检索结果-内蒙古大学图书馆

Nearest-Better Network for Fitness Landscape Analysis of Continuous Optimization Problems

IEEE Transactions on Evolutionary Computation 2024年

作者： Diao, Yiya Li, Changhe Zeng, Sanyou Yang, Shengxiang Coello, Carlos A. Coello China University of Geosciences School of Automation Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China Anhui University of Sciences and Technology School of Artificial Intelligence Hefei China China University of Geosciences School of Mechanical Engineering and Electronic Information Wuhan China De Montfort University School of Computer Science and Informatics LeicesterLE1 9BH United Kingdom Department of Computer Science CINVESTAV-IPN 07360 Mexico Tecnologico de Monterrey Faculty of Excellence The School of Engineering and Sciences N.L. Monterrey Mexico

Fitness landscape analysis (FLA) is quite important in evolutionary computation. In this paper, we propose a novel FLA method, the nearest-better network (NBN), which uses the nearest-better relationship to simplify the original fitness landscape of continuous optimization problems. We introduce an efficient algorithm to calculate NBN for continuous problems. We also propose four numerical measurements and a 3D visualization method based on NBN. Experiments show that compared to the other main FLA methods, the four numerical measurements proposed here can effectively measure the four intended features: neutrality, ruggedness, modality, and basin of attraction, respectively, and common features of the fitness landscape can be maintained in 3D NBN visualization, regardless of the scale of the problem. NBN also provides a view of how algorithms search in high-dimensional problems with the help of the 3D NBN visualization. © 1997-2012 IEEE.

关键词： Optimization algorithms

来源：评论

学校读者我要写书评

暂无评论

Hydrone: Modeling of a Hybrid Unmanned Aerial Underwater Vehicle Considering Trans-Media Dynamics

SSRN

引用

SSRN 2024年

作者： de Oliveira Evald, Paulo Jefferson Dias Brião, Stephanie Loi Aoki, Vivian Misaki da Silva, César Bastos dos Santos Cardoso, Dayana Pinheiro, Pedro Miranda de Oliveira, Felipe Gomes André Barbosa Cunha, Mauro Jorge Drews, Paulo Lilles Intelligent Systems and Control Group Federal University of Pelotas RS Pelotas Brazil Intelligent Robotics and Automation Group Federal University of Rio Grande RS Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas SP Campinas Brazil Federal Institute of Education Science and Technology in Rio Grande do Sul RS Pelotas Brazil Institute of Exact Sciences and Technology Federal University of Amazonas Itacoatiara AM Amazonas Brazil Brazil

Research in mobile robotics is growing into applications for difficult-to-access environments, such as in rescue and transport missions. Furthermore, autonomous vehicles can perform data collection in complex approach areas. Therefore, the study of hybrid unmanned vehicles is relevant for several areas, since these vehicles can act in different domains. The developed vehicle, called Hydrone, is designed in a quadrotor-type structure and equipped with a set of aerial and underwater propellers, which are fixed and independent between them. In this sense, this work presents the mathematical modeling of an unmanned hybrid vehicle, which can navigate underwater and aerial environments. Furthermore, the modeling considers the ground effect due to the influence on the vehicle’s trajectory change and the dynamics of the transition zone between water-air and air-water. These dynamics are important to evaluate the controller’s performance. Numerical simulations consider both transitions (water-air and air-water) and they are performed to discuss the influence of acting forces on the vehicle stability and position-tracking performance using a classical control system. © 2024, The Authors. All rights reserved.

关键词： Hybrid vehicles

来源：评论

学校读者我要写书评

暂无评论

An End-to-End Trajectory Planning Strategy for Free-floating Space Robots

An End-to-End Trajectory Planning Strategy for Free-floating...

