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Sensorimotor Coordinated Multi-UAV Coverage Path Planning 33

Sensorimotor Coordinated Multi-UAV Coverage Path Planning

引用

33rd IEEE international conference on Robot and Human Interactive Communication (IEEE RO-MAN) - Embracing Human-Centered HRI

作者： Liu, Siyuan Fang, Hongyu Deng, Ziyang Luo, Dingsheng Peking Univ Sch Intelligence Sci & Technol Natl Key Lab Gen Artificial Intelligence Key Lab Machine PerceptMoE Beijing 100871 Peoples R China

ISBN: (纸本)9798350375039;9798350375022

We propose a novel on-line multi-UAV coverage path planning method for 3D reconstruction. UAVs play homogeneous roles in most existing multi-UAV path planning methods, where their flexibility is not fully exploited. The fact that UAVs can explore with different missions and strategies at different heights simultaneously is not well considered. Therefore, we give UAVs different identities by presenting a global-local pattern, where global UAV locates the interesting regions while local UAV explores these regions in succession. Leveraging the mechanism of sensorimotor coordination, our strategy adjusts the paths of local UAV on-line according to the input from global UAV in order to gather more information and save time. In addition, our method is compatible with real-time SLAM systems. Simulation shows that our strategy takes less time than other strategies based on area-division, and indicates that it gathers more information for better reconstruction.

关键词： Motion planning

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Introduction of A Row-Skip pattern in Complete Coverage Path Planning for Agricultural Fields 9

Introduction of A Row-Skip Pattern in Complete Coverage Path...

引用

9th international conference on Automation, robotics and Applications (ICARA)

作者： Arab, Danial Pour Spisser, Matthias Essert, Caroline Univ Strasbourg ICube CNRS UMR 7357 Strasbourg France T&S Technol & Strategy InnoLab Strasbourg France

ISBN: (纸本)9781665489218

Over the past two decades, an evolutionary effort has been established in the agricultural sector to develop efficient autonomous systems that can carry out common infield operations including harvesting, mowing, and spraying. Increasing production while decreasing costs and environmental damages is one of the main objectives for these autonomous systems. Due to the nature of these tasks, complete coverage path planning techniques are crucial to determining the best path that covers the entire field while accounting for terrain characteristics, operational needs, and robot properties. In this study, we propose a novel complete coverage path planning approach to define the ideal path for a wheeled robot across an agricultural field. To identify all feasible solutions satisfying a set of predefined constraints, a method based on tree exploration is first proposed that examines row-skip patterns. Second, the most optimal solution is selected by a selection method. Maximizing the covered area while minimizing overlaps, non-working path length, number of turns containing reverse moves, and overall travel time are the objectives of the selection method. We showed on 6 real-world fields geometries that the row skip approach offered benefits in terms of reduction of the required headland size, and often helped decreasing the number of necessary reverse moves and the overlaps, while increasing the covered area.

关键词： Complete Coverage Path Planning Precision Agriculture Autonomous Agriculture Vehicle Routing Problem Wheeled robots Path Planning Route Planning

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Mechanical intelligence for Prehensile In-Hand Manipulation of Spatial Trajectories

Mechanical Intelligence for Prehensile In-Hand Manipulation ...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Lu, Qiujie Gan, Zhongxue Wang, Xinran Bai, Guochao Zhang, Zhuang Rojas, Nicolas Fudan Univ Acad Engn & Technol Shanghai 200433 Peoples R China Imperial Coll London Dyson Sch Design Engn REDS Lab 25 Exhibit Rd London SW7 2DB England ChangingTek Ltd Wangjing Sci Technol Innovat Pk Beijing 100102 Peoples R China Westlake Univ Sch Engn Hangzhou 310030 Zhejiang Peoples R China

ISBN: (纸本)9798350323658

The application of mechanical and other physical properties to the development of robotic systems that can easily adapt to changing external situations is known as mechanical intelligence. Following this concept, many robot hand designs can produce self-adaptive and versatile grasps with simple underactuated fingers and open-loop control, while mechanical-intelligent strategies for dexterous manipulation are still limited. This paper proposes a mechanical-intelligent technique to facilitate dexterous manipulation, in particular prehensile in-hand manipulation. The proposed strategy is based on the generation of complex spatial trajectories of the hand-object system, controlled in open loop with the minimum number of actuators and using simple low-level non-position modes. This approach is exemplified by the rigorous analysis and testing of a three-fingered two-actuator underactuated robot hand, called the helical hand, which is capable of generating helical prehensile in-hand manipulation of diversiform objects under error tolerance controlled by constant speed algorithm.

