检索结果-内蒙古大学图书馆

Memristor-enhanced humanoid robot control system – Part I: Theory behind the novel memcomputing paradigm

学校读者我要写书评

暂无评论

Memristor-enhanced humanoid robot control system – Part I: ...

作者： Ascoli, A. Baumann, D. Tetzlaff, R. Chua, L.O. Hild, M. Institute of Circuits and Systems Faculty of Electrical and Computer Engineering Technische Universität Dresden Dresden Germany Autonomous Motion Department Max Planck Institute for Intelligent Systems Tübingen‡ Germany Department of Electrical Engineering and Computer Sciences University of California Berkeley BerkeleyCA United States Fachbereich VII Forschungslabor Neurorobotik Beuth Hochschule für Technik Berlin Berlin Germany

Myon is a humanoid robot where each joint is controlled independently by a supervised bio-inspired artificial neural network inducing the correction of a number of distinct actions depending on the excitation. One of the control strategies, which the network, located within a certain joint, may implement, allows a controlled motion of the limb connected to the joint from a stable state up to a prescribed height and the maintenance of the new position afterwards. The original approach adopted for this control operation is stable and robust but results in slow and energy-inefficient limb movements. This work proposes a novel, low-power, time-efficient and adaptive memristor-centred control strategy for the aforementioned robot action. The idea is based upon the exploitation of the combined ability of memristors to store and process data in the same physical location. The part I paper sets the theoretic foundations for the memcomputing paradigm to robot motion control, while the part II manuscript shall demonstrate its benefits over the original approach in terms of energy, and speed, and the inheritance from the standard strategy of a good level of adaptability to changes in the limb load on the basis of the analysis of circuit-theoretic models adopting an ideal and a real memristor, respectively. Copyright © 2017 John Wiley & Sons, Ltd. Copyright © 2017 John Wiley & Sons, Ltd.

关键词： Timing circuits

Hierarchic neighbors embedding

学校读者我要写书评

暂无评论

arXiv 2019年

作者： Liu, Shenglan Yu, Yang Liu, Yang Qiao, Hong Feng, Lin Feng, Jiashi School of Computer Science and Technology Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian Liaoning116024 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore

Manifold learning now plays a very important role in machine learning and many relevant applications. Although its superior performance in dealing with nonlinear data distribution, data sparsity is always a thorny knot. There are few researches to well handle it in manifold learning. In this paper, we propose Hierarchic Neighbors Embedding (HNE), which enhance local connection by the hierarchic combination of neighbors. After further analyzing topological connection and reconstruction performance, three different versions of HNE are given. The experimental results show that our methods work well on both synthetic data and high-dimensional real-world tasks. HNE develops the outstanding advantages in dealing with general data. Furthermore, comparing with other popular manifold learning methods, the performance on sparse samples and weak-connected manifolds is better for HNE. Copyright © 2019, The Authors. All rights reserved.

关键词： Topology

3D Indoor Environment Charactirazation based on Radio Scanning: Initial Idea and Methodolgy

学校读者我要写书评

暂无评论

3D Indoor Environment Charactirazation based on Radio Scanni...

International Conference on Applied Electromagnetics and Communications (ICECom)

作者： Andrej Hrovat Ke Guam Teodora Kocevska Tomaž Javornik Department of communication systems Jozef Stefan Insitute Ljubljana Slovenia State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Bejing China Faculty of Electrical Engineering and Information Technologies University in Skopje Skopje North Macedonia

ISBN: (数字)9781728155142

ISBN: (纸本)9781728155159

In this paper a novel idea of estimating the 3D geometry and building material of indoor environments is proposed. The idea is based on assumption that the received radio signal is distorted due to interaction with the surrounding objects and thus includes the signature of the radio environment. We describe the methodology how to apply radio environment signatures for characterization of geometry and building material of indoor environments applying machine learning tools using ray tracing simulations and ultra-wide band communication technology. The idea is based on the assumption that the emerging broadband wireless systems applies multiple antenna and is able to estimate the channel impulse response for each transmit-receive antenna pair.

关键词：

The status of KAGRA underground cryogenic gravitational wave telescope 15

学校读者我要写书评

暂无评论

The status of KAGRA underground cryogenic gravitational wave...

15th International Conference on Topics in Astroparticle and Underground Physics, TAUP 2017

