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Intelligent Cost-Oriented Manufacturing Applications to Energy Buildings using Fuzzy Experts

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IFAC-PapersOnLine 2019年第25期52卷 523-526页

作者： Groumpos Peter Emeritus Professor Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26504

The manufacturing industry faces currently and in the near future due to the information society, very important challenges. New data, network, automation, digital customer interfaces and many new advancements have brought us Industry 4.0. Cost-oriented manufacturing methods and tools play a major role in the smooth and effective operation of an industry. Industry 4.0 or Smart Manufacturing as has been called by some, describes the new era of the “intelligent environment”, in which formerly separate subsystems, components and processes link together through many industrial networking protocols to produce intelligent data and transforms our daily lives. Intelligent cost-oriented concepts and practices are very important for energy savings of a building. The human needs must be taken into consideration when automation is used for Building Energy Management Systems (BEMS).

关键词： cost-oriented manufacturing intelligence energy savings fuzzy experts

Human intention recognition for human aware planning in integrated warehouse systems

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arXiv 2020年

作者： Petković, Tomislav Hvězda, Jakub Rybecký, Tomáš Marković, Ivan Kulich, Miroslav Přeučil, Libor Petrović, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague160 00 Czech Republic

With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However, even in fully automatized warehouse systems the need for human intervention frequently arises, whether because of maintenance or because of fulfilling specific orders, thus bringing mobile robots and humans ever closer in an integrated warehouse environment. In order to ensure smooth and efficient operation of such a warehouse, paths of both robots and humans need to be carefully planned;however, due to the possibility of humans deviating from the assigned path, this becomes an even more challenging task. Given that, the supervising system should be able to recognize human intentions and its alternative paths in real-time. In this paper, we propose a framework for human deviation detection and intention recognition which outputs the most probable paths of the humans workers and the planner that acts accordingly by replanning for robots to move out of the human's path. Experimental results demonstrate that the proposed framework increases total number of deliveries, especially human deliveries, and reduces human-robot encounters. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

LocalViT: Analyzing Locality in vision Transformers

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arXiv 2021年

作者： Li, Yawei Zhang, Kai Cao, Jiezhang Timofte, Radu Magno, Michele Benini, Luca Van Gool, Luc Computer Vision Lab D-ITET ETH Zürich Switzerland the University of Würzburg Germany Center for Project-Based Learning D-ITET ETH Zürich Switzerland Integrated Systems Laboratory D-ITET ETH Zürich Switzerland Department of Electrical Electronic and Information Engineering University of Bologna Italy KU Leuven Belgium

The aim of this paper is to study the influence of locality mechanisms in vision transformers. Transformers originated from machine translation and are particularly good at modelling long-range dependencies within a long sequence. Although the global interaction between the token embeddings could be well modelled by the self-attention mechanism of transformers, what is lacking is a locality mechanism for information exchange within a local region. In this paper, locality mechanism is systematically investigated by carefully designed controlled experiments. We add locality to vision transformers into the feed-forward network. This seemingly simple solution is inspired by the comparison between feed-forward networks and inverted residual blocks. The importance of locality mechanisms is validated in two ways: 1) A wide range of design choices (activation function, layer placement, expansion ratio) are available for incorporating locality mechanisms and proper choices can lead to a performance gain over the baseline, and 2) The same locality mechanism is successfully applied to vision transformers with different architecture designs, which shows the generalization of the locality concept. For ImageNet2012 classification, the locality-enhanced transformers outperform the baselines Swin-T [1], DeiT-T [2] and PVT-T [3] by 1.0%, 2.6% and 3.1% with a negligible increase in the number of parameters and computational effort. Code is available at https://***/ofsoundof/LocalViT. © 2021, CC BY-NC-SA.

关键词： Distribution transformers

Depth-Awareness in a System for Mixed-Reality Aided Surgical Procedures 15th

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Depth-Awareness in a System for Mixed-Reality Aided Surgical...

