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检索条件"机构=Czech Institute of Informatics Robotics and Cybernetics"

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An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data 32

An Empirical Investigation on Variational Autoencoder-Based ...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Coleman, Tomas Babuska, Robert Kober, Jens Santina, Cosimo Della Delft University of Technology Department of Cognitive Robotics Delft Netherlands Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague16000 Czech Republic Wessling82234 Germany

ISBN: (纸本)9798350395440

Formulating the dynamics of continuously deformable objects and other mechanical systems analytically from first principles is an exceedingly challenging task, often impractical in real-world scenarios. What makes this challenge even harder to solve is that, usually, the object has not been observed previously, and the only information that we can get from it is a stream of RGB camera data. In this study, we explore the use of deep learning techniques to solve this nonlinear identification problem. We specifically focus on extracting dynamic models of simple deformable objects from the high-dimensional sensor input coming from an RGB camera. We investigate a two-stage approach to achieve this goal. First, we train a variational autoencoder to extract an extremely low-dimensional representation of the object configuration. Then, we learn a dynamic model that predicts the evolution of these latent space variables. The proposed architecture can accurately predict the object's state up to one second into the future. © 2024 IEEE.

关键词： Dynamic models

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Product Digital Twin Supporting End-of-life Phase of Electric Vehicle Batteries Utilizing Product–Process–Resource Asset Network 22

Product Digital Twin Supporting End-of-life Phase of Electri...

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22nd IEEE International Conference on Industrial informatics, INDIN 2024

作者： Strakošová, Sára Novák, Petr Kadera, Petr Faculty of Mechanical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9798331527471

In a circular economy, products in their end-of-life phase should be either remanufactured or recycled. Both of these processes are crucial for sustainability and environmental conservation. However, manufacturers frequently do not support these processes enough in terms of not sharing relevant data about the products nor their (re-)manufacturing processes. This paper proposes to accompany each product with a digital twin technology, specifically the Product Digital Twin (PDT), which can carry information for facilitating and optimizing production and remanufacturing processes. This paper introduces a knowledge representation called Bi-Flow Product-Process-Resource Asset Network (Bi-PAN). Bi-PAN extends a well-proven Product-Process-Resource Asset Network (PAN) paradigm by integrating both assembly and disassembly workflows into a single information model. Such networks enable capturing relevant relationships across products, production resources, manufacturing processes, and specific production operations that have to be done in the manufacturing phase of a product. The proposed approach is demonstrated in a use-case of disassembling electric vehicle (EV) batteries. By utilizing PDTs with Bi-PAN knowledge models, challenges associated with disassembling of EV batteries can be solved flexibly and efficiently for various battery types, enhancing the sustainability of the EV battery life-cycle management. © 2024 IEEE.

关键词： Knowledge representation

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Detection of sleep stages in neonatal EEG records

Detection of sleep stages in neonatal EEG records

引用

Joint Conference of the European Medical and Biological Engineering Conference, EMBEC 2017 and Nordic-Baltic Conference on Biomedical Engineering and Medical Physics, NBC 2107

作者： Krajca, Vladimir Piorecka, V. Schaabova, H. Strobl, J. Piorecky, M. Lhotska, L. Paul, K. Czech Technical University in Prague Faculty of Biomedical Engineering Czech Republic National Institute of Mental Health Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Czech Republic

ISBN: (纸本)9789811051210

The aim of this study is the detection of changes in sleep stages in EEG recordings in full-term and preterm newborns. We use a k-NN algorithm as a method of classification. The novelty of our approach lies in semi-automatic etalon (prototype) selection with combination of temporal analysis for sleep stages detection. The semi-automated etalon extraction includes the k-means algorithm for etalons suggestion and an expert-inthe-loop for verification of these etalons. The semi-automated approach improves significantly the time spent on the etalon selection (extraction) by the expert. The whole procedure of EEG signal processing consists of adaptive segmentation, feature extraction, semi-automatic etalon selection using k-means and expert-in-the-loop, classification using k-NN algorithm and temporal profile analysis that is able to detect the neonatal sleep stages for the full-term and even for the preterm neonates, which makes it a unique detection method. © Springer Nature Singapore Pte Ltd. 2018.

