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Study on the Robotic Arm Trajectory Compensation System with Deviation Sensing 3

Study on the Robotic Arm Trajectory Compensation System with...

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3rd International Conference on Mechatronics and Automation technology, ICMAT 2024

作者： Liu, Chao-Chung Liu, Jun-Chi Liu, Chao-Shu Dep. of Computer Science Zhaoqing University Zhaoqing526061 China Dep. of Industrial Design National United University Miaoli360301 Taiwan Dep. of Mechanical Engineering National Kaohsiung University of Science and Technology Kaohsiung80778 Taiwan

ISBN: (纸本)9781643685649

Robotic arms play an important role in the automation industry. Robotic arms plan processing paths based on the shape of the workpiece. However, the processing path often deviates due to inaccurate placement of the workpiece. To solve the issue of deviations, this paper develops a trajectory compensation system for a robotic arm with offset perception. This system uses the concept of workpiece boundary projection and designs an offset calculation algorithm by comparing the dimensions of the workpiece drawings, correcting errors caused by missing corners of the workpiece. In terms of operation, the system uses photoelectric sensors to quickly scan the workpiece boundary and immediately calculate the displacement and rotational offset of the workpiece. Subsequently, when deviations occur due to different placement positions of the workpiece, the robotic arm's motion path and action must be corrected and compensated to maintain precision. Tests on selected workpieces show that the corrected rotational angle error is less than 0.4 degrees, and the translational error is less than 0.7 millimeters. Since these correction error values are lower than the 1.0 mm error threshold for the robotic arm's trajectory tracking control. The offset-sensing robotic arm trajectory compensation system developed in this study can satisfy the requirements of smart automation production lines and arrive at the manufacturer's application standards. © 2024 The Authors.

关键词： Robotic arms

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Multipoint organizational evolutionary algorithm for globally minimizing functions of many variables

Multipoint organizational evolutionary algorithm for globall...

引用

2007 2nd International Conference on Pervasive Computing and Applications, ICPCA'07

作者： Yanping, Lu Shaozi, Li Changle, Zhou Intelligent Multimedia Technology Lab. Computer Science Dep. Xiamen University Xiamen China

ISBN: (纸本)1424409713

In this paper, we design a variant of the organizational evolutionary algorithm (OEA), called the multipoint organizational evolutionary algorithm (mOEA), for global optimization of multimodal functions. Our objective is to apply crossover strategy of multiple points to enhance the OEA, so that the resulting algorithm can improve the precision of the solutions and have a fast convergence rate. In the mOEA, crossover among many leaders enables the diversity of the leader swarm to be preserved to discourage premature convergence. Another new organizational operator, the integrating operation replacing Annexing manipulation, guarantees members of each organization to converge to the leader fast and also have a good diversity due to mutation. Experiments on six complex optimization benchmark functions with 30 or 100 dimensions and very large numbers of local minima show that, comparing with the original OEA and CLPSO, mOEA effectively converges faster, results in better optima, is more robust. © 2007 IEEE.

关键词： Evolutionary algorithms

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Machine Learning Application to Transmission Quality Assessment in Optical Networks 30

Machine Learning Application to Transmission Quality Assessm...

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30th International Conference on Software, Telecommunications and computer Networks, SoftCOM 2022

作者： Kozdrowski, Stanislaw Cichosz, Pawel Sujecki, Slawomir Warsaw University of Technology Institute of Computer Science Warsaw Poland University of Science and Technology Telecommunications and Teleinformatics Dep. Wroclaw Poland

ISBN: (数字)9789532901177

ISBN: (纸本)9789532901177

This paper presents the application of 2 selected machine learning methods for transmission quality assessment in optical networks. The proposed solution uses real data to train classification models that predict whether a given optical channel meets transmission quality requirements. The training data is extracted directly from the running network through the control plane. Several attribute selection strategies have been analysed. The available attributes are divided into several subsets. The performance of the selected machine learning algorithms for each subset is compared using ROC and PR curves. The results are used to evaluate the predictive performance of the selected machine learning algorithms when applied to the optical channel classification task and to determine how this performance is related to the set of attributes used. © 2022 University of Split, FESB.

关键词： Machine learning

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Application of ML algorithms for prediction of the QoT in optical networks with imbalanced and incomplete data 29

Application of ML algorithms for prediction of the QoT in op...