15th International Conference on Intelligent Computing, ICIC 2019

作者： Sylos Labini, Mauro Gsaxner, Christina Pepe, Antonio Wallner, Juergen Egger, Jan Bevilacqua, Vitoantonio Institute for Computer Graphics and Vision Faculty of Computer Science and Biomedical Engineering Graz University of Technology Graz Austria Computer Algorithms for Medicine Laboratory Graz Austria Department of Electrical and Information Engineering Polytechnic University of Bari Bari Italy Department of Oral and Maxillofacial Surgery Medical University of Graz Graz Austria

ISBN: (纸本)9783030267650

computer-assisted surgery is a trending topic in research, with many different approaches which aim at supporting surgeons in the operating room. Existing surgical planning and navigation solutions are often considered to be distracting, unintuitive or hard to interpret. In this work, we address this issue with an approach based on mixed reality devices like Microsoft HoloLens. We assess the depth sensing capabilities of Microsoft HoloLens, and the potential benefit they could bring to computer-assisted surgery applications. © 2019, Springer Nature Switzerland AG.

关键词： Mixed reality

Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

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Passive Quadrupedal Gait Synchronization for Extra Robotic L...

IEEE International Conference on robotics and Automation (ICRA)

作者： Daniel J. Gonzalez H. Harry Asada Robotics Research Center in the Department of Electrical Engineering and Computer Science United States Military Academy West Point NY USA d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.

关键词： Legged locomotion Wheels Synchronization Couplers Robot kinematics

Underwater image super-resolution using deep residual multipliers

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arXiv 2019年

作者： Islam, Md Jahidul Enan, Sadman Sakib Luo, Peigen Sattar, Junaed Interactive Robotics and Vision Laboratory Department of Computer Science and Engineering Minnesota Robotics Institute University of Minnesota Twin Cities United States

We present a deep residual network-based generative model for single image super-resolution (SISR) of underwater imagery for use by autonomous underwater robots. We also provide an adversarial training pipeline for learning SISR from paired data. In order to supervise the training, we formulate an objective function that evaluates the perceptual quality of an image based on its global content, color, and local style information. Additionally, we present USR-248, a large-scale dataset of three sets of underwater images of ‘high’ (640 × 480) and ‘low’ (80 × 60, 160 × 120, and 320 × 240) resolution. USR-248 contains over 7K paired instances in each set of data for supervised training of 2×, 4×, or 8× SISR models. Furthermore, we validate the effectiveness of our proposed model through qualitative and quantitative experiments and compare the results with several state-of-the-art models’ performances. We also analyze its practical feasibility for applications such as scene understanding and attention modeling in noisy visual conditions. Copyright © 2019, The Authors. All rights reserved.

关键词： Large dataset

The ZTF Source Classification Project: III. A Catalog of Variable Sources

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arXiv 2023年

作者： Healy, Brian F. Coughlin, Michael W. Mahabal, Ashish A. Laz, Theophile Jegou du Drake, Andrew Graham, Matthew J. Hillenbrand, Lynne A. van Roestel, Jan Szkody, Paula Zielske, LeighAnna Guiga, Mohammed Hassan, Muhammad Yusuf Hughes, Jill L. Nir, Guy Parikh, Saagar Park, Sungmin Purohit, Palak Rebbapragada, Umaa Reed, Draco Warshofsky, Daniel Wold, Avery Bloom, Joshua S. Masci, Frank J. Riddle, Reed Smith, Roger School of Physics and Astronomy University of Minnesota MinneapolisMN55455 United States Division of Physics Mathematics and Astronomy California Institute of Technology PasadenaCA91125 United States Center for Data Driven Discovery California Institute of Technology PasadenaCA91125 United States Department of Astronomy California Institute of Technology PasadenaCA91125 United States Anton Pannekoek Institute for Astronomy University of Amsterdam Amsterdam1090 GE Netherlands Department of Astronomy University of Washington SeattleWA98195 United States Department of Physics Pacific Lutheran University TacomaWA98447 United States Department of Computer Science and Engineering University of Minnesota MinneapolisMN55455 United States Department of Electrical Engineering Indian Institute of Technology Gandhinagar Gujarat 382055 India Department of Astronomy University of California BerkeleyCA94720 United States Lawrence Berkeley National Laboratory 1 Cyclotron Road MS 50B-4206 BerkeleyCA94720 United States Department of Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States Computer Vision Imaging and Graphics Lab Indian Institute of Technology Gujarat Gandhinagar382055 India School of Statistics University of Minnesota MinneapolisMN55455 United States Division of Engineering and Applied Science California Institute of Technology PasadenaCA91125 United States Jet Propulsion Laboratory California Institute of Technology PasadenaCA91125 United States IPAC California Institute of Technology 1200 E. California Blvd. PasadenaCA91125 United States Caltech Optical Observatories California Institute of Technology PasadenaCA91125 United States