作者： Akutsu, T. Ando, M. Araya, A. Aritomi, N. Asada, H. Aso, Y. Atsuta, S. Awai, K. Barton, M.A. Cannon, K. Craig, K. Creus, W. Doi, K. Eda, K. Enomoto, Y. Flaminio, R. Fujii, Y. Fujimoto, M.-K. Furuhata, T. Haino, S. Hasegawa, K. Hashino, K. Hayama, K. Hirobayashi, S. Hirose, E. Hsieh, A.H. Inoue, Y. Ioka, K. Itoh, Y. Kaji, T. Kajita, T. Kakizaki, M. Kamiizumi, M. Kambara, S. Kanda, N. Kanemura, S. Kaneyama, M. Kang, G. Kasuya, J. Kataoka, Y. Kawai, N. Kawamura, S. Kim, C. Kim, H. Kim, J. Kim, Y. Kimura, N. Kinugawa, T. Kirii, S. Kitaoka, Y. Kojima, Y. Kokeyama, K. Komori, K. Kotake, K. Kumar, R. Lee, H. Lee, H. Liu, Y. Luca, N. Majorana, E. Mano, S. Marchio, M. Matsui, T. Matsushima, F. Michimura, Y. Miyakawa, O. Miyamoto, T. Miyamoto, A. Miyo, K. Miyoki, S. Morii, W. Morisaki, S. Moriwaki, Y. Morozumi, T. Musha, M. Nagano, S. Nagano, K. Nakamura, K. Nakamura, T. Nakano, H. Nakano, M. Nakao, K. Narikawa, T. Quynh, L.Nguyen Ni, W.-T. Ochi, T. Oh, J. Oh, S. Ohashi, M. Ohishi, N. Ohkawa, M. Okutomi, K. Oohara, K. Alleano, F.E.P. Pinto, I. Sago, N. Saijo, M. Saito, Y. Sakai, K. Sakai, Y. Sasaki, Y. Sasaki, M. Sato, S. Sato, T. Sekiguchi, Y. Seto, N. Shibata, M. Shimoda, T. Shinkai, H. Shoda, A. Somiya, K. Son, E. Suemasa, A. Suzuki, T. Suzuki, T. Tagoshi, H. Takahashi, H. Takahashi, R. Takamori, A. Takeda, H. Tanaka, H. Tanaka, K. Tanaka, T. Tatsumi, D. Tomaru, T. Tomura, T. Travasso, F. Tsubono, K. Tsuchida, S. Uchikata, N. Uchiyama, T. Uehara, T. Ueki, S. Ueno, K. Ushiba, T. Van Putten, M.H.P.M. Vocca, H. Wada, S. Wakamatsu, T. Yamada, T. Yamamoto, S. Yamamoto, T. Yamamoto, K. Yamamoto, A. Yokoyama, J. Yokozawa, T. Yoon, T.H. Yuzurihara, H. Zeidler, S. Zhu, Z.-H. National Astronomical Observatory of Japan Mitaka Tokyo181-8588 Japan Department of Physics University of Tokyo Bunkyo Tokyo113-0033 Japan Earthquake Research Institute University of Tokyo Bunkyo Tokyo113-0032 Japan Department of Advanced Physics Hirosaki University Aomori Hirosaki036-8561 Japan National Astronomical Observatory of Japan Hida Gifu506-1205 Japan Department of Physics Tokyo Institute of Technology Meguro Tokyo152-8551 Japan Institute for Cosmic Ray Research University of Tokyo Hida Gifu506-1205 Japan Research Center for the Early Universe University of Tokyo Bunkyo Tokyo113-0033 Japan Institute for Cosmic Ray Research University of Tokyo Chiba Kashiwa277-8582 Japan Institute of Physics Academia Sinica Nankang Taipei11529 Taiwan Department of Physics University of Toyama Toyama Toyama930-8555 Japan Faculty of Engineering University of Toyama Toyama Toyama930-8555 Japan Yukawa Institute for Theoretical Physics Kyoto University Sakyo Kyoto606-8502 Japan Department of Physics Osaka City University Sumiyosi Osaka558-8585 Japan Department of Physics Osaka University Osaka Toyonaka560-0043 Japan Korea Institute of Science and Technology Information Yuseong Daejeon 34141 Korea Republic of Yuseong Daejeon34055 Korea Republic of National Institute for Mathematical Sciences Daejeon34047 Korea Republic of Department of Computer Simulation Inje University Gimhae Gyeongsangnam50834 Korea Republic of Department of Physics and Astronomy Seoul National University Seoul151-742 Korea Republic of High Energy Accelerator Research Organization Ibaraki Tsukuba305-0801 Japan Department of Physical Science Hiroshima University Higashihiroshima Hiroshima903-0213 Japan Department of Applied Physics Fukuoka University Jonan Fukuoka814-0180 Japan Department of Advanced Materials Science University of Tokyo Chiba Kashiwa277-8582 Japan Istituto Nazionale di Fisica Nucleare Sapienza University Roma00185 Italy Department o

KAGRA is a 3-km interferometric gravitational wave telescope located in the Kamioka mine in Japan. It is the first km-class gravitational wave telescope constructed underground to reduce seismic noise, and the first km-class telescope to use cryogenic cooling of test masses to reduce thermal noise. The construction of the infrastructure to house the interferometer in the tunnel, and the initial phase operation of the interferometer with a simple 3-km Michelson configuration have been completed. The first cryogenic operation is expected in 2018, and the observing runs with a full interferometer are expected in 2020s. The basic interferometer configuration and the current status of KAGRA are described. © Published under licence by IOP Publishing Ltd.