引用

第40届中国控制会议

作者： Shengjie Wang Yuxue Cao Xiang Zheng Tao Zhang Department of Automation Tsinghua University Beijing Institute of Control Engineering China Academy of Space Technology Department of Computer Science City University of Hong Kong

The traditional trajectory planning methods of free-floating space robots have the dynamic singular problem and the difficulty of accurate *** learning-based approaches have achieved remarkable performance on such task,they mainly focus on single modular design such as the perception,planning,or control ***-based end-to-end method can well combine perception,planning and control,which not rely on parameters of the dynamic model and reduce the difficulty of manually adjusting modular controllers’ ***,we developed an end-to-end trajectory planning strategy based on optimization with multiple *** whole strategy consists of several multi-layer neural networks and is optimized by a deep reinforcement learning algorithm based on maximum *** results of visualization show that our strategy can capture the information of robotic arm from vision ***,we evaluate the kinematic and dynamic features of the system and testify our strategy in anti-interference *** performance of our strategy demonstrates the availability and robustness of the system.

关键词： Space robot Trajectory planning Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Preconditioning for the integration of a spatiotemporal pharmacodynamic system

Preconditioning for the integration of a spatiotemporal phar...

引用

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

来源：评论

学校读者我要写书评

暂无评论

Exploring the Economic Feasibility of Advanced Air Mobility in the Early Stages

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 4826-4830页

作者： Jingqiu Guo Long Chen Lingxi Li Xiaoxiang Na Ljubo Vlacic Fei-Yue Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University–Purdue University Indianapolis (IUPUI) Indianapolis IN USA Department of Engineering University of Cambridge Cambridge U.K. Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith University Nathan QLD Australia State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Advanced Air Mobility (AAM) envisages a sustainable, safe, convenient, and affordable air transport system. In socio-technical transition of AAM, there are a number of trade-offs in ecosystem that need to be studied. Three perspectives on economic feasibility are explored: first, based on history of VTOL services and value of time estimates, we discuss whether AAM can provide customers with competitive mobility services; second, what are the stakeholders’ insights on the deployment of AAM; last, the experience in the development of autonomous driving technology, such as parallel intelligence, can inform future AAM research.

关键词： Active appearance model Costs Economics Transportation Helicopters Aircraft propulsion Public transportation

来源：评论

学校读者我要写书评

暂无评论

FusionPlanner: A Multi-task Motion Planner for Mining Trucks via Multi-sensor Fusion

arXiv

引用

arXiv 2023年

作者： Teng, Siyu Li, Luxi Li, Yuchen Hu, Xuemin Li, Lingxi Ai, Yunfeng Chen, Long Department of Computer Science Hong Kong Baptist University Hong Kong Department of Computer Science BNU-HKBU United International College Zhuhai China The School of Artificial Intelligence Hubei University Wuhan China Waytous Inc. Haidian Distinct Beijing China Indianapolis United States School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open-pit mining attracts limited attention due to its complex operational conditions and adverse environmental factors. A comprehensive paradigm for unmanned transportation in open-pit mines is proposed in this research. Firstly, we propose a multi-task motion planning algorithm, called FusionPlanner, for autonomous mining trucks by the multi-sensor fusion method to adapt both lateral and longitudinal control tasks for unmanned transportation. Then, we develop a novel benchmark called MiningNav, which offers three validation approaches to evaluate the trustworthiness and robustness of well-trained algorithms in transportation roads of open-pit mines. Finally, we introduce the Parallel Mining Simulator (PMS), a new high-fidelity simulator specifically designed for open-pit mining scenarios. PMS enables the users to manage and control open-pit mine transportation from both the single-truck control and multi-truck scheduling perspectives. The performance of FusionPlanner is tested by MiningNav in PMS, and the empirical results demonstrate a significant reduction in the number of collisions and takeovers of our planner. We anticipate our unmanned transportation paradigm will bring mining trucks one step closer to trustworthiness and robustness in continuous round-the-clock unmanned transportation. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Maturity Model for AI in Smart Production Planning and control System 55

Maturity Model for AI in Smart Production Planning and Contr...