关键词： Extraction

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Product-Oriented Product-Process-Resource Asset Network and its Representation in AutomationML for Asset Administration Shell 29

Product-Oriented Product-Process-Resource Asset Network and ...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Strakošová, Sára Novák, Petr Kadera, Petr Czech Technical University in Prague Faculty of Mechanical Engineering Prague Czech Republic Czech Institute of Informatics Czech Technical University in Prague Robotics and Cybernetics Prague Czech Republic

ISBN: (纸本)9798350361230

Current products, especially in the automotive sector, pose complex technical systems having a multi-disciplinary mechatronic nature. Industrial standards supporting system engineering and production typically (i) address the production phase only, but do not cover the complete product life cycle, and (ii) focus on production processes and resources rather than the products themselves. The presented approach is motivated by incorporating the impacts of the end-of-life phase of the product life cycle into the engineering phase. This paper proposes a modeling approach coming up from the Product-Process-Resource (PPR) modeling paradigm. It combines requirements on (i) respecting the product structure as a basis for the model, and (ii) incorporates repairing, remanufacturing, or up cycling within cyber-physical production systems. The proposed model called PoPAN should accompany the product during the entire life cycle as a digital shadow encapsulated within the Asset Administration Shell of a product. To facilitate the adoption of the proposed paradigm, the paper also proposes serialization of the model in the AutomationML data format. The model is demonstrated on a use-case for disassembling electric vehicle batteries to support their remanufacturing for stationary battery applications. © 2024 IEEE.

关键词： Automotive industry

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Sequential path planning for a formation of mobile robots with split and merge

Sequential path planning for a formation of mobile robots wi...

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2017 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2017

作者： Pereyra, M. Estefanía Araguás, R. Gastón Kulich, Miroslav Research Centre in Informatics for Engineering National Technological University Córdoba Regional Faculty Argentina Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9781538637340

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The key part of the solution works on a graph and sequentially employs an extended version of Dijkstra's graph-based algorithm for multiple robots. It is thus deterministic, complete, computationally inexpensive, and finds a solution for a fixed source node to other node in the graph. Moreover, the presented solution is general enough to be incorporated into high-level tasks like cooperative surveillance and it can benefit from state-of-the-art formation motion planning approaches, which can be used for evaluation of edges of an input graph. The performed experimental results demonstrate behavior of the method in complex environments for formations consisting of tens of robots. © 2017 IEEE.

关键词： Motion planning

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UBAL: A Universal Bidirectional Activation-based Learning Rule for Neural Networks 2

UBAL: A Universal Bidirectional Activation-based Learning Ru...

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2nd International Conference on Computational Intelligence and Intelligent Systems, CIIS 2019

作者： Malinovská, Kristína Malinovský, L'udovít Krsek, Pavel Kraus, Svatopluk Farkaš, Igor Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Prague Czech Republic Independent Researcher Bratislava Slovakia Faculty of Mathematics Physics and Informatics Comenius University Bratislava Slovakia

ISBN: (纸本)9781450372596

Artificial neural networks, in particular the deep end-to-end architectures trained by error backpropagation (BP), are currently the topmost used learning systems. However, learning in such systems is only loosely inspired by the actual neural mechanisms. Algorithms based on local activation differences were designed as a biologically plausible alternative to BP. We propose Universal Bidirectional Activation-based Learning, a novel neural model derived from contrastive Hebbian learning. Similarly to what is assumed about learning in the brain, our model defines a single learning rule that can perform multiple ways of learning via special hyperparameters. Unlike others, our model consists of mutually dependent, yet separate weight matrices for different directions of activation propagation. We show that UBAL can learn different tasks (such as pattern retrieval, denoising, or classification) with different setups of the learning hyperparameters. We also demonstrate the performance of our algorithm on a machine learning benchmark (MNIST). The experimental results presented in this paper confirm that UBAL is comparable with a basic version BP-trained multilayer network and the related biologically-motivated models. © 2019 ACM.