关键词： Interferometers

Safety Integrity Evaluation of Safety Function

学校读者我要写书评

暂无评论

Safety Integrity Evaluation of Safety Function

International Conference on Applied Electronics, AE

作者： Peter Ždánsky Jozef Balák Karol Rástočný Department of Control and Information Systems University of Žilina Faculty of Electrical Engineering Žilina Slovak Republic

For a possibility of using the safety relevant system in practice, it is necessary to prove, that safety requirements, which are defined based on results of risk analysis, are fulfilled. Part of proving the safety of safety relevant system is also quantitative evaluation of safety integrity of the hardware which is involved in the safety functions realization. Objective of the paper is to compare different ways of the quantitative hardware safety integrity evaluation. For a specific technological process are identified hazards, their consequences and from them resulting safety functions. For each defined safety function is, by three different procedures, calculated the probability of dangerous failure per hour. At the end of the paper are stated reasons of results mismatch, which were obtained using different approaches.

关键词： Computer architecture Microprocessors Robot sensing systems Hazards Contactors

Motion Planning In High-Dimensional Spaces

学校读者我要写书评

暂无评论

arXiv 2018年

作者： Petrović, Luka University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics

—Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing on systems such as planar mobile robots and low degree-of-freedom (DOF) robotic arms. The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect some of them, namely grid search based, sampling based and trajectory optimization based approaches. We compare them and outline their advantages and disadvantages, and finally, provide an insight into future research opportunities. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

Calibration of Heterogeneous Sensor systems

学校读者我要写书评

暂无评论

arXiv 2018年

作者： Peršić, Juraj University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics LAMOR

Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and extrinsic sensor calibration. Former seeks for internal parameters of each individual sensor, while latter provides coordinate frame transformation between sensors. Calibration techniques require correspondence registration in the measurements which is one of the main challenges in the extrinsic calibration of heterogeneous sensors, since generally, each sensor can operate on a different physical principle. Measurement correspondences can originate from a designated calibration target or from features in the environment. Additionally, environment features can be used to estimate motion of individual sensors and the calibration is found by aligning these estimates. Motion-based calibration is the most common approach in the online calibration since it is more practical than the target-based methods, although it can lack in accuracy. Furthermore, online calibration is beneficial for system robustness as it can detect and adjust recalibration of the system in runtime, which can be seen as a prerequisite for long-term autonomy. Copyright © 2018, The Authors. All rights reserved.

关键词： Calibration

Acados - A modular open-source framework for fast embedded optimal control

学校读者我要写书评

暂无评论

arXiv 2019年

作者： Verschueren, Robin Frison, Gianluca Kouzoupis, Dimitris van Duijkeren, Niels Zanelli, Andrea Novoselnik, Branimir Frey, Jonathan Albin, Thivaharan Quirynen, Rien Diehl, Moritz ABB Corporate Research Baden-Dättwil Switzerland IMTEK University of Freiburg Germany Department of Mechanical Engineering KU Leuven Belgium Faculty of Electrical Engineering and Computing University of Zagreb Croatia Institute for Dynamic Systems and Control ETH Zürich Switzerland Mitsubishi Electric Research Labs CambridgeMA United States IMTEK Faculty of Mathematics University of Freiburg Germany

The acados software package is a collection of solvers for fast embedded optimization, intended for fast embedded applications. Its interfaces to higher-level languages make it useful for quickly designing an optimization-based control algorithm by putting together different algorithmic components that can be readily connected and interchanged. However, since the core of acados is written in a low-level language close to the hardware, we do not sacrifice computational efficiency. Thus, we aim to provide both flexibility and efficiency through modularity, without the need to rely on automatic code generation, which facilitates maintainability and extensibility. The main features of acados are: efficient optimal control algorithms targeting embedded devices implemented in C, linear algebra based on the high-performance BLASFEO [25] library, user-friendly interfaces to Matlab and Python, and compatibility with the modeling language of CasADi [5]. acados is published under the BSD 2-Clause open source license. Copyright © 2019, The Authors. All rights reserved.

关键词： Efficiency

Why Lethal autonomous weapon systems are unacceptable 15

学校读者我要写书评

暂无评论

Why Lethal autonomous weapon systems are unacceptable

15th IEEE International Symposium on Applied Machine Intelligence and Informatics, SAMI 2017

作者： Šimák, Vojtech Gregor, Michal Hruboš, Marián Nemec, Dušan Hrbček, Jozef Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Žilina Slovakia

ISBN: (纸本)9781509056545

This paper presents an overview of some the issues concerning Lethal Autonomous Weapon systems (LAWS), mostly with respect to the current state-of-the-art in the concerned areas of technology, but also - albeit to a somewhat lesser degree - in a more general context that will, perhaps, not be so easily invalidated by technological progress. When all is considered, the paper attempts to answer the question: "Why artificial intelligence should not be allowed to make decisions about killing human beings?" The authors are by no means refusing non-lethal autonomous systems, or remotely controlled (non-autonomous) weapons. They merely point to the fact that "lethal" and 'autonomous' is not an acceptable combination. © 2017 IEEE.

关键词： robot LAWS CCW