The main subject of this paper is the experimental analysis of LiDAR-SLAM-based indoor navigation for a mobile robot, considering the effect of the mobile robot's linear and angular velocities on the deviation tha...
详细信息
ISBN:
(纸本)9798350385083;9798350385076
The main subject of this paper is the experimental analysis of LiDAR-SLAM-based indoor navigation for a mobile robot, considering the effect of the mobile robot's linear and angular velocities on the deviation that occurs in the resulting 2D map. Our objective in this paper is to utilize the robotics Operating System (ROS) and the Gmapping method, which rely solely on LiDAR and IMU for simultaneous localization and mapping (SLAM). It was observed that as the velocity increases, the deviation of the map decreases. After experimenting with various velocities, it was determined that the optimum velocity is 1.0 m/s. This velocity is optimal for indoor navigation within the scope of our experimental environment, exhibiting the minimum deviation from the ground truth map.
Nowadays, rails are one of the most popular forms of transportation. It is related to the relatively lower costs of the tickets in comparison to airplanes or even costs connected with travelling by car. It needs to be...
详细信息
ISBN:
(纸本)9798350362350;9798350362343
Nowadays, rails are one of the most popular forms of transportation. It is related to the relatively lower costs of the tickets in comparison to airplanes or even costs connected with travelling by car. It needs to be pointed out that this type of transportation has also one important issue that must be addressed. It is connected to the selection of the appropriate train type for all interested passengers. It is extremely hard especially when passengers' pileups are observed. In this work, we would like to propose an idea to consume time-series data for prediction of the passengers' flow in one, selected train station that is Lodz, Poland. Diversified algorithms that can be used directly in these data were presented and our own ideas are given. We would like to also propose our own pipeline built on the basis of all analyzed approaches.
The effectiveness of FES cycling in providing health benefits depends on the extent of training. Challenges arise for at-home training due to difficulties in determining the stimulation pattern, often requiring clinic...
详细信息
ISBN:
(纸本)9798350386523;9798350386530
The effectiveness of FES cycling in providing health benefits depends on the extent of training. Challenges arise for at-home training due to difficulties in determining the stimulation pattern, often requiring clinicians' assistance. Additionally, the cost can impede access to FES cycling equipment. Here, we present our two developments that help address the challenges in performing at-home training. The first development is a low-cost device for measuring the crank angle that combines a data-efficient technique to correct the error and a neural network to perform a real-time extended Kalman filter. The second development is the application of reinforcement learning and action branching architecture, denoted as QBR, that can efficiently learn the stimulation pattern. The complete framework enables a simple cycling exerciser to be used for FES cycling. We demonstrate and evaluate our framework on a simple cycling setup. Our device can give the measurement with an error below 5 degrees, and QBR learns roughly 3 times faster than the method introduced in our previous work. In combination, our system enables FES cycling on the setup. These outcomes enable the potential of our proposed framework to improve the accessibility of FES cycling, especially for at-home training.
This study conducts an in-depth finite element analysis of the structural performance of Thermoelectric Cooler (TEC) modules. By reasonably simplifying the model, a finite element model of the TEC module, comprising a...
详细信息
ISBN:
(纸本)9798350352634;9798350352627
This study conducts an in-depth finite element analysis of the structural performance of Thermoelectric Cooler (TEC) modules. By reasonably simplifying the model, a finite element model of the TEC module, comprising a ceramic substrate, copper plate, solder layer, and P/N-type semiconductors, was established. Using orthogonal experimental design, the effects of different thicknesses of copper plates, solder layers, and ceramic substrates on the performance of the TEC module were investigated. Modal analysis revealed the natural frequencies and deformation modes of the module structure, identifying the thickness of the solder layer as a critical factor affecting the natural frequency. Experimental verification demonstrated the accuracy of the finite element model, with an error range of 1.50% to 4.37%. The research results provide theoretical and experimental support for the design and optimization of TEC modules.