引用

55th CIRP Conference on Manufacturing Systems, CIRP CMS 2022

作者： Colangelo, Eduardo Fries, Christian Hinrichsen, Theresa-Franziska Szaller, Ádám Nick, Gábor Fraunhofer Institute for Manufacturing Engineering and Automation IPA Nobelstr. 12 Stuttgart70569 Germany University of Stuttgart Institute of Industrial Manufacturing and Management IFF Allmandring 35 Stuttgart70569 Germany Institute for Computer Science and Control Kende str. 13-17. Budapest1111 Hungary Department of Manufacturing Science and Engineering Budapest University of Technology and Economics Budapest1111 Hungary EPIC InnoLabs Nonprofit Ltd. Kende str. 13-17. Budapest1111 Hungary

The utilization of Artificial Intelligence (AI) to improve processes constitutes a main subject for many enterprises. The area of Production Planning and control (PPC) possesses several functions that could profit from such approaches. However, manufacturing companies find themselves often limited in the application of these approaches. This paper concentrates on three elements to assist enterprises: 1) the clarification of what AI is (in the manufacturing context) and its application to the field of PPC;2) a review performed together with manufacturing enterprises in Germany and Hungary in order to understand the obstacles for the implementation of AI;and 3) the proposal of a maturity model to help enterprises understand where they are in regards to AI, as a way to help them create a roadmap to achieve their objectives. © 2022 The Authors. Published by Elsevier B.V.

关键词： Artificial Intelligence Maturity Model Production Planning and control Smart Production

来源：评论

学校读者我要写书评

暂无评论

Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Unified Blockchain-Semantic Framework for Wireless Edge Intelligence Enabled Web 3.0

arXiv

引用

arXiv 2022年

作者： Lin, Yijing Gao, Zhipeng Du, Hongyang Niyato, Dusit Kang, Jiawen Deng, Ruilong Shen, Xuemin Sherman State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications China School of Computer Science and Engineering Nanyang Technological University Singapore School of Automation Guangdong University of Technology China College of Control Science and Engineering Zhejiang University China Department of Electrical and Computer Engineering University of Waterloo Canada

Web 3.0 enables user-generated contents and user-selected authorities. With decentralized wireless edge computing architectures, Web 3.0 allows users to read, write, and own contents. A core technology that enables Web 3.0 goals is blockchain, which provides security services by recording content in a decentralized and transparent manner. However, the explosion of on-chain recorded contents and the fast-growing number of users cause increasingly unaffordable computing and storage resource consumption. A promising paradigm is to analyze the semantic information of contents that can convey precisely the desired meanings without consuming many resources. In this article, we propose a unified blockchain-semantic ecosystems framework for wireless edge intelligence-enabled Web 3.0. Our framework consists of six key components to exchange semantic demands. We then introduce an Oracle-based proof of semantic mechanism to implement on-chain and off-chain interactions of Web 3.0 ecosystems on semantic verification algorithms while maintaining service security. An adaptive Deep Reinforcement Learning-based sharding mechanism on Oracle is designed to improve interaction efficiency, which can facilitate Web 3.0 ecosystems to deal with varied semantic demands. Finally, a case study is presented to show that the proposed framework can dynamically adjust Oracle settings according to varied semantic demands. © 2022, CC BY.

关键词： Semantics

来源：评论

学校读者我要写书评

暂无评论

RLSAC: Reinforcement Learning enhanced Sample Consensus for End-to-End Robust Estimation

arXiv

引用

arXiv 2023年

作者： Nie, Chang Wang, Guangming Liu, Zhe Cavalli, Luca Pollefeys, Marc Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China Department of Computer Science ETH Zürich Switzerland Microsoft Mixed Reality AI Zürich Lab Switzerland

Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these algorithms cannot use data features and historical information effectively. In this paper, we propose RLSAC, a novel Reinforcement Learning enhanced SAmple Consensus framework for end-to-end robust estimation. RLSAC employs a graph neural network to utilize both data and memory features to guide exploring directions for sampling the next minimum set. The feedback of downstream tasks serves as the reward for unsupervised training. Therefore, RLSAC can avoid differentiating to learn the features and the feedback of downstream tasks for end-to-end robust estimation. In addition, RLSAC integrates a state transition module that encodes both data and memory features. Our experimental results demonstrate that RLSAC can learn from features to gradually explore a better hypothesis. Through analysis, it is apparent that RLSAC can be easily transferred to other sampling consensus-based robust estimation tasks. To the best of our knowledge, RLSAC is also the first method that uses reinforcement learning to sample consensus for end-to-end robust estimation. We release our codes at https://***/IRMVLab/RLSAC. © 2023, CC BY.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：