关键词： Actuators

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Variable Stiffness of Continuum robotics: A Review 17th

Variable Stiffness of Continuum Robotics: A Review

引用

17th international conference on Intelligent robotics and Applications

作者： Huang, Dongbao Yang, Laihao Sun, Yu Xi An Jiao Tong Univ Natl Key Lab Aerosp Power Syst & Plasma Technol Xian Peoples R China

ISBN: (纸本)9789819607792;9789819607808

Continuum robots have advantages such as strong adaptability, high safety, and excellent flexibility, allowing them to move flexibly in unstructured environments, thereby attracting extensive attention. In practical applications, continuum robots need high compliance to adapt to complex and narrow environments while maintaining a certain degree of stiffness to ensure stable and precise operations. Therefore the ability to achieve the transition between rigidity and flexibility in continuum manipulators is crucial for ensuring the safety of human-robot interaction and functional performance. This paper reviews the mechanisms of variable stiffness in continuum robots, including material-based methods, structural methods, and hybrid methods. The comparison of different variable stiffness methods is based on the application needs, design requirements, and performance metrics of continuum robots, including stiffening capability, response time, space occupation, and implementation safety. A comprehensive analysis of existing methods is provided, and future development directions are proposed.

关键词： Continuum Robots Variable Stiffness Function-Structure Integration

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Deep Learning for Non-Invasive Intoxication Detection: Ocular analysis of Drivers Using CNNs and Quanvolutional Models 4

Deep Learning for Non-Invasive Intoxication Detection: Ocula...

引用

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

作者： Pandey, Devang Gode, Idhant Mantrala, Venkata Shaurya Shah, Swayam BAiC at CU Boulder Erie United States Montgomery College Thomas S. Wootton HS Rockville United States NCSU Enloe HS Garner United States NCSU Enloe HS Apex United States

ISBN: (纸本)9798331531225

Current intoxication methods, though effective, often rely on intrusive procedures that require trained personnel or direct interaction with the individual, limiting their practicality for real-time applications [1], [2]. This study analyzes non-invasive approaches utilizing two Convolutional Neural Networks (CNNs) and a Quanvolutional Neural Network (QNN) trained on eye images to classify sobriety by analyzing visual cues such as pupil dilation, eye redness, and eyelid position. All models were trained and evaluated on a dataset of 1500 labeled images, achieving accuracies ranging from 68.65% to 99.74%. © 2024 IEEE.

关键词： Convolutional neural networks

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Comparative Modeling Study of Pneumatic Artificial Muscle Using Neural Networks, ANFIS and Curve Fitting 9

Comparative Modeling Study of Pneumatic Artificial Muscle Us...

引用

9th international conference on Automation, robotics and Applications (ICARA)

作者： Abu Mallouh, Mohammed Araydah, Walaa Sameer Jouda, Basel Al-Khawaldeh, Mustafa A. Hashemite Univ Dept Mechatron Engn Zarqa Jordan Philadelphia Univ Dept Mechatron Engn Amman Jordan

ISBN: (纸本)9781665489218

Pneumatic Artificial Muscles (PAMs) are widely used in the fields of biorobots and medicine due to their flexibility, safe usage, lack of mechanical wear, low cost of manufacturing, and high ratio of power to weight. Obtaining an accurate PAM model is crucial for building a controller that obtains the required performance specifications. This study aims to create various models for a PAM and to evaluate them with respect to their accuracy in reflecting PAM behavior. An experimental-based modeling approach was adopted to collect the necessary data in order to accurately model the PAM. The data were collected for different pressure setpoints and with different loads. Four system modeling techniques were utilized: (i) curve/surface fitting, (ii) Multi-Layer Perceptron Neural Network (MLP NN), (iii) Nonlinear Auto-Regressive with eXogenous (NARX NN) and (IV) Adaptive Neuro Fuzzy Inference System (ANFIS). The analysis of the four developed models showed that the performance of the MLP NN model exceeded all other models by having the smallest error. Therefore, a simple feedforward neural network can represent the complex muscle system compared to other complex modeling techniques.

关键词： Pneumatic Artificial Muscle modeling Neural Network ANFIS NARX

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Intelligent scheduling in MES systems for Industry 4.0-a systematic review of the scientific literature 27

Intelligent scheduling in MES systems for Industry 4.0-a sys...

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27th international conference on Methods and Models in Automation and robotics (MMAR)

作者： Shakeri, Zohreh Halawi-Ghoson, Nourhan Hakam, Nisar Talhi, Esma Quenehen, Anthony Benfriha, Khaled HESAM Univ Arts & Metiers Inst Technol Laboratoire Concept Produits & Innovat LCPI Paris France Ecole Ingn Genie Syst Ind EIGSI La Rochelle France Lab Ingn Syst Phys & Numer Lille France

ISBN: (纸本)9798350311075

One of the most important goals of factories and manufacturers is the development of new solutions to increase dynamism to better adapt to changing marketplaces. This is because there have been significant technological advancements in the manufacturing industry in recent years, and production planning is essential to ensure the completion of all production. Production Scheduling Due to the possibility of unpredictable events in the production system, problems related to scheduling problems are NP-hard and *** article aims to provide a systematic literature review on intelligent scheduling based on MES and in the framework of Industry 4.0. In a non-ideal situation, in complex, dynamic production systems, unpredictable disturbances can happen, including machine breakdowns, changes in the priority of orders, absence of personnel, etc. Production management has gained new opportunities in recent decades due to the growth of technologies such as artificial intelligence, the Internet of Things, big data, and data analytics. This study discovers an outstanding research topic with a high potential for further investigation through a comprehensive literature analysis of the pertinent domains.

