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DVG+A* and RRT Path-Planners: A Comparison in a Highly Dynamic Environment

Journal of Intelligent and Robotic Systems: Theory and Applications 2021年第3期101卷 58-58页

作者： da Silva Costa, Leonardo Tonidandel, Flavio Department of Control and Automation Engineering University Center of FEI São Bernardo do CampoSP Brazil Department of Computer Science University Center of FEI São Bernardo do CampoSP Brazil

This work provides a deeper comparison between two path planning algorithms, the Dynamic Visibility Graph A Star (DVG+A*) and Rapidly–exploring Random Trees (RRT), when applied in a high dimension and dynamic environment, which is the RoboCup Small Size League. The algorithms were compared under two different perspectives. In the first analysis, the algorithms were evaluated according to its computational time, path length and path safety in a static environment. Afterwards, they were evaluated regarding the accumulated computational time, number of recalculated paths, total navigation time and number of collisions in a dynamic environment. The static environment results have shown that the DVG+A* has a better overall performance than RRT, except for the path safety, however, some ideas on how to improve this were discussed. In the dynamic environment the algorithms performed similarly and with a high number of collisions during the experiments. Thus, showing the importance of using an obstacle avoidance algorithm combined with the path planner. In conclusion, the results obtained showed that both algorithms aren’t suitable for highly dynamic and cluttered environments, however, due how sparse the obstacles are in the SSL, they can still be used with some care. Regarding static environments, the DVG+A* has shown the best results. © 2021, The Author(s), under exclusive licence to Springer Nature B.V. part of Springer Nature.

关键词： Motion planning

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PDAVIS: Bio-inspired Polarization Event Camera

PDAVIS: Bio-inspired Polarization Event Camera

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Germain Haessig Damien Joubert Justin Haque Moritz B. Milde Tobi Delbruck Viktor Gruev AIT Austrian Institute of Technology Center for Vision Automation & Control High-Performance Vision Systems Vienna Austria Institute of Neuroinformatics University of Zurich and ETH Zurich Switzerland International Centre for Neuromorphic Systems The MARCS Institute Western Sydney University Sydney Australia Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA

The stomatopod (mantis shrimp) visual system has recently provided a blueprint for the design of paradigm-shifting polarization and multispectral imaging sensors, enabling solutions to challenging medical and remote sensing problems. However, these bioinspired frame-based cameras lack the high dynamic range and asynchronous polarization vision capabilities of the stomatopod visual system, limiting temporal resolution to ~12ms and dynamic range to ~72dB. Here we present a novel stomatopod-inspired polarization camera which mimics the sustained and transient biological visual pathways to save power and sample data beyond the maximum Nyquist frame rate. This bio-inspired sensor simultaneously captures both synchronous intensity frames and asynchronous polarization brightness change information with submillisecond latencies over a millionfold range of illumination. Our PDAVIS camera is comprised of 346x260 pixels, organized in 2-by-2 macropixels, which filter the incoming light with four linear polarization filters offset by 45°. Polarization information is reconstructed using both low-cost and low-latency event-based algorithms and more accurate but slower deep neural networks. Our sensor is used to image high dynamic range polarization scenes that vary at high speeds and to observe the dynamical properties of single collagen fibers in a bovine tendon under rapid cyclical ***: https://***/mFuCeTMWEqY

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Preconditioning for the integration of a spatiotemporal pharmacodynamic system

Preconditioning for the integration of a spatiotemporal phar...

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92nd Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2022

作者： Tebbens, Jurjen Duintjer Lanzendörfer, Martin Matonoha, Ctirad Papáček, Štěpán Department of Computational Mathematics Institute of Computer Science of the Czech Academy of Sciences Pod Vodárenskou věží 271/2 Praha-Libeň 182 07 Czech Republic Department of Biophysics and Physical Chemistry Faculty of Pharmacy in Hradec Kralove Charles University Heyrovského 1203 Hradec Králové500 05 Czech Republic Institute of Hydrogeology Engi neering Geology and Applied Geophysics Faculty of Science Charles University Albertov 6 Praha 2 128 43 Czech Republic Department of Control Theory Institute of Information Theory and Automation of the Czech Academy of Sciences Pod Vodárenskou věží 4 Praha-Libeň 182 00 Czech Republic

