots can be incredibly robust and safe but typically fail to match the strength and precision of rigid robots. This dichotomy between soft and rigid is recently starting to break down, with emerging research interest in hybrid soft-rigid robots. In this work, we draw inspiration from Nature, which achieves the best of both worlds by coupling soft and rigid tissues-like muscle and bone-to produce biological systems capable of both robustness and strength. We present foundational, general-purpose pipelines to simulate and fabricate cable-driven soft-rigid robots with embedded skeletons. We show that robots built using these methods can fluidly mimic biological systems while achieving greater force output and external load resistance than purely soft robots. Finally, we show how our simulation and fabrication pipelines can be leveraged to create more complex robots and do model-based control.

关键词： Fabrication Biological system modeling Pipelines Force Biological systems Soft robotics Muscles

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Looking for Trouble: Informative Planning for Safe Trajectories with Occlusions 39

Looking for Trouble: Informative Planning for Safe Trajector...

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IEEE international conference on robotics and automation (ICRA)

作者： Gilhuly, Barry Sadeghi, Armin Yedmellat, Peyman Rezaee, Kasra Smith, Stephen L. Univ Waterloo Dept Elect & Comp Engn Waterloo ON Canada Huawei Technol Noahs Arc Lab Burnaby BC Canada

ISBN: (纸本)9781728196817

Planning a safe trajectory for an ego vehicle through an environment with occluded regions is a challenging task. Existing methods use some combination of metrics to evaluate a trajectory, either taking a worst case view or allowing for some probabilistic estimate, to eliminate or minimize the risk of collision respectively. Typically, these approaches assume occluded regions of the environment are unsafe and must be avoided, resulting in overly conservative trajectories-particularly when there are no hidden risks present. We propose a local trajectory planning algorithm which generates safe trajectories that maximize observations on uncertain regions. In particular, we seek to gain information on occluded areas that are most likely to pose a risk to the ego vehicle on its future path. Calculating the information gain is a computationally complex problem;our method approximates the maximum information gain and results in vehicle motion that remains safe but is less conservative than state-of-the-art approaches. We evaluate the performance of the proposed method within the CARLA simulator in different scenarios.

关键词： Measurement automation Trajectory planning Probabilistic logic Approximation algorithms Trajectory Planning

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Comprehensive Review of Intelligent Modeling and Control of Smart Building 18

Comprehensive Review of Intelligent Modeling and Control of ...

引用

IEEE 18th international conference on automation Science and Engineering (IEEE CASE)

作者： Peredo, Diego Yu, Wen CINVESTAV IPN Dept Control Automat Natl Polytech Inst Av IPN 2508 Mexico City 07360 DF Mexico

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

In this paper, recent intelligent methods to modeling and control of smart buildings in the sense of continuous control theory, such as refrigeration, ventilation and air conditioning systems are reviewed. The models are subdivided into physics-based models, data-driven models, and gray-box models, with more emphasis given to data-driven models. A complete study of the control methods is made. These are divided into conventional control methods, intelligent control methods, and mixed control methods.

关键词： Air conditioning Smart buildings HVAC Computer aided software engineering automation Atmospheric modeling Ventilation

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Proof automation with Large Language models 24

Proof Automation with Large Language Models

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39th ACM/IEEE international conference on Automated Software Engineering (ASE)

作者： Lu, Minghai Delaware, Benjamin Zhang, Tianyi Purdue Univ W Lafayette IN 47907 USA

ISBN: (数字)9798400712487

ISBN: (纸本)9798400712487

Interactive theorem provers such as Coq are powerful tools to formally guarantee the correctness of software. However, using these tools requires significant manual effort and expertise. While Large Language models (LLMs) have shown promise in automatically generating informal proofs in natural language, they are less effective at generating formal proofs in interactive theorem provers. In this paper, we conduct a formative study to identify common mistakes made by LLMs when asked to generate formal proofs. By analyzing 520 proof generation errors made by GPT-3.5, we found that GPT-3.5 often identified the correct high-level structure of a proof, but struggled to get the lower-level details correct. Based on this insight, we propose PALM, a novel generate-then-repair approach that first prompts an LLM to generate an initial proof and then leverages targeted symbolic methods to iteratively repair low-level problems. We evaluate PALM on a large dataset that includes more than 10K theorems. Our results show that PALM significantly outperforms other state-of-the-art approaches, successfully proving 76.6% to 180.4% more theorems. Moreover, PALM proves 1270 theorems beyond the reach of existing approaches. We also demonstrate the generalizability of PALM across different LLMs.

关键词： Backtracking automation Large language models Natural languages Manuals Maintenance engineering Software Software engineering

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Single Underwater Image Enhancement via Contrast Stretching and Fusion 13

Single Underwater Image Enhancement via Contrast Stretching ...

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13th IEEE international conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2023

作者： Wen-Bo, Xu Xin-Hui, Zheng Qi-Yan, Tian Qi-Feng, Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350315196

In this paper, a novel single underwater image enhancement method is proposed to address color distortion, poor contrast and detail blur in underwater degraded images. First, the two attenuation channels of underwater degraded images are color compensated in the RGB color space. Then, the improved White Patch hypothesis is used to implement color correction. Moreover, contrast stretching and detail preservation of color-corrected images are carried out in the Lab color space. Finally, the two images and the weights defined are fused to obtain the final image at multiple scales. The experiment shows that the proposed method can effectively improve color distortion, enhance contrast and reduce blur in multiple underwater scenes, which is superior to existing methods. © 2023 IEEE.

关键词： Image enhancement

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