检索结果-内蒙古大学图书馆

21st Polish Control Conference, PCC 2023

作者： Pilat, Adam Krzysztof Milanowski, Hubert Bieszczad, Rafal Sikora, Bartiomiej Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH-University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351693

This elaboration presents the synthesis of the Takagi-Sugeno type Fuzzy Logic controller realizing the programmable parameters of the state feedback controller together with the steady state current for the active magnetic levitation system. Closed-loop dynamics was calculated precisely with respect to the requested dynamics. Two cases were considered: fixed-and variable-closed-loop dynamics. The Fuzzy Logic Controller was considered under four scenarios with linear, nonlinear, and constant in-range output. The study was supported by simulations and experimental investigations. The position of the levitating sphere stands as an illustration of the system in operation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Dynamics

来源：评论

学校读者我要写书评

暂无评论

How to split the costs and charge the travellers sharing a ride? aligning system's optimum with users' equilibrium

引用

EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 2022年第3期301卷 956-973页

作者： Fielbaum, Andres Kucharski, Rafal Cats, Oded Alonso-Mora, Javier [a]Department of Cognitive Robotics Delft University of Technology The Netherlands [b]Department of Transport & Planning Delft University of Technology The Netherlands [c]Faculty of Mathematics and Computer Science Jagiellonian University

Emerging on-demand sharing alternatives, in which one resource is utilised simultaneously by a circumstantial group of users, entail several challenges regarding how to coordinate such users. A very relevant case refers to how to form groups in a mobility system that offers shared rides, and how to split the costs within the travellers of a group. These are non-trivial tasks, as two objectives conflict: 1) minimising the total costs of the system, and 2) finding an equilibrium where each user is content with her assignment. Aligning both objectives is challenging, as users are not aware of the externalities induced to the rest. In this paper, we propose protocols to share the costs within a ride so that optimal solutions can also constitute equilibria. To do this, we model the situation as a non-cooperative game, which can be seen as a game-version of the well-known set cover problem . We show that the traditional notions of equilibrium in game theory (Nash and Strong) are not useful here, and prove that determining whether a Strong Equilibrium exists is an NP-Complete problem, by reducing it to the k-Exact-Cover problem. Hence, we propose three alternative equilibrium notions (stronger than Nash and weaker than Strong), depending on how users can coordinate. For each of these equilibrium notions, we propose a (possibly overcharging) cost-sharing protocol that yields the optimal solutions equilibria. Simulations for Amsterdam reveal that our protocols can achieve stable solutions that are close to the optimum, and that having a central coordinator can have a large impact. (c) 2021 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license ( http://***/licenses/by/4.0/ )

关键词： Transportation Ridepooling Cost-sharing Price of stability Set cover

来源：评论

学校读者我要写书评

暂无评论

Lighting the Smart Way: A Technological Odyssey in Urban Street Illumination 10

Lighting the Smart Way: A Technological Odyssey in Urban Str...

引用

10th International Conference on Advanced Computing and Communication Systems, ICACCS 2024

作者： Vinu, M.S. Priya, P Kanaga Thilakaveni, P. Hermina, J. M. Ashforn Prashanthini, K. Misba, M. Nehru Institute of Engineering and Technology Department of Computer Science and Engineering Coimbatore India Kpr Institute of Engineering and Technology Department of Computer Science and Engineering Coimbatore India Psg Polytechnic College Department of Computer Engineering Coimbatore India Bannari Amman Institute of Technology Department of Artificial Intelligence and Data Science Erode India Sri Ramakrishna Engineering College Department of Robotics and Automation Coimbatore India Bethlahem Institute of Engineering Department of Computer Science and Engineering Nagercoil Karungal India

ISBN: (纸本)9798350384369

The development of intelligent street light systems has ushered in a new era of efficiency and sustainability in urban infrastructure. The proposed work studies the integration of modern sensors and Internet of Things (IoT) technologies to increase the functionality of street lights. The major components include Light Dependent Resistors (LDR) for automatic light management, an MQ135 sensor for air quality monitoring, and a fog detection system employing a laser module and LDR. These sensors are integrated with the ESP8266, providing cloud integration for real-time data visualization and monitoring. Additionally, solar panels are employed to enhance energy efficiency. The proposed methodology digs into the precise implementation, data analysis, and the potential of this system to alter urban lighting infrastructure © 2024 IEEE.

关键词： Air quality

来源：评论

学校读者我要写书评

暂无评论

Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning 8

Bridging the gap between Learning-to-plan, Motion Primitives...

