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检索条件"任意字段=International Symposium on Computational Intelligence in Robotics and Automation"

共 3101 条记录，以下是351-360 订阅

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Safe and Efficient Model-free Adaptive Control via Bayesian Optimization

Safe and Efficient Model-free Adaptive Control via Bayesian ...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Konig, Christopher Turchetta, Matteo Lygeros, John Rupenyan, Alisa Krause, Andreas Inspire AG Zurich Switzerland Swiss Fed Inst Technol Learning & Adapt Syst Grp Zurich Switzerland Swiss Fed Inst Technol Automat Control Lab Zurich Switzerland

ISBN: (纸本)9781728190778

Adaptive control approaches yield high-performance controllers when a precise system model or suitable parametrizations of the controller are available. Existing data-driven approaches for adaptive control mostly augment standard model-based methods with additional information about uncertainties in the dynamics or about disturbances. In this work, we propose a purely data-driven, model-free approach for adaptive control. Tuning low-level controllers based solely on system data raises concerns on the underlying algorithm safety and computational performance. Thus, our approach builds on GoOSE, an algorithm for safe and sample-efficient Bayesian optimization. We introduce several computational and algorithmic modifications in GoOSE that enable its practical use on a rotational motion system. We numerically demonstrate for several types of disturbances that our approach is sample efficient, outperforms constrained Bayesian optimization in terms of safety, and achieves the performance optima computed by grid evaluation. We further demonstrate the proposed adaptive control approach experimentally on a rotational motion system.

关键词： Adaptation models Uncertainty computational modeling Heuristic algorithms Bayes methods Safety Adaptive control

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A novel method for computing the 3D friction cone using complimentary constraints

A novel method for computing the 3D friction cone using comp...

引用

IEEE international Conference on robotics and automation (ICRA)

作者： Pretorius, Dean Fisher, Callen Stellenbosch Univ Dept Elect Engn Stellenbosch South Africa Univ Stellenbosch Dept Elect & Elect Engn ZA-7599 Stellenbosch South Africa

ISBN: (纸本)9781728190778

Modeling the Coulomb Friction Cone in trajectory optimization is typically done by linearizing it along a series of vectors. Often, these vectors define the edges of polyhedral estimations of the cone. This article provides an alternate approach that samples the cone along a vector that satisfies the Maximum Dissipation Principle, which is shown to be significantly more computationally tractable. The proposed technique uses the polar representation of the relative velocity of a contact point on a surface to determine the direction of the resultant friction force and linearizes the friction cone along this vector. This study describes the development of the proposed model. Thereafter, a trajectory optimization experiment was conducted to compare the traditional four-sided polyhedral estimation of the friction cone with the novel method. Compute time and computational complexity were used as performance metrics in this study. Results from these experiments indicate that the proposed method reduced the compute time by 39.13% and a 57.00% reduction in inequality constraints when compared to the 4-sided polyhedral estimation.

关键词： Measurement Three-dimensional displays automation Friction Conferences computational modeling Force

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Robots between fictions and facts

Robots between fictions and facts

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10th international symposium of Hungarian Researchers on computational intelligence and Informatics, CINTI 2009

作者： Horáková, Jana Kelemen, Jozef Faculty of Arts Masaryk University Brno Czech Republic VŠM College of Management Bratislava Slovakia Institute of Computer Science Silesian University Opava Czech Republic

The contribution sketches the emergence of the present days robotic art as the result and reflection of activities in fields of art creativity and science fiction (both literature and cinematography) in the first half of the previous century, and the convergence of art and scientific and technical development mainly during the second half of the 20th Century. © 2002 by Kino international Corporation.

关键词： robotics

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3D object recognition for coordination-less bin-picking automation

3D object recognition for coordination-less bin-picking auto...

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international symposium on Artificial intelligence and robotics 2022

作者： Ishiyama, Shin Lu, Huimin School of Engineering Kyushu Institute of Technology Kitakyushu Japan

ISBN: (纸本)9781510661288

At present, industrial robots are required to support high-mix low-volume production, which calls for automation and flexibility in production lines. To realize these requirements, it is necessary that automate of bin picking. In this work, we propose a three-dimensional object recognition using deep learning to automate coordination-less bin picking. The deep learning-based method requires the use of training data, but it has the higher cost of annotating the training data. Therefore, we construct a coordination-less recognition model by using the automatic acquisition method for training data in a simulation environment. For the evaluation, we conducted experiments in a simulation and real environment to verify the accuracy of the proposed method. © 2022 SPIE.

关键词： Industrial robots

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MIMO evolving learning based on maximum likelihood algorithm applied to black box fuzzy modeling for systems identification design 12

MIMO evolving learning based on maximum likelihood algorithm...

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12th international Conference on Informatics in Control, automation and robotics, ICINCO 2015

作者： Filho, Orlando Donato Rocha De Oliveira Serra, Ginalber Luiz Department of Electroelectronics Laboratory of Computational Intelligence Applied to Techonology Federal Institute of Education Science and Technology São LuísMA Brazil

ISBN: (纸本)9789897581229

This paper presents an overview of a specific application to computational intelligence techniques, specifically, evolving fuzzy systems: online fuzzy inference system with Takagi-Sugeno evolving structure, which employs an adaptive distance norm based on the maximum likelihood criterion online with instrumental variable recursive parameter estimation. The performance and application of the proposed methodology is based on the black box modeling.