We address efficient modeling of the intracellular action of a drug binding to the nuclear pregnane X receptor. The binded complex enters the cell nucleus and acts on DNA, resulting in enhanced production of an enzyme which metabolizes, among others, co-administered drugs. Pharmacodynamic modeling is traditionally based on a compartmental approach, which simplifies the complex processes in the human body through the definition of a small number of compartments representing organs, tissues, cells, cytoplasm or abstract units. Inside a compartment, the concentrations of all substances are assumed to be distributed homogeneously, i.e. there is no spatial dependence. They lead to a system of ODEs for the time-dependence of the concentrations of the active substances. We will present an extension of a model from the literature for the action of the tuberculose-drug Rifampicin. The extension consists of a first attempt to add spatial resolution for substances that are active in the cytoplasm. Spatial resolution can be benecifial to analyze important issues like, among others, local exceeding of toxic drug levels, delay of transport and drug-drug interactions. We address efficient solution of the linear systems arising when numerically integrating the resulting PDE’s and consider some preconditioning techniques based on properties of the underlying biochemical network. © 2023 Wiley-VCH GmbH.

关键词： Linear systems

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Seasonal characteristics analysis and uncertainty measurement for wind speed time series

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Energy Engineering: Journal of the Association of Energy Engineering 2020年第5期117卷 289-299页

作者： Deng, Xing Shao, Haijian Wang, Xia School of Computer Science Jiangsu University of Science and Technology Zhenjiang212003 China School of Automation Key Laboratory of Measurement and Control for CSE Ministry of Education Southeast University Nanjing210096 China School of Information Science and Technology Nantong University Nantong226019 China Department of Electrical and Computer Engineering National University of Singapore 117583 Singapore

Wind speed’s distribution nature such as uncertainty and randomness imposes a challenge in high accuracy forecasting. Based on the energy distribution about the extracted amplitude and associated frequency, the uncertainty measurement is processed through Rényi entropy analysis method with time-frequency nat-ure. Nonparametric statistical method is used to test the randomness of wind speed, more precisely, whether or not the wind speed time series is independent and iden-tically distribution (i.i.d) based on the output probability. Seasonal characteristics of wind speed are analyzed based on self-similarity in periodogram under scales range generated by wavelet transformation to reasonably divide the original dataset and effectively reflect the seasonal distribution characteristics. Experimental evaluation based on the dataset from National Renewable Energy Laboratory (NREL) is given to demonstrate the performance of the proposed approach. © 2020, Tech Science Press. All rights reserved.

关键词： Wind speed

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Modeling and control of General Hydraulic Excavator for Human-in-the-loop automation

Modeling and Control of General Hydraulic Excavator for Huma...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： Guangda Chen Yinghao Gan Jiayi Chen Shuanwu Shi Wei Chen Yingfeng Chen Rong Xiong Changjie Fan Fuxi Robotics in NetEase Hangzhou P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China College of Computer Science and Technology Hangzhou Dianzi University Hangzhou P.R. China Department of Automation Zhejiang University of Technology Hangzhou P.R. China

As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the excavator arm using nonlinear optimization approaches, including a simplified model that maps the task space to the joint space, as well as an equivalent model that maps the joint space to the actuator space. These models were then used to build a feedforward-PID joint velocity controller and a joint trajectory controller combined with position feedback, which forms the core of our proposed semi-automatic control system for the excavator arm. Our deployment scheme is simple and efficient, and has been deployed on two excavators of different makes and sizes. Experiments show that our deployment scheme performs well on both excavators, with an average error of 0.05 rad/s for the velocity controller and less than 5 cm for the trajectory controller. Using our semi-automatic system, we have completed demonstration experiments for precise digging and grading operations. A demonstration video can be found at https://***/N6I0WZGSF68.