关键词： Chemical activation

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Towards a computational theory of epistemic creativity

Towards a computational theory of epistemic creativity

引用

AISB Convention 2015

作者： Wiedermann, Jiri Van Leeuwen, Jan Institute of Computer Science of CAS Czech Institute of Informatics Robotics and Cybernetics of CTU Prague Czech Republic Center for Philosophy of Computer Science Utrecht University Netherlands

We investigate the computational process of creativity from the viewpoint of our recent thesis stating that computation is a process of knowledge generation. Rather than considering the creativity process in its full generality, we restrict ourselves to so-called epistemic creativity which deals with the processes that create knowledge. Within this domain we mainly concentrate on elementary acts of creativity - viz. drawing analogies. In order to do so using the epistemic framework, we define analogies as certain relationships among linguistic expressions and we state what knowledge must be discovered in order to resolve a given incompletely specified analogy. We assume analogies are formed in a natural language and also require that a solution of each analogy must contain an explanation why the resulting analogy holds. Finally, the difference between noncreative and creative computational processes is discussed. Our approach differs from the majority of previous approaches in stressing the knowledge discovery aspects of computational creativity, in requiring explanations in analogy solving and, last but not least, in including theory-less domains serving as knowledge base for knowledge discovery process.

关键词： Knowledge based systems

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On Verifying Linear Execution Strategies in Planning Against Nature 34

On Verifying Linear Execution Strategies in Planning Against...

引用

34th International Conference on Automated Planning and Scheduling, ICAPS 2024

作者： Chrpa, Lukáš Karpas, Erez Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Faculty of Data and Decision Sciences Technion - Israel Institute of Technology Haifa Israel

ISBN: (纸本)9781577358893

While planning and acting in environments in which nature can trigger non-deterministic events, the agent has to consider that the state of the environment might change without its consent. Practically, it means that the agent has to make sure that it eventually achieves its goal (if possible) despite the acts of nature. In this paper, we first formalize the semantics of such problems in Alternating-time Temporal Logic, which allows us to prove some theoretical properties of different types of solutions. Then, we focus on linear execution strategies, which resemble classical plans in that they follow a fixed sequence of actions. We show that any problem that can be solved by a linear execution strategy can be solved by a particular form of linear execution strategy which assigns wait-for preconditions to each action in the plan that specifies when to execute that action. Then, we propose a sound algorithm that verifies a sequence of actions and assigns wait-for preconditions to them by leveraging abstraction. Copyright © 2024, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Semantics

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On Verifying and Generating Robust Plans for Planning Tasks with Exogenous Events 21

On Verifying and Generating Robust Plans for Planning Tasks ...

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21st International Conference on Principles of Knowledge Representation and Reasoning, KR 2024

ISBN: (纸本)9781956792058

Planning and acting under the presence of exogenous events brings a number of challenges as events might modify the environment without the consent of the acting agent. Consequently, the agent’s plan might get disrupted, agent’s goals might no longer be achievable, or, worse, the agent might suffer some damage (e.g. damage to the robot). Although policies, mapping states to appropriate actions to take, can describe, in theory, how the agent should act, they might be difficult to explain and understand for humans in the loop. In this paper, we describe the concept of robust plans that are sequences of actions that can be successfully executed regardless of event occurrence. Robust plans are easier to understand (than policies). We present two methods for verifying whether a sequence of actions is a robust plan, one based on compilation to classical planning, and the other based on leveraging delete-relaxation. We also present a method for generating robust plans that is derived from the "relaxation" verification method. The methods are evaluated on three domains. © 2024 Proceedings of the International Conference on Knowledge Representation and Reasoning. All rights reserved.

关键词： Knowledge representation

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Weak and Strong Reversibility of Non-deterministic Actions: Universality and Uniformity 34

Weak and Strong Reversibility of Non-deterministic Actions: ...

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34th International Conference on Automated Planning and Scheduling, ICAPS 2024

作者： Med, Jakub Chrpa, Lukáš Morak, Michael Faber, Wolfgang Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic University of Klagenfurt Austria

ISBN: (纸本)9781577358893

Classical planning looks for a sequence of actions that transform the initial state of the environment into a goal state. Studying whether the effects of an action can be undone by a sequence of other actions, that is, action reversibility, is beneficial, for example, in determining whether an action is safe to apply. This paper deals with action reversibility of non-deterministic actions, i.e., actions whose application might result in different outcomes. Inspired by the established notions of weak and strong plans in non-deterministic (or FOND) planning, we define the notions of weak and strong reversibility for non-deterministic actions. We then focus on the universality and uniformity of action reversibility, that is, whether we can always undo all possible effects of the action by the same means (i.e., policy), or whether some of the effects can never be undone. We show how these classes of problems can be solved via classical or FOND planning and evaluate our approaches on FOND benchmark domains. Copyright © 2024, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

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