Multi-robot systems can provide substantial increase in efficiency and/or flexibility in different scenarios. Applications in various settings have been studied in the literature, such as disaster management, surveill...
Multi-robot systems can provide substantial increase in efficiency and/or flexibility in different scenarios. Applications in various settings have been studied in the literature, such as disaster management, surveillance, object transportation as well as search-and-rescue. A particular case that can highly benefit from the employment of multiple agents is the logistics in a warehouse scenario. This work proposes an multi-agent Q-learning based algorithm with curriculum learning and transfer learning to perform the path planning process. With progressively more complex stages of training as well as knowledge transfer from one stage to another, the algorithm is capable of achieve high success rates. In order to validate the proposed method, simulations were done to compare it to other combinations of the used techniques, as well as using Q-learning only. Scalability tests were also performed. The proposed method achieved up to 94% success rate after training.
Single-phase induction motors (SIMs) are commonly used in industrial applications. The extensive industrial usage of SIMs requires proper maintenance and fault detection. Among various faults, the most common mechanic...
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Fault detection (FD) is fundamental for monitoring several chemical processes. Thus, this paper introduces a novel structure multiscale reduced kernel principal component analysis (MS-RKPCA). The proposed FD method ai...
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ISBN:
(数字)9781728110806
ISBN:
(纸本)9781728110813
Fault detection (FD) is fundamental for monitoring several chemical processes. Thus, this paper introduces a novel structure multiscale reduced kernel principal component analysis (MS-RKPCA). The proposed FD method aims to address the problem of great computation time and significant storage memory space by using a data reduction structure based on the Euclidean distance metric. Additionally, to further enhance the RKPCA method, a multiscale representation of data will be used. The enhanced MS-RKPCA method uses the wavelet coefficients of the reduced data at each scale to enhance the fault detection results. The detection performance of the proposed MS-RKPCA method is evaluated using the Tennessee Eastman Process (TEP). The effectiveness of the enhanced method is evaluated in terms of the missed detection rates (MDR), false alarms rates (FAR) and computation time (CT). The results demonstrate that the developed technique is more effective for fault detection mostly in terms of computation time and memory storage space.
In this study, it is aimed to predict whether customers operating in the factoring sector will continue to trade in the next three months after the last transaction date, using data- driven machine learning models, ba...
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ISBN:
(数字)9781665450928
ISBN:
(纸本)9781665450935
In this study, it is aimed to predict whether customers operating in the factoring sector will continue to trade in the next three months after the last transaction date, using data- driven machine learning models, based on their past transaction movements and their risk, limit and company data. As a result of the models established, Loss Analysis (Churn) of two different customer groups (Real and Legal factory) wascarried out. It was estimated by the XGBoost model with anF1 Score of 74% and 77%. Thanks to this modeling, it was aimed to increase the retention rate of customers through special promotions and campaigns to be made to these customer groups, together with the prediction of the customerswho will leave. Thanks to the increase in retention rates, a direct contribution to the transaction volume on a company basis was ensured.
Light microscopes are the most widely used devices in life and material sciences that allow the study of the interaction of light with matter at a resolution better than that of the naked *** microscopes translate the...
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Light microscopes are the most widely used devices in life and material sciences that allow the study of the interaction of light with matter at a resolution better than that of the naked *** microscopes translate the spatial differences in the intensity of the reflected or transmitted light from an object to pixel brightness differences in the digital ***,a phase microscope converts the spatial differences in the phase of the light from or through an object to differences in pixel *** microscopy,a phase-based approach,has found application in various *** interferometry has brought nanometric axial resolution,the lateral resolution in quantitative phase microscopy(QPM)has still remained limited by diffraction,similar to other traditional microscopy *** the resolution has been the subject of intense investigation since the invention of the microscope in the 17th *** the past decade,microsphere-assisted microscopy(MAM)has emerged as a simple and effective approach to enhance the resolution in light *** can be integrated with QPM for 3D label-free imaging with enhanced ***,we review the integration of microspheres with coherence scanning interference and digital holographic microscopies,discussing the associated open questions,challenges,and opportunities.
Auditory perception is one of the most important functions for robotics applications. Microphone arrays are widely used for auditory perception in which the spatial structure of microphones is usually known. In practi...
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Recent studies have demonstrated that gradient matching-based dataset synthesis, or dataset condensation (DC), methods can achieve state-of-the-art performance when applied to data-efficient learning tasks. However, i...
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In this paper, we demonstrate the stable operation of integrated 4H-silicon carbide (SiC) diode bridge rectifier circuits at high temperature up to 773 K for the first time. The turn-on voltages of the fabricated 4H-S...
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In this paper, we demonstrate the stable operation of integrated 4H-silicon carbide (SiC) diode bridge rectifier circuits at high temperature up to 773 K for the first time. The turn-on voltages of the fabricated 4H-SiC pn diode are 2.6 V and 1.4 V at room temperature and 773 K, respectively, with a low shifting rate of 2.2 mV/K. The integration of the 4H-SiC diode bridge rectifier circuit was achieved with contact and interconnect metallization technique for high temperature. The demonstration of the extremely high temperature operation of the integrated 4H-SiC diode bridge rectifier circuits brings promising applications in harsh environment electronics and sensing.
This study delves into the prediction of protein-peptide interactions using advanced machine learning techniques, comparing models such as sequence-based, standard CNNs, and traditional classifiers. Leveraging pre-tra...
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In this paper, we apply pseudospectral optimal control, a computational algorithm of dynamic optimization, to the problem of helicopter UAV for minimum-time trajectory planning in the presence of obstacles. The proble...
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ISBN:
(纸本)9781467317139
In this paper, we apply pseudospectral optimal control, a computational algorithm of dynamic optimization, to the problem of helicopter UAV for minimum-time trajectory planning in the presence of obstacles. The problem is formulated as a nonlinear optimal control subject to the dynamics and limitations of helicopter UAVs, in which the obstacles are formulated as inequality constraints by using p-norms. The dynamical system is defined by a set of fifteen states nonlinear differential equations developed for HeLion, a helicopter UAV constructed in National University of Singapore (NUS). The problem does not have an analytic solution. We numerically solve the problem using a pseudospectral method. Various terrain scenarios were tested, from a single obstacle to multiple obstacles. We found bifurcation points of minimum-time trajectories near obstacles. The bifurcation points and their relationship with the distance to the obstacle are analyzed.
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