引用

8th Conference on Robot Learning, CoRL 2024

作者： Kicki, Piotr Tateo, Davide Liu, Puze Guenster, Jonas Peters, Jan Walas, Krzysztof IDEAS NCBR Warsaw Poland Institute of Robotics and Machine Intelligence Poznan University of Technology Poland Department of Computer Science Technische Universitat Darmstadt Germany

Trajectory planning under kinodynamic constraints is fundamental for advanced robotics applications that require dexterous, reactive, and rapid skills in complex environments. These constraints, which may represent task, safety, or actuator limitations, are essential for ensuring the proper functioning of robotic platforms and preventing unexpected behaviors. Recent advances in kinodynamic planning demonstrate that learning-to-plan techniques can generate complex and reactive motions under intricate constraints. However, these techniques necessitate the analytical modeling of both the robot and the entire task, a limiting assumption when systems are extremely complex or when constructing accurate task models is prohibitive. This paper addresses this limitation by combining learning-to-plan methods with reinforcement learning, resulting in a novel integration of black-box learning of motion primitives and optimization. We evaluate our approach against state-of-the-art safe reinforcement learning methods, showing that our technique, particularly when exploiting task structure, outperforms baseline methods in challenging scenarios such as planning to hit in robot air hockey. This work demonstrates the potential of our integrated approach to enhance the performance and safety of robots operating under complex kinodynamic constraints. © 2024 Proceedings of Machine Learning Research.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Tactile Object Recognition with Recurrent Neural Networks through a Perceptive Soft Gripper

引用

IEEE robotics and Automation Letters 2025年第7期10卷 7023-7030页

作者： Donato, Enrico Pelliccia, David Hosseinzadeh, Matin Amiri, Mahmood Falotico, Egidio BRAin-Inspired Robotics (BRAIR) Lab The BioRobotics Institute Italy Scuola Superiore Sant'Anna Department of Excellence in Robotics and AI Pisa Italy University of Pisa Department of Computer Science Pisa Italy Kermanshah University of Medical Sciences Medical Technology Research Center Institute of Health Technology Kermanshah Iran

Soft robot perception integrates information from distributed, multi-modal sensors, broadening their application to active interaction. Our work introduces recurrent learning models for tactile-based object recognition, demonstrating comparable performance in virtual and real-world scenarios. The work focuses on soft grippers, which facilitate adaptation to objects of varying shapes and sizes thanks to passive finger compliance. Our model successfully identifies over sixteen heterogeneous objects. Findings underscore the significance of sensory multi-modality over single. We highlight how spatial distribution and sensory signal dynamics influence overall estimation accuracy, and what the minimal grasp set is to achieve certain recognition. © 2016 IEEE.

关键词： multi-modal integration object recognition soft gripper Tactile sensing

来源：评论

学校读者我要写书评

暂无评论

Mixed Reality Application in Robot Navigation and Control 16

Mixed Reality Application in Robot Navigation and Control

引用

16th International Conference on Applied and Theoretical Electricity, ICATE 2024

作者： Cismaru, Stefan-Irinel Petcu, Florina-Luminita Resceanu, Ionut-Cristian Roibu, Horatiu Trasculescu, Andrei-Costin Pana, Cristina-Floriana Bizdoaca, Nicu-George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Automation Computers and Electronics Computer Science Department Craiova Romania

ISBN: (纸本)9798350388107

Among the emerging technologies, Mixed Reality (MR) has provided the means to interact with holograms. A very distant future is now near and accessible, which allows for the replacement of classic controllers for robots and is driven by MR. Holograms involve dynamic 3D elements that are integrated into the environment, enhancing control means for the user. These elements may be visually attended to and interacted with via eye concentration or hand gestures, and they have the capability to execute a variety of activities. This emerging technology enables interactions that are otherwise unattainable in alternative settings or contexts, such as the presence of an avatar inside the program. Furthermore, it has the potential to be expanded to govern other mechatronic devices, including robots. The purpose of this work is to offer an improved and interactive method of controlling a mechatronic platform by using holograms, such that the adaptability of this technology may be shown in the context of operating real systems. Important for the authors of this paper is the broadening of the spectrum in which the application lies, thus contributing to the process followed for the development and applicability of the solution in key areas such as industry, training, and medicine. © 2024 IEEE.

关键词： Holograms

来源：评论

学校读者我要写书评

暂无评论

Dynamic Subgoal Based Path Formation and Task Allocation: A NeuroFleets Approach to Scalable Swarm robotics

Dynamic Subgoal Based Path Formation and Task Allocation: A ...

引用

2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Peter, Robinroy Ratnabala, Lavanya Andrew Charles, Eugene Yugarajah Tsetserukou, Dzmitry Ltd Jaffna Sri Lanka Skolkovo Institute of Science and Technology Intelligent Space Robotics Laboratory Moscow121205 Russia University of Jaffna Department of Computer Science Jaffna Sri Lanka

ISBN: (纸本)9781665410205

This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to navigate effectively. We designed the task allocation and path formation process based on a finite state machine, ensuring systematic decision-making and efficient state transitions. The approach is decentralized, allowing each robot to make decisions independently based on local information, which enhances scalability and robustness. We present a novel subgoal-based path formation method that establishes paths between locations by leveraging visually connected subgoals. Simulation experiments conducted in the Argos simulator show that this method successfully forms paths in the majority of trials. However, inter-collision (traffic) among numerous robots during path formation can negatively impact performance. To address this issue, we propose a task allocation strategy that uses local communication protocols and light signal-based communication to manage robot deployment. This strategy assesses the distance between points and determines the optimal number of robots needed for the path formation task, thereby reducing unnecessary exploration and traffic congestion. The performance of both the subgoal-based path formation method and the task allocation strategy is evaluated by comparing the path length, time, and resource usage against the A ∗ algorithm. Simulation results demonstrate the effectiveness of our approach, highlighting its scalability, robustness, and fault tolerance. © 2024 IEEE.