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29th International Conference on Software, Telecommunications and computer Networks, SoftCOM 2021

作者： Cichosz, Pawel Kozdrowski, Stanislaw Sujecki, Slawomir Department of Computer Science Warsaw University of Technology Warsaw Poland Telecommunications and Teleinformatics Dep. University of Science and Technology Wroclaw Poland

ISBN: (纸本)9789532901092

Telecommunication optical networks grow steadily in response to increasing traffic. Thus, to accommodate a steady traffic growth, network operators need to increase the number of active optical channels and reconfigure networks constantly. These tasks cannot be successfully performed without an assessment of the quality of transmission prior to any changes made to an optical network. In this contribution a machine learning-based method for the assessment of the quality of transmission in a Dense Wavelength Division Multiplexing (DWDM) network is proposed. The proposed machine learning method uses a database, which was created only on the basis of information that is available to a network operator via the DWDM network control plane. Particular focus of this study is given to one-class classification algorithms: the one-class support vector machine, one-class naive Bayes classifier and isolation forest algorithms. This is to spare scarcely available examples of unsuccessful channel configurations for the purpose of model evaluation and learn exclusively from successful channel examples. The results obtained show that one-class classification algorithms present a viable alternative to the more common binary classification approach. © SoftCOM 2021. All rights reserved.

关键词： Dense wavelength division multiplexing

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Investigation of a 7-Axis Suspended Robotic Arm for Automated Spraying System 3

Investigation of a 7-Axis Suspended Robotic Arm for Automate...

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3rd International Conference on Mechatronics and Automation technology, ICMAT 2024

作者： Liu, Chao-Chung Liu, Jun-Chi Liu, Chao-Shu Dep. of Computer Science ZhaoQing University ZhaoQing526061 China Dep. of Industrial Design National United University Miaoli360301 Taiwan Dep. of Mechanical Engineering National Kaohsiung University of Science and Technology Kaohsiung80778 Taiwan

ISBN: (纸本)9781643685649

This study successfully develops a 7-axis suspended robotic arm for an automated spraying system, considering factors such as flexible operation modes, spray area dimensions, workpiece geometry, and the degrees of freedom required for effective operation. By using SolidWorks software for verification, the endpoints of the robotic arm can reach all positions within the workspace. The design and fabrication of the arm are completed according to specifications for structural strength, load capacity, rated torque output, and rotational speed. Kinematic analyses, both forward and inverse, are applied to determine the posture and position of the 7-axis robotic arm, facilitating the planning and design of the spraying trajectory. The control system architecture utilizes a multi-axis servo control board, integrated with a manifold deformation control method for trajectory tracking. Simulations and experiments are conducted to use a car shell workpiece provided by the manufacturer. The results from the simulations of MATLAB analyses show that the maximum tracking error is less than 0.4 mm. In experiments with the robotic arm, the maximum error is less than 0.7 mm. The results of the simulation and experiment are quite close, indicating that the deformation control method effectively operates the posture and movement of the 7-axis suspended robotic arm. Therefore, the 7-axis suspended robotic arm developed in this study will be effectively utilized in the production line of the automated spraying system. © 2024 The Authors.

关键词： MATLAB

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A decision-making model for intelligent agent with internal state

A decision-making model for intelligent agent with internal ...

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Proceedings of the 28th Annual International computer Software and Applications Conference;Workshop Papers and Fast Abstracts, COMPSAC 2004

作者： Hu, Shan-Li Wu, Hai-Yan Dep. of Computer Science and Technology Fuzhou University Fuzhou 350002 China Lab. of Computer Science ISCAS Beijing 100080 China

ISBN: (纸本)0769522092

Russell and Subramanian[1-2] considered decision-making model of agent as an function, which maps environment sequence or percept to action. This dep.ction can't represent the effects of internal state of intelligent agent to action selection. Wooldridge[1] considered internal state as basic condition of representing an intelligent agent. But in his decision-making model, action can affect internal state merely through changing environment. Thus, the internal state isn't suitable for including mental state of intelligent agents. Therefore, in this paper, we put forward two decision-making models for intelligent agents with internal state. In these two models, the action of agents not only can affect environment, then affect the internal state of agents through the percept of environment, but also can directly affect the internal state itself. This dep.ction of internal state is fit to include the mental state of agent, thus provide a suitable model for the decision-making of intelligent agents. © 2004 IEEE.

关键词： Decision making

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A sharable test content development and analysis mechanism based on scorm 11

A sharable test content development and analysis mechanism b...

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11th International Conference on Distributed Multimedia Systems, DMS 2005

作者： Hung, Lun-Ping Yang, Hsuan-Che Chang, Wen-Chih Chiang, Hui-Fen Dep. Of Information Management Northern Taiwan Institute of Science and Technology Taiwan Dep. of Computer Science and Information Engineering Tamkang University Taiwan R.O.C Taiwan

ISBN: (纸本)1891706179

In the environment of distance learning, most of current systems available are unable to share the experience of developing material content and can not provide subsequent learning result analysis. In order to overcome these shortcomings, we developed a sharable test content development and analysis mechanism (STCDAM) based on SCORM (Shareable Content Object Reference Model) and item response theory (IRT). Our purpose is to construct an integrated distance learning systematic assessment mechanism in which test content is shareable and the quality of a test can be improved. STCDAM incorporates advanced multimedia tools for content builder to construct test content easily based on the requirement of SCORM and evaluates online learners’ overall learning performance for teachers to adjust the test content to better reflect students’ learning ability. © 2005 by Knowledge Systems Institute Graduate School.

