The objective of this paper is to explain novel sustainable robotics solutions for cities. Those new proposals appear under the ECHORD++ project which is a good tool to meet academia and industry with the objective of...
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The objective of this paper is to explain novel sustainable robotics solutions for cities. Those new proposals appear under the ECHORD++ project which is a good tool to meet academia and industry with the objective of providing innovative technological solutions. In this paper, authors explain the tool as well as the methodology to promote robotics research in urban environments, and the on-going experience will demonstrate that huge advances are made in this field.
This paper presents an extension of the ideal point concept, which is one of the most widespread ideas in multicriteria optimization. In the simplest case, the ideal point of a multicriteria optimization problem is an...
This paper presents an extension of the ideal point concept, which is one of the most widespread ideas in multicriteria optimization. In the simplest case, the ideal point of a multicriteria optimization problem is an element of the criteria space with coordinates equal to the optima of each criterion function considered as a scalar objective. First, we will provide an overview of the properties of ideal points and their earlier generalizations. Then, we will present an extension of ideal points in the case where the dimension of the criteria space is higher than 2. Specifically, scalar optima used in the classical definition of ideal points are replaced by Pareto optima with respect to criteria subsets. It is assumed that the generating criteria subsets belong to a minimal covering of the set of all criteria. We will distinguish several classes of generalized ideal points (GIP) so defined. For example, proper GIPs are calculated with respect to the criteria subsets that form a partition of the criteria set. Regular GIPs are those which correspond to a covering with criteria subsets of the same cardinality and such that all intersections of these sets also contain the same number of criteria or are empty. We will also present and briefly discuss the notion of local GIPs as well as applications of the GIP concept to formulating criteria independence conditions and to consensus finding in multicriteria games.
Current approaches to emotion recognition do not address the fact that emotions are dynamic processes. This work concerns itself with the development of a gray-box framework for dynamic emotion intensity estimation th...
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Current approaches to emotion recognition do not address the fact that emotions are dynamic processes. This work concerns itself with the development of a gray-box framework for dynamic emotion intensity estimation that can incorporate findings from appraisal models, specifically Scherer's Component Process Model. It is based on Dynamic Field Theory which allows the combination of theoretical knowledge with data-driven experimental approaches. Further, we conducted an exemplary user study applying the proposed model to estimate intensity of negative emotions from physiological signals. Results show significant improvements of the proposed model to common methodology and baselines. The flexible cognitive architecture opens a wide field of experiments and directions to deepen the understanding of emotion processes as a whole.
In this paper, an initial stage in development of an interactive user-friendly software system for identification of biotechnological processes models is proposed. It is based on optimization programmes using evolutio...
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In this paper, an initial stage in development of an interactive user-friendly software system for identification of biotechnological processes models is proposed. It is based on optimization programmes using evolutionary algorithm which are built in the Graphical User Interface Development Environment (GUIDE) of MATLAB. The system structure and functions are described and a student's training programme is proposed. The results of kinetics identification of ethanol production process with immobilized cells S. Cerevisiae are demonstrated using data of one experiment. A direction for system functions' extension is outlined.
The paper concerns the problem of the numerical simulation of hybrid systems with sliding modes. We give an overview of the numerical simulation procedures which have been described in the literature and next we prese...
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The paper concerns the problem of the numerical simulation of hybrid systems with sliding modes. We give an overview of the numerical simulation procedures which have been described in the literature and next we present our proposition of the simulation code. What differs our solution from others is the utilization of differential-algebraic equations (DAEs) during the simulation of a sliding motion phase. We discuss our solution in detail and present the numerical results for simulation of the exemplary nonlinear system.
In this paper, a new gravity terms compensated proportional-derivative controller (GTC-PD) is proposed for underactuated rotary crane systems. In particular, an energy storage function, consisting of kinetic and poten...
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ISBN:
(纸本)9781538604915
In this paper, a new gravity terms compensated proportional-derivative controller (GTC-PD) is proposed for underactuated rotary crane systems. In particular, an energy storage function, consisting of kinetic and potential energies of rotary crane systems, is constructed, and on the basis of that, the controller is developed which can achieve accurate rotation positioning and load swing suppression at the same time without any approximation or linearization for the nonlinear dynamics. Furthermore, rigorous stability analysis is proved in theory. Numerical simulations are presented to validate the satisfactory performance of the new nonlinear GTC-PD controller for rotary crane systems.
Aiming at the phenomenon that high-viscosity multi-component adhesives are difficult to control due to viscosity changes, a mechanism using piston to dispense is designed. By analyzing the flow properties of multi-com...
Aiming at the phenomenon that high-viscosity multi-component adhesives are difficult to control due to viscosity changes, a mechanism using piston to dispense is designed. By analyzing the flow properties of multi-component adhesives, a consistency coefficient related to the mixing time of each component of the glue is introduced to the shear stress of the colloidal by its physical meaning, so the viscosity changes could be characterized during the dispensing process. The model of the dispensing system was established by the viscous fluid mechanics and the estimation function of the flow rate out of needle was given. According to the experimental verification of the specific adhesive, the dispensing system designed in this paper can directly control the amount of dispensing by adjusting the motor pulse frequency and the dispensing time. In the case, the simulation results are basically consistent with the experimental results, and the flow error can be kept within 10−9m3/s to realize the quantitative dispensing of the high-viscosity multi-component adhesive.
Passive thermographic measurement is susceptible to multiple factors. However, there are not many evidences of how these factors impact the measurement of human hand skin temperature evolution after cold stress induce...
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Passive thermographic measurement is susceptible to multiple factors. However, there are not many evidences of how these factors impact the measurement of human hand skin temperature evolution after cold stress inducement, especially in patients with inflammatory lesions. The study aimed at the analysis of the variability factors in: heat source, environment conditions including material designed for placing hand, blood circulation, blood pressure and their effect on the hand infrared image of RA patients. Thermal image sequences were collected for 10 RA patients. The procedure consisted of hand immersion in ice-water for 5 seconds and 3-minute recording of temperature evolution for left and right hand, separately. Impact of the following factors was included in the analysis: heat source, material designed for placing hand, blood circulation. The plane, which is heated by the heat of the hands, emits radiation with similar intensity like the hand itself. During the process of hand warming, we observe gradual changes in the image of superficial veins. Blood vessels should be treated as an element of hand texture. The glow around the hand is a serious difficulty in the analysis. Development of dedicated algorithms is necessary.
We consider multi-agent decision making where each agent optimizes its convex cost function subject to individual and coupling constraints. The constraint sets are compact convex subsets of a Euclidean space. To learn...
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