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Implementation of a Human-Robot Collaboration System Based On Smart Hand Gesture and Speech Recognition

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2020年第6期41卷 755-762页

作者： Chen, Shang-Liang Huang, Li-Wu Huang, Chung-Chi Lee, Feng-Chi Huang, Ho-Chuan Chen, Chien-Yu Institute of Manufacturing Information and Systems National Cheng Kung University Tainan70101 Taiwan Department of Automation and Control Engineering Far East University Tainan74448 Taiwan Department of Mechatronics Control Industrial Technology Research Institute Hsinchu310 Taiwan Department of Intelligent Commerce National Kaohsiung University of Applied Sciences Kaohsiung824 Taiwan Computer Science and Information Engineering National University of Tainan Tainan70005 Taiwan

With the development of artificial intelligence technology, the robot arm will be applied in more fields, undertake more work, and become an important assistant of humans. Especially in the manufacturing industry, if a perfect human-robot cooperation (HRC) model can be developed, in which the engineer is responsible for complex operations and monitoring the production process and the robot arm is responsible for highly repetitive and tiring work, the flexibility of the manufacturing process can be improved, the risk of personnel injury can be reduced, and the production line productivity can be improved. To realize the human-robot collaboration system that can be applied in various fields, the technologies of robot arm control, human-robot interaction (HRI), Radio Frequency Identification, machine-to-machine communication, and automatic speech recognition (ASR), etc. are combined in this research. Besides, the HRC in intelligent manufacturing is taken as the demonstration result of this research. In this application example, the human-robot interaction function is realized through smart hand gesture and speech recognition technology, which enables the user to communicate commands to the robot arm most intuitively and easily. The robot arm can execute specific actions, provide processing prompts, or read corresponding motion control command macros according to different commands, to realize various processing contents required by users. © 2020, Chinese Mechanical Engineering Society. All right reserved.

关键词： Radio frequency identification (RFID)

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Guidance control for Parallel Parking Tasks

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 301-306页

作者： Jiyuan Tan Chunling Xu Li Li Fei-Yue Wang Dongpu Cao Lingxi Li Key Laboratory of Urban Intelligent Traffic Control Technology North China University of TechnologyBeijing 100144China Beijing Transport Institute Beijing 100073China Department of Automation BNRistTsinghua UniversityBeijing 100084China Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100080China Driver Cognition and Automated Driving Laboratory University of WaterlooWaterloo N2L 3G1Canada Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndiana 46202-5132 USA

Parking into small berths remains difficult for unskilled drivers. Researchers had proposed different automatic parking systems to solve this problem. The first kind of strategies(called parking trajectory planning) designs a detailed reference trajectory that links the start and ending points of a special parking task and let the vehicle track this reference trajectory so as to park into the berth. The second kind of strategies(called guidance control) just characterizes several regimes of driving actions as well as the important switching points in certain rule style and let the vehicle follows the pre-selected series of actions so as to park into the berth. Parking guidance control is simpler than parking trajectory planning. However, no studies thoroughly validated parking guidance control before. In this paper, a new automatic parking method is presented, which could characterize the desired control actions directly. Then the feasibility is examined carefully. Tests show that a simple parking guidance control strategy can work in most parallel parking tasks, if the available parking berth is not too small. This finding helps to build more concise automatic parking systems that can efficiently guide human drivers.

关键词： Automatic parking guidance control trajectory planning

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Evaluation of shelter dog activity levels before and during COVID-19 using automated analysis

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APPLIED ANIMAL BEHAVIOUR SCIENCE 2022年 250卷 105614页

作者： Byosiere, Sarah-Elizabeth Feighelstein, Marcelo Wilson, Kristiina Abrams, Jennifer Elad, Guy Farhat, Nareed van der Linden, Dirk Kaplun, Dmitrii Sinitca, Aleksandr Zamansky, Anna [a]Thinking Dog Center Department of Psychology Hunter College City University of New York USA [b]Primrose Tel Aviv Israel [c]Information Systems Department University of Haifa Israel [d]Department of Computer and Information Sciences Northumbria University Newcastle-upon-Tyne UK [e]Department of Automation and Control Processes Saint Petersburg Electrotechnical University "LETI" St. Petersburg Russia