关键词： Distance education

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Spatial-spectral hyperspectral image clustering using cluster's bands box-plots

Spatial-spectral hyperspectral image clustering using cluste...

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European Conference on Data Mining 2014 and International Conferences on Intelligent Systems and Agents 2014 and Theory and Practice in Modern Computing 2014

作者： Al Moghalis, Mohamed A. Hegazy, Osman M. Imam, Ibrahim F. El-Bastawessy, Ali H. Dep. of Information Systems College of Computer and Information Systems Alyamamah University KSA Saudi Arabia Dep. of Information Systems Faculty of Computers and Information Cairo University Egypt Dep. of Computer Science College of Computing and Information Technology Arab Academy for Science Technology and Maritime Transport Egypt Dea. of Faculty of Computer Science MSA University Egypt

ISBN: (纸本)9789898704108

The attention given recently for Hyperspectral Images (HSI) in remote sensing was due to its spectral nature used in earth surface exploration. Recently, researches proposed approaches that combine features of spatial nature with spectral nature to enhance HSI analysis accuracy. The reason behind this orientation is that contiguous pixels mostly share spectral features due to the low spatial resolution. In this paper, authors follow this orientation in clustering HSI using K-means. The proposed approach uses kernels, group of spatially neighbored pixels, to build profile for each cluster. The profile preserves cluster's spectral nature through its bands' Box-Plots that were extracted from selected kernels. The approach starts by selecting K kernels from the given image scene randomly instead of generating random kernels. Then a profile for each cluster is built using the selected kernel pixels' spectrums. The profile consists of b box-plots, where b is the number of bands. Each band box-plot interprets the spread of contiguous pixels' reflectance values in that band. Each pixel in the image will join the nearest cluster. The distance to be measured between any given pixel spectrum and cluster's centroid is replaced by counting how many reflectance values have been considered outlier to their corresponding band's box-plot in that cluster profile. The pixel will join the cluster with minimum outlier count. The profiles are updated iteratively using the new pixels distribution. Data sets used in the experiments are captured by Hyperion Earth Observer 1 (EO-1) sensor. Copyright © 2014 IADIS Press All rights reserved.

关键词： Pixels

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CoDIMS-G: A data and program integration service for the grid

CoDIMS-G: A data and program integration service for the gri...

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2nd Workshop on Middleware for Grid Computing, MGC '04

作者： Fontes, V. Schulze, B. Dutra, M. Porto, F. Barbosa, A. National Laboratory for Scientific Computing Computer Science Dep. Brazil Military Institute of Engineering System Engineering Dep. Brazil Swiss Federal Institute of Technology Lausanne Database Lab. Switzerland Federal University of Espírito Santo Computer Science Dep. Brazil

ISBN: (纸本)1581139500

Grid services provide an important abstract layer on top of heterogeneous components (hardware and software) that take part into a Grid environment. In this scenario, applications, like scientific visualization, require access to data of non-conventional data types, like fluid path geometry, and the evaluation of special user programs on these data. In order to support such applications we are developing CoDIMS-G, which is a data and program integration service for the Grid. CoDIMS-G provides users transparent access to data and programs distributed on the Grid, as well as dynamic resource allocation and management. We conceived a new node scheduling algorithm and designed an adaptive distributed query engine for the grid environment. Copyright 2004 ACM.

关键词： Data visualization

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Enhancing an Availability of Cloud Based on Fault Tolerance Techniques 21

Enhancing an Availability of Cloud Based on Fault Tolerance ...

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21st Saudi computer Society National computer Conference, NCC 2018

作者： Safaa, Yousef S. Alraddadi Faisal, Saleem S. Alraddadi Dep. Computer Science Faculty of Computing and Information Technology King Abdul-Aziz University Jeddah Saudi Arabia Dep. Computer Network and Information Security School of Information Technology Jawaharlal Nehru Technology University Hyderabad India

ISBN: (纸本)9781538641095

Recently cloud computing used in a wide range of the applications, to ensure availability of the cloud service many design techniques of fault tolerance have been done. In this paper, proposed approach providing high availability for client cloud request. To achieve this, used load balance, redundancy mechanism and acceptance test to handle fault in service manager as well a checkpoint and load balance used to handle fault in service node also. The proposed approach showed better results in terms of the availability than failover strategies approach, where the comparison was based on the availability equation. © 2018 IEEE.

关键词： Redundancy

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