关键词： Online systems

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Hopf bifurcation analysis and control of a bacteria-immunity system with delayed quorum sensing 8

Hopf bifurcation analysis and control of a bacteria-immunity...

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8th international symposium on computational intelligence and Industrial Applications and 12th China-Japan international Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018

作者： Liu, Feng Dai, Xiangjuan Mei, Qicheng Ling, Guang Sun, Fenglan School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligence Automation for Complex System Wuhan430074 China School of Science Wuhan University of Technology Wuhan430070 China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing400065 China

A bacteria-immunity system model is formulated to describe the interaction between bacteria and immune cells with quorum sensing. Time delay is introduced to study this system. The stability and the conditions for the existence of Hopf bifurcation are obtained. Finally, numerical simulations are used to verify the theoretical conclusions. © ISCIIA and ITCA 2018 - 8th international symposium on computational intelligence and Industrial Applications and 12th China-Japan international Workshop on Information Technology and Control Application.

关键词： Bacteria

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Decentralized Nested Gaussian Processes for Multi-Robot Systems

Decentralized Nested Gaussian Processes for Multi-Robot Syst...

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IEEE international Conference on robotics and automation (ICRA)

作者： Kontoudis, George P. Stilwell, Daniel J. Virginia Tech Bradley Dept Elect & Comp Engn Blacksburg VA 24061 USA

ISBN: (纸本)9781728190778

In this paper, we propose two decentralized approximate algorithms for nested Gaussian processes in multirobot systems. The distributed implementation is achieved with iterative and consensus methods that facilitate local computations at the expense of inter-robot communications. Moreover, we propose a covariance-based nearest neighbor robot selection strategy that enables a subset of agents to perform predictions. In addition, both algorithms are proved to be consistent. Empirical evaluations with real data illustrate the efficiency of the proposed algorithms.

关键词： automation Conferences Gaussian processes Prediction algorithms Topology computational efficiency Multi-robot systems

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An iterative approach based on hybrid optimization for simultaneous optimization of production planning and scheduling

An iterative approach based on hybrid optimization for simul...

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2011 4th international symposium on computational intelligence and Design, ISCID 2011

作者： An, Yuwei Yan, Hongsen School of Automation Southeast University Nanjing 210096 China

ISBN: (纸本)9780769545004

This paper deals with the integrated production planning and scheduling over a finite horizon for synchronous automobile assembly lines. We present a mixed integer programming model such that it can facilitate to develop efficient solution procedures. An iterative approach that alternate between solving planning problem with a fixed schedule and scheduling problem with a fixed lot sizing is provided. Planning problem is solved based on exact method, and an ant colony optimization algorithm is employed to solve corresponding scheduling. The experimental results show the advantages and the efficiency of the proposed approach. © 2011 IEEE.

关键词： Ant colony optimization

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Some repeater coordination model based on density dilution algorithm

Some repeater coordination model based on density dilution a...

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2011 4th international symposium on computational intelligence and Design, ISCID 2011

作者： Jiang, Yushan Zhang, Qingling Bai, Sensen Lun, Zhanqun Guo, Shouming Key Laboratory of Integrated Automation of Process Industry Northeastern University Shenyang China Department of Electronics and Information Northeastern University at Qinhuangdao Qinhuangdao China

In this study, we present a novel model for repeater coordination. With the Density Dilution Algorithm(DDA) one can deploy the minimum number of repeaters and at the same time to achieve enough user capacity in the ar... 详细信息

ISBN: (纸本)9780769545004

关键词： Repeaters Mathematical model Heuristic algorithms Mobile antennas Land mobile radio cellular systems Equations

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Surgical robotics-Born in Space 10

Surgical Robotics-Born in Space

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10th Jubilee IEEE international symposium on Applied computational intelligence and Informatics

作者： Takacs, Arpad Jordan, Sandor Nagy, Denes Akos Tar, Jozsef K. Rudas, Imre J. Haidegger, Tamas Obuda Univ Antal Bejczy Ctr Intelligent Robot Budapest Hungary

ISBN: (纸本)9781479999118

With the introduction of telerobotic systems, it has become possible for surgeons to perform medical operations at greater physical distances from their patients. Whether in an adjacent room or on another continent, these systems enable greater flexibility in mitigating adverse surgical conditions. These ideas originally came from the space research, where further needs emerged to advance robots that could resolve surgical cases previously not treatable. The concept of providing surgical aid to astronauts in outer space yielded to telerobotic surgical care on Earth, benefiting around 1 million patients per year. As the field continues to develop and becomes more prevalent, it is worth looking back to the origins of the technology and the early days of robotic telesurgery. While many of the early prototypes and technologies never reached patients, their engineering components and innovative concepts directly lead to the birth of modern surgical robots.

关键词： Space research Surgery adjoining room Telerobots interplanetary space Astronauts robotics Robot Surgeons origins surgical robots telesurgery

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