An adaptive motion control scheme for robotic manipulators is presented. This is an adaptive computed torque method (CTM) that requires only position measurements. These measurements and the input torques are used in ...
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An adaptive motion control scheme for robotic manipulators is presented. This is an adaptive computed torque method (CTM) that requires only position measurements. These measurements and the input torques are used in an extended Kalman filter (EKF) to estimate the inertial parameter of the full nonlinear robot model as well as the joint positions and velocities. These estimates are used by the CTM to generate the input torques. This combination of the EKF and the CTM was shown to result in a stable adaptive control scheme. Experimental results with a two-degree-of-freedom direct-drive robot illustrate the performance of this scheme.< >
This study addresses large-scale personnel scheduling problems in the service industry by combining mathematical programming with data mining techniques to enhance efficiency. The studied problem aims at efficiently s...
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This study addresses large-scale personnel scheduling problems in the service industry by combining mathematical programming with data mining techniques to enhance efficiency. The studied problem aims at efficiently scheduling skilled employees over a one-week planning horizon, minimizing costs while meeting diverse job demands. In service industries, shift planning is intricately tied to customer presence, leading to a multitude of potential shifts and a difficult optimization problem that cannot be easily solved using a commercial mixed-integer programming solver. Nevertheless, these problems are categorized as recurrent problems, where distinct instances share common characteristics and solution structures that differ only in a few parameters over time. We propose to use a data mining technique, namely, the \(k\)-nearest neighbors algorithm, to expedite the solution process while upholding solution quality. We suggest using schedules of past solutions to reduce the problem size. Thus, for an upcoming instance, we identify similar historical instances and streamline the enumeration of shifts to align with the comparable historical instances’ schedules. This approach allows us to solve the problem using a commercial solver within a reasonable timeframe while preserving solution quality. Moreover, our methodology offers decision-makers the flexibility to determine the extent to which they wish to scale down the problem. Our experiments conducted on instances generated from real historical data with up to 12 jobs and 252 employees, yield an average removal of up to 85.5% of decision variables. This resulted in an average speedup factor of up to 15.5, with a marginal average cost increase of approximately 1.2%.
This volume contains papers selected for presentation at the 31st Annual C- ference on Current Trends in Theory and Practice of Informatics – SOFSEM 2005, held on January 22–28, 2005 in LiptovskyJ ´ an, ´ ...
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ISBN:
(数字)9783540305774
ISBN:
(纸本)9783540243021
This volume contains papers selected for presentation at the 31st Annual C- ference on Current Trends in Theory and Practice of Informatics – SOFSEM 2005, held on January 22–28, 2005 in LiptovskyJ ´ an, ´ Slovakia. The series of SOFSEM conferences, organized alternately in the Czech - public and Slovakia since 1974, has a well-established tradition. The SOFSEM conferences were originally intended to break the Iron Curtain in scienti?c - change. After the velvet revolution SOFSEM changed to a regular broad-scope international conference. Nowadays, SOFSEM is focused each year on selected aspects of informatics. This year the conference was organized into four tracks, each of them complemented by two invited talks: – Foundations of computer Science (Track Chair: Bernadette Charron-Bost) – Modeling and Searching Data in the Web-Era (Track Chair: Peter Vojt´ a? s) – softwareengineering (Track Chair: M´ aria Bielikova) ´ – Graph Drawing (Track Chair: Ondrej Syk ´ ora) The aim of SOFSEM 2005 was, as always, to promote cooperation among professionalsfromacademiaandindustryworkinginvariousareasofinformatics. Each track was complemented by two invited talks. The SOFSEM 2005 Program Committee members coming from 13 countries evaluated 144 submissions (128 contributed papers and 16 student research - rum papers). After a careful review process (counting at least 3 reviews per paper), followed by detailed discussions in the PC, and a co-chairs meeting held on October 8, 2005 in Bratislava, Slovakia, 44 papers (overall acceptance rate 34.
This book constitutes the refereed proceedings of the 25th Canadian Conference on Artificial Intelligence, Canadian AI 2012, held in Toronto, Canada, in May 2012.The 23 regular papers, 16 short papers, and 4 papers fr...
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ISBN:
(数字)9783642303531
ISBN:
(纸本)9783642303524
This book constitutes the refereed proceedings of the 25th Canadian Conference on Artificial Intelligence, Canadian AI 2012, held in Toronto, Canada, in May 2012.
The 23 regular papers, 16 short papers, and 4 papers from the Graduate Student Symposium presented were carefully reviewed and selected for inclusion in this book. The papers cover a broad range of topics presenting original work in all areas of artificial intelligence, either theoretical or applied.
Developing software systems which are easy to use while simultaneously increasing the productivity, performance and satisfaction of users is still a major challenge in softwareengineering. Thus a large number of usab...
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ISBN:
(数字)9781848000193
ISBN:
(纸本)9781848000186;9781849967037
Developing software systems which are easy to use while simultaneously increasing the productivity, performance and satisfaction of users is still a major challenge in softwareengineering. Thus a large number of usability engineering methods have been proposed to systematically develop software with high usability. A large number of studies indicate that even basic usability engineering methods are not integrated in software development lifecycles practiced in industrial settings. Yet problems in the adoption of methods by project teams are rarely examined. This book provides a new perspective on the integration and adoption of usability engineering methods by software development teams. The adoption of methods by project teams – contrary to popular belief – is not assured just because it is mandated by the organization. This work argues that usability engineering methods can only be regarded as integrated in the software development process of an organization when these methods are practiced and accepted by development teams. So far no frameworks for examining the acceptance of methods by project teams and for exploiting such data for guiding project teams in method deployment are available. To address this problem, this book presents an approach which consists of a process meta-model for guiding project teams in the deployment of usability en- neering methods and a measurement framework for measuring the acceptance of the deployed methods. The approach is called Adoption-Centric Usability engineering.
This book constitutes the refereed proceedings of the 6th Mexican Conference on Pattern Recognition, MCPR 2014, held in Cancun, Mexico, in June 2014. The 39 revised full papers presented were carefully reviewed and se...
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ISBN:
(数字)9783319074917
ISBN:
(纸本)9783319074900
This book constitutes the refereed proceedings of the 6th Mexican Conference on Pattern Recognition, MCPR 2014, held in Cancun, Mexico, in June 2014. The 39 revised full papers presented were carefully reviewed and selected from 68 submissions and are organized in topical sections on pattern recognition and artificial intelligence; computer vision; image processing and analysis; animal biometric recognition and applications of pattern recognition.
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