Animal shelters have been found to represent stressful environments for pet dogs, both affecting behavior and influencing welfare. The current COVID-19 pandemic has brought to light new uncertainties in animal sheltering practices which may affect shelter dog behavior in unexpected ways. To evaluate this, we analyzed changes in dog activity levels before COVID-19 and during COVID-19 using an automated video analysis within a large, open-admission animal shelter in New York City, USA. Shelter dog activity was analyzed during two two-week long time periods: (i) just before COVID-19 safety measures were put in place (Feb 26-Mar 17, 2020) and (ii) during the COVID-19 quarantine (July 10-23, 2020). During these two periods, video clips of 15.3 second, on average, were taken of participating kennels every hour from approximately 8 am to 8 pm. Using a two-step filtering approach, a matched sample (based on the number of days of observation) of 34 dogs was defined, consisting of 17 dogs in each group (N1/N2 = 17). An automated video analysis of active/non-active behaviors was conducted and compared to manual coding of activity. The automated analysis validated by comparison to manual coding reaching above 79% accuracy. Significant differences in the patterns of shelter dog activity were observed: less activity was observed in the afternoons before COVID-19 restrictions, while during COVID-19, activity remained at a constant average. Together, these findings suggest that 1) COVID-19 lockdown altered shelter dog in-kennel activity, likely due to changes in the shelter environment and 2) automated analysis can be used as a hands-off tool to monitor activity. While this method of analysis presents immense opportunity for future research, we discuss the limitations of automated analysis and guidelines in the context of shelter dogs that can increase accuracy of detection, as well as reflect on policy changes that might be helpful in mediating canine stress in changing shelter en

关键词： COVID-19 Dog behavior Shelter research Applied behavior computer vision Machine learning

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SvTI: SFC-driven Queue Injection in Virtual Time-sensitive Network via Augmented Topology

SvTI: SFC-driven Queue Injection in Virtual Time-sensitive N...

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GLOBECOM 2022 - 2022 IEEE Global Communications Conference

作者： Yajing Zhang Qimin Xu Cailian Chen Mingyan Li Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai P. R. China College of Computer Science Chongqing University Chongqing P. R. China

ISBN: (纸本)9781665435413

Driven by the coexisted heterogeneous communication protocols and diverse quality of service (QoS) requirements of industrial applications, time-sensitive networking (TSN) has been proposed as a promising and unified standard to provide deterministic transmission. However, the traffic scheduling of the TSN network should be orchestrated in a coordinated manner, which is challenging to respond to dynamic applications rapidly. For this, network function virtualization (NFV) has been introduced to eliminate the tight coupling between functions and devices, thus enabling a more flexible network resource allocation. However, NFV cannot be simply applied in a TSN network due to the inherent complex characteristics of TSN. To address this issue, we develop SvTI, a service function chain (SFC) driven queue injection scheme in the NFV-enabled TSN network. The basic idea of SvTI is to jointly model virtual network functions (VNFs) embedding and the TSN multi-queue characteristic by constructing an ordered augmented topology according to the SFC. Thus, the VNF embedding and TSN queue injection problem can be transformed into a shortest path routing problem. Besides, considering the QoS requirements of applications, a TSN queue-based topology division mechanism is proposed to simplify the augmented topology further and improve the algorithm efficiency. Simulation results show that our SvTI obtains a smaller graph size than other works and is more scalable.

关键词： Network topology Service function chaining Simulation Quality of service Dynamic scheduling Routing Topology

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Manifold Learning Inspired Mating Restriction for Evolutionary Constrained Multiobjective Optimization 11th

Manifold Learning Inspired Mating Restriction for Evolutiona...

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11th International Conference on Evolutionary Multi-Criterion Optimization, EMO 2021

作者： Li, Lianghao He, Cheng Cheng, Ran Pan, Linqiang Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9783030720612

Mating restriction strategies are capable of restricting the distribution of parent solutions for effective offspring generation in evolutionary algorithms (EAs). Studies have shown the importance of these strategies in improving the performance of EAs for multiobjective optimization. Our previous study proposed a specific manifold learning inspired mating restriction (MLMR) strategy. It has shown promising capability of solving multiobjective optimization problems (MOPs) with complicated Pareto set shapes. However, the effect of mating restriction strategies in solving constrained MOPs is yet to be well studied. Here, we investigate the effectiveness of MLMR for solving constrained MOPs. The MLMR strategy is embedded into some representative multiobjective EAs and tested on various benchmark constrained MOPs. Experimental results indicate the encouraging performance of MLMR in constrained multiobjective optimization. © 2021, Springer Nature Switzerland AG.

关键词： Multiobjective optimization

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