This paper presents an insole-type sensor module with a novel leaf-inspired force-sensitive resistor (FSR) array for accurate three-dimensional ground reaction force (GRF) estimation during human's various motions...
详细信息
ISBN:
(纸本)9798350384581;9798350384574
This paper presents an insole-type sensor module with a novel leaf-inspired force-sensitive resistor (FSR) array for accurate three-dimensional ground reaction force (GRF) estimation during human's various motions. Joint torque analysis, essential for numerous applications in biomechanics and wearable robotics, necessitates the measurement of three-dimensional GRF vector information, traditionally achieved in indoor environments using costly force plates. To overcome these limitations, this study proposes an alternative method by incorporating FSRs on three inclined planes within the insole. A vector scaling process transforms the force values from the FSRs into the three-dimensional force vector, enabling continuous and user-independent estimation of GRF. The sensor module is integrated with machine learning, demonstrating its accuracy and usability in various motion scenarios. The results confirm the effectiveness of the leaf-inspired FSR array, giving the possibilities for portable and cost-effective motion analysis systems.
This survey paper offers a comprehensive analysis of recent advancements in eXplainable Artificial intelligence (XAI) for data analytics, drawing from a meticulous review of 31 pertinent papers. Leveraging a focused s...
详细信息
The proceedings contain 43 papers. The topics discussed include: intelligent city construction resource optimization and scheduling algorithm based on T-S fuzzy neural network and deep data mining;research on domain t...
ISBN:
(纸本)9798400710100
The proceedings contain 43 papers. The topics discussed include: intelligent city construction resource optimization and scheduling algorithm based on T-S fuzzy neural network and deep data mining;research on domain text classification algorithm based on multi-granularity fusion;the impact of body posture on 3D spatial survey knowledge in VR simulated microgravity environment;a personalized virtual training method for human-machine safety interaction oriented toward human-centric manufacturing;research on software development methods for intelligent mobile robots;overview and analysis of the application of digital twin-based human-machine collaboration in the product development process;and decision making for postgraduate training based on differential evolution algorithm.
In response to the issue of high labor costs in the steel bar bundling process on building machines, a new type of steel bar bundling robot for building machines is proposed, which has strong load-bearing capacity, la...
详细信息
ISBN:
(纸本)9798350352634;9798350352627
In response to the issue of high labor costs in the steel bar bundling process on building machines, a new type of steel bar bundling robot for building machines is proposed, which has strong load-bearing capacity, large working range, and is easy to install. Firstly, design a series parallel robot driven by ropes, establish a mathematical model of the structure using MATLAB, analyze the changes in rope length and working range, and verify the results;Finally, an adaptive sliding film control strategy is adopted to control the motion error of the modified mathematical model. The results show that this structure can meet the requirements of the steel bar binding process on the building machine.
Medical robots are a groundbreaking advancement in healthcare, utilizing robotics and automation to improve precision, efficiency, and accessibility in medical procedures. They are utilized in various applications, in...
详细信息
Sleep plays a vital role in developmental learning. It allows the brain to consolidate daily learning experiences by replaying the memories accumulated throughout the day. In this work, we take inspiration from sleep ...
详细信息
ISBN:
(纸本)9798350348569;9798350348552
Sleep plays a vital role in developmental learning. It allows the brain to consolidate daily learning experiences by replaying the memories accumulated throughout the day. In this work, we take inspiration from sleep and propose the Inverse Forward Offline Reinforcement Model (INFORM), a novel scalable framework that first learns a set of behaviours from human evaluative feedback, then consolidates the learning by applying an offline inverse reinforcement learning to the memorised trajectories. Experimental results demonstrate that INFORM is a feedback-efficient method that effectively learns an optimal policy that aligns with the intended behaviour of the human. A comparative analysis shows that the learnt policies are robust to dynamic changes in the environment and the recovered rewards allow the robot to be autonomous in its learning. Project website: https://***/view/inform-framework
暂无评论