The classification of variable objects provides insight into a wide variety of astrophysics ranging from stellar interiors to galactic nuclei. The Zwicky Transient Facility (ZTF) provides time-series observations that record the variability of more than a billion sources. The scale of these data necessitates automated approaches to make a thorough analysis. Building on previous work, this paper reports the results of the ZTF Source Classification Project (SCoPe), which trains neural network and XGBoost machine-learning (ML) algorithms to perform dichotomous classification of variable ZTF sources using a manually constructed training set containing 170,632 light curves. We find that several classifiers achieve high precision and recall scores, suggesting the reliability of their predictions for 209,991,147 light curves across 77 ZTF fields. We also identify the most important features for XGB classification and compare the performance of the two ML algorithms, finding a pattern of higher precision among XGB classifiers. The resulting classification catalog is available to the public, and the software developed for SCoPe is open-source and adaptable to future time-domain surveys. Copyright © 2023, The Authors. All rights reserved.

关键词： Classification (of information)

Nonlinear mpc for collision avoidance and control of uavs with dynamic obstacles

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arXiv 2020年

作者： Lindqvist, Björn Mansouri, Sina Sharif Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George Robotics and AI Team Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden Jet Propulsion Laboratory California Institute of Technology Pasadena CA91109 United States

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in this article we apply a classification scheme to differentiate between different kinds of trajectories to predict future obstacle positions. The trajectory calculation is done from an initial condition, and fed to the NMPC as an additional input. The solver used is the nonlinear, non-convex solver Proximal Averaged Newton for Optimal Control (PANOC) and its associated software OpEn (Optimization Engine), in which we apply a penalty method to properly consider the obstacles and other constraints during navigation. The proposed NMPC scheme allows for real-time solutions using a sampling time of 50 ms and a two second prediction of both the obstacle trajectory and the NMPC problem, which implies that the scheme can be considered as a local path-planner. This paper will present the NMPC cost function and constraint formulation, as well as the methodology of dealing with the dynamic obstacles. We include multiple laboratory experiments to demonstrate the efficacy of the proposed control architecture, and to show that the proposed method delivers fast and computationally stable solutions to the dynamic obstacle avoidance scenarios. Copyright © 2020, The Authors. All rights reserved.

关键词： Collision avoidance

Robot-To-robot relative pose estimation using humans as markers

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arXiv 2019年

作者： Islam, Md Jahidul Mo, Jiawei Sattar, Junaed Interactive Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Twin Cities United States

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a -leader-follower' framework, where at first, the leader robot visually detects and triangulates the key-points using the state-of-The-Art pose detector named OpenPose. Afterward, the follower robots match the corresponding 2D projections on their respective calibrated cameras and find their relative poses by solving the perspective-n-point (PnP) problem. In the proposed method, we design an efficient person re-identification technique for associating the mutually visible humans in the scene. Additionally, we present an iterative optimization algorithm to refine the associated key-points based on their local structural properties in the image space. We demonstrate that these refinement processes are essential to establish accurate key-point correspondences across viewpoints. Furthermore, we evaluate the performance of the proposed relative pose estimation method through several experiments conducted in terrestrial and underwater environments. Finally, we discuss the relevant operational challenges of this approach and analyze its feasibility for multi-robot cooperative systems in humandominated social settings and feature-deprived environments such as underwater. Copyright © 2019, The Authors. All rights reserved.

关键词： Iterative methods