关键词： Traffic congestion

来源：评论

学校读者我要写书评

暂无评论

Comparative Analysis of Reinforcement Learning Techniques in Simulated robotics Environments 7

Comparative Analysis of Reinforcement Learning Techniques in...

引用

7th International Conference on Intelligent robotics and Control Engineering, IRCE 2024

作者： Yoseph, Abey Tanveer, M. Hassan Voicu, Razvan Cristian Shahid, M. Farrukh Kennesaw State University Department of Robotics & Mechatronics Engineering MariettaGA United States National University of Computer and Emerging Sciences Department of Ai and Data Science Karachi Pakistan

ISBN: (纸本)9798350352399

Machine learning is a critical component of artificial intelligence and computer science that uses data and algorithms to emulate the way that humans learn and predict. Reinforcement learning, one of the many forms of machine learning, trains an agent through trial and error, with successful outcomes being rewarded and unsuccessful outcomes being penalized. The implementation of three reinforcement learning algorithms, Qlearning, Deep Q-Learning, and Double Deep Q-Learning, was tested using a series of ROS (Robot Operating System) packages in the Gazebo simulation environment. The Python openai-ros package and Gym libraries were used to input a robot into a configurable environment and test out the performance of a specific reinforcement learning algorithm. The agent's action space was discretized into three specific actions, move forward, turn left, or turn right, that the robot could take. The reward or punishment was given after each step based on if the current action moved the robot towards the goal state or away from it. For each algorithm, the agent was first pre-trained on an obstacle free environment for 200 episodes and then was placed in an environment with two box-shaped obstacles to avoid. The algorithm/neural network parameters from the pre-training environment were loaded prior to the agent being tested in the new environment. The goal state at each episode was randomly generated and the robot's performance was evaluated using the cumulative reward achieved per episode and the number of times it reached the goal. © 2024 IEEE.

关键词： Adversarial machine learning

来源：评论

学校读者我要写书评

暂无评论

Deep Neural Network in Dermatology: Pioneering Skin Lesion Classification 6

Deep Neural Network in Dermatology: Pioneering Skin Lesion C...

引用

6th International Conference on Sustainable Technologies for Industry 5.0, STI 2024

作者： Fuad, Nasif Rakib, Abdur Al Noman, Abdullah Islam, Md Rafiqul Rahman, Mahbubur Refat, Md Abu Rumman Green University of Bangladesh Department of Computer Science and Engineering Dhaka Bangladesh Bangabandhu Sheikh Mujibur Rahman Digital University Department of Internet of Things and Robotics Engineering Dhaka Bangladesh

ISBN: (纸本)9798331531973

Skin cancer is one of the most common cancer types in the world. Early detection of skin cancer is essential as it significantly improves the treatment outcomes. However, recognizing skin lesions is challenging due to the high degree of similarity in lesion's appearance, location, color, and size. In response to this challenge, we developed a deep learning based method for skin lesion classification by ensembling two pre-trained CNN models called ResNet50 and DenseNet201 using the HAM10000 dataset. With the imbalance in the dataset, we used the Synthetic Minority Over-sampling Technique(SMOTE) and class weighted approach along with the data Augmentation approach. As a result, our study demonstrates that the proposed approach attained a remarkable 96.0% accuracy on the HAM10000 dataset, surpassing other cutting-edge methods. © 2024 IEEE.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Deep Learning Based FOD Detection For Runway Health Monitoring 1

Deep Learning Based FOD Detection For Runway Health Monitori...

引用

1st International Conference on AIML-Applications for Engineering and Technology, ICAET 2025

作者： Kumar, Amarjeet Mittal, Aanya Dixit, Abhishek Agrawal, Pooja School of Robotics Defence Institute of Advanced Technology Pune India Manipal University Jaipur Department of Computer Science Rajasthan India Defence Institute of Advanced Technology Department of Aerospace Pune India

ISBN: (纸本)9798350355611

This paper focuses on the safety of airport runways, which is crucial for aviation industries. Foreign Object Debris (FOD) i.e. objects like nails or bolts can cause significant harm to aircraft and potentially lead to catastrophic incidents and fatalities. This study delves into detecting objects on runways by using versions of the YOLO (You Only Look Once) model. Further, it also presents the differences in detecting objects and comparing the accuracy across a range of objects, paying attention to their ability to identify even the smallest things that have a potential danger. In order to identify the model variation and enable real-time runway surveillance, the proposed methodology considers the trade-off between detection speed and precision. The results illustrate the effectiveness of the latest YOLO model in object recognition over existing models, this can support the improvement of runway safety and the development of automated systems that monitor runway conditions. © 2025 IEEE.

关键词： Aircraft accidents

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：