关键词： Industry 4.0 Artificial intelligence Decision making JSSP

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Do Applications of Artificial intelligence (AI) Contribute to the Mitigation of Hazardous Environments? An analysis Based on Various Pillars of AI 10

Do Applications of Artificial Intelligence (AI) Contribute t...

引用

10th international conference on Mechatronics and robotics Engineering (ICMRE)

作者： Lee, Hui Shan Kuang, Kee Seng Liew, Ping Xin Har, Wai Mun Univ Tunku Abdul Rahman Fac Accountancy & Management Kajang Malaysia Univ Tunku Abdul Rahman Lee Kong Chian Fac Engn & Sci Kajang Malaysia

ISBN: (纸本)9798350394283;9798350394276

As the global climate situation becomes increasingly severe, the rapid development of robots or artificial intelligence (AI) technology to achieve zero emissions has gradually become a worldwide consensus among major countries. However, the applications of AI may not necessarily lead to a reduction in environmental pollution, as the outcomes may vary depending on the components of AI. The objective of this study is to examine the impacts of different components of artificial intelligence on environmental performance. To achieve this objective, the study utilises a panel regression model with a sample of 52 countries from the year 2019 to 2022. The seven sub-pillars considered for AI applications include commercial, development, government strategy, infrastructure, operating environment, research, and talent aspects. Additionally, this study investigates the impacts of different components of artificial intelligence on environmental performance in two groups of countries classified as advanced countries and developing countries. The results show that AI applications in development, government strategy, research, and the operating environment pillars are positive and significant for carbon emissions in all samples. Commercialisation in AI is negative and significant for carbon emissions in advanced countries. Infrastructure in AI is negative and significant for carbon emissions in developing countries. The implication of this study demonstrates that policies encouraging sustainable and responsible commercial AI development are effective in reducing the environmental impact in advanced countries. Developing countries, on the other hand, may benefit from policies that focus on building and enhancing AI infrastructure. The novelty of this study lies in the distinction between advanced and developing countries, allowing for tailored strategies to combat hazardous environments. Advanced countries may focus on managing the commercial aspects of AI, while developing countrie

关键词： artificial intelligence carbon footprint carbon emissions

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Research on Human Action Recognition Based on Edge intelligence 4

Research on Human Action Recognition Based on Edge Intellige...

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

作者： Wang, Di Yang, Zhonglin Liu, Gaotian China North Vehicle Research Institute Fourth Technology Department Beijing China

ISBN: (纸本)9798331531225

Intelligent recognition algorithms deployed on edge devices offer strong real-time processing capabilities and high security for online video image analysis. However, real-time video image recognition remains challenging, particularly when deploying computationally intensive action recognition models on resource-constrained edge devices. This paper introduces a dual-network human action recognition method that leverages the strengths of both 2D and 3D convolutional neural networks (CNNs). Initially, a 2D CNN detects hu-man targets, followed by the generation of time-sequence data for these tar-gets using a matching method. Human action recognition is then achieved through a 3D CNN. This method addresses the challenges of extracting and modeling temporal action characteristics, enabling accurate human action localization and classification. Five distinct action recognition datasets were constructed to train the 3D CNN, which were subsequently deployed on an edge intelligent platform. Empirical testing of the action recognition system demonstrated a recognition speed of 10 frames per second, with accuracy exceeding 80% for certain action categories. © 2024 IEEE.

关键词： Video analysis

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Access pattern Characterization of Last-level Cache for Effective Replacement

Access Pattern Characterization of Last-level Cache for Effe...

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international conference on Computational Science and Computational intelligence (CSCI)

作者： Anik, Shafayat Mowla Lee, Byeong Kil Univ Colorado Colorado Springs UCCS Dept Elect & Comp Engn Colorado Springs CO 80918 USA

ISBN: (纸本)9798350361513;9798350372304

Based on our analysis, numerous aspects should be considered to achieve the best solutions because cache line eviction is not influenced by only a single aspect. Cache lines may occasionally be accessed repeatedly during programming loops. Suppose the same cache line goes to writeback, then has long-distance access, then again goes to a small writeback distance, then again to a long distance, and so on. The same cache line can he a sequence of short and long distances or any order of short and long distances. So, we refer to it as an access pattern. By maintaining the cache line when a short distance is expected in the future and discarding it when a long distance is anticipated, we may take advantage of certain access patterns. With the concept of the access pattern of the cache, we can enhance the performance of the last-level cache. In this paper, we characterize the access pattern of the last-level cache and provide the implications of how to increase cache performance by anticipating and training access patterns. Also, we will discuss the cases where some applications do not have any access patterns.

关键词： cache replacement reuse distance last level cache cache performance access pattern

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