检索结果-内蒙古大学图书馆

SSRN 2023年

作者： Wang, Zhenwu Liang, Shangchao Guo, Yinan Han, Mengjie Liu, Fanghan Department of Computer Science and Technology China University of Mining and Technology Beijing100083 China Department of Intelligent Control and Robotics China University of Mining and Technology Beijing100083 China School of Information and Engineering Dalarna University Falun791 88 Sweden

Dynamic multi-objective optimization problems (DMOPs) need to consider all optimal solutions compromised among multiple conflicting objectives, where the objective functions, the constraints or the paramters may change with time. The characteristic of changing over time brings big challenges to solve DMOPs because the algorithms should not only be able to track the optimal solutions, but also quickly detect and respond to changes. In order to enhance the capability of detection and response to environment changes, we propose a dynamic multi-objective optimization (DMOO) algorithm based on the detection of environmental change intensity and ensemble learning (DMOO-DECI&EL). An effective detection method is employed to probe the intensity of environmental change, which then is used to guide the response strategies under the framework of ensemble learning. Experimental results on 14 benchmark funcitons show that the proposed MOCSO-DECI&EL algorithm outperforms other four state-of-the-art dynamic prediction strategies significantly on three classic evaluation crieria. © 2023, The Authors. All rights reserved.

关键词： Optimal systems

来源：评论

学校读者我要写书评

暂无评论

Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System

Dynamics-Based Trajectory Planning for Vibration Suppression...

引用

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

作者： Anthony Siming Chen Erwin Jose Lopez Pulgarin Guido Herrmann Alexander Lanzon Joaquin Carrasco Barry Lennox Benji Carrera-Knowles John Brotherhood Tomoki Sakaue Kaiqiang Zhang Department of Electrical and Electronic Engineering Control Systems and Robotics (CSR) Group The University of Manchester Manchester United Kingdom Jacobs Warrington United Kingdom Tokyo Electric Power Company (TEPCO) Holdings Japan United Kingdom Atomic Energy Authority (UKAEA) United Kingdom

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We address the unique challenge of vibration suppression for a flexible long-reach robotic manipulator system, namely, the through-wall deployment (TWD) system that is used in nuclear environments. This paper proposes a novel dynamics-based trajectory optimization approach, which minimizes both the acceleration and the jerk at the manipulator’s joints, as well as the vibrations of the flexible long-reach boom where the manipulator’s base is mounted. Firstly, we create an integrated model for the system dynamics based on the knowledge of the robotic manipulator and the acceleration data from the vibration tests. We then develop an original procedure for generating the high-order polynomial trajectory that guarantees the zero-boundary condition for a flexible number of optimization parameters and waypoints. Following the simulation of a multi-objective optimization scheme, the optimized trajectory is experimentally validated on the practical TWD system with around 28% vibration reduction on average compared to the benchmark. Importantly, this reduction is achieved without compromising on the average speed of motion. The methodology is transferable to a wider range of flexible robotic manipulator systems with similar characteristics.

关键词： Vibrations Trajectory planning System dynamics Life estimation Polynomials Maintenance Robots Manipulator dynamics Trajectory optimization Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Defining, measuring, and modeling passenger's in-vehicle experience and acceptance of automated vehicles

arXiv

引用

arXiv 2023年

作者： Bhide, Neeraja Hashimoto, Nanami Dokurno, Kazimierz Van der Hoorn, Chris Hoogendoorn-Lanser, Sascha Nordhoff, Sina Delft Center for Systems and Control Delft University of Technology Netherlands Department of Cognitive Robotics Delft University of Technology Netherlands Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands Department Transport & Planning Delft University of Technology Netherlands

Automated vehicle acceptance (AVA) has been measured mostly subjectively by questionnaires and interviews, with a main focus on drivers inside automated vehicles (AVs). To ensure that AVs are widely accepted by the public, ensuring the acceptance by both drivers and passengers is key. The in-vehicle experience of passengers will determine the extent to which AVs will be accepted by passengers. A comprehensive understanding of potential assessment methods to measure the passenger experience in AVs is needed to improve the in-vehicle experience of passengers and thereby the acceptance. The present work provides an overview of assessment methods that were used to measure a driver's behavior, and cognitive and emotional states during (automated) driving. The results of the review have shown that these assessment methods can be classified by type of data-collection method (e.g., questionnaires, interviews, direct input devices, sensors), object of their measurement (i.e., perception, behavior, state), time of measurement, and degree of objectivity of the data collected. A conceptual model synthesizes the results of the literature review, formulating relationships between the factors constituting the in-vehicle experience and AVA acceptance. It is theorized that the in-vehicle experience influences the intention to use, with intention to use serving as predictor of actual use. The model also formulates relationships between actual use and well-being. A combined approach of using both subjective and objective assessment methods is needed to provide more accurate estimates for AVA, and advance the uptake and use of AVs. © 2023, CC BY.

关键词： Vehicles

来源：评论

学校读者我要写书评

暂无评论

Autonomous navigation of a tracked unmanned ground vehicle*

引用

IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

来源：评论

学校读者我要写书评

暂无评论

Adaptive Stiffness control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic Systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators Computer aided software engineering Automation Adaptive systems control systems End effectors Hardware Dynamical systems Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Stable Inversion of Piecewise Affine Systems with Application to Feedforward and Iterative Learning control

arXiv

引用

arXiv 2024年

作者： Spiegel, Isaac A. Strijbosch, Nard de Rozario, Robin Oomen, Tom Barton, Kira Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States Departments of Mechanical Engineering and Robotics University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering Eindhoven University of Technology Eindhoven5612 AZ Netherlands Eindhoven5612 AZ Netherlands Delft Center for Systems and Control Delft University of Technology Delft2628 CD Netherlands

Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process for generating useful trajectories from unstable inverses by handling their stable and unstable modes separately. Piecewise affine (PWA) systems are a popular framework for modeling complicated dynamics. The primary contributions of this article are closed-form inverse formulas for a general class of PWA models, and stable inversion methods for these models. Both contributions leverage closed-form model representations to prove sufficient conditions for solution existence and uniqueness, and to develop solution computation methods. The result is implementable feedforward control synthesis from PWA models with either stable or unstable inverses. In practice, feedforward control alone may yield substantial tracking errors due to mismatch between the known system model and the unknowable complete system physics. Iterative learning control (ILC) is a technique for achieving robustness to model error in feedforward control. To demonstrate the primary contributions’ validity and utility, this article also integrates PWA stable inversion with ILC in simulations based on a physical printhead positioning *** Codes 93C10 (Primary) 93C62 (Secondary) Copyright © 2024, The Authors. All rights reserved.

关键词： Hybrid systems

来源：评论

学校读者我要写书评

暂无评论

Docking operation by two DOF dual arm planar cooperative space robot 14

Docking operation by two DOF dual arm planar cooperative spa...

引用

14th National Conference on Machines and Mechanisms, NaCoMM 2009

作者： Patolia, Haresh Pathak, P.M. Jain, S.C. Robotics and Control Laboratory Mechanical and Industrial Engineering Department Indian Institute of Technology Roorkee247667 India

This work presents force control in dual arm planar cooperative space robot for cooperative manipulation by two arms. A docking operation by the two arms of the space manipulator has been carried out. During docking operation, space robot requires mechanical interaction with compliant objects, which encounter force and motion constraints. The gripping force should be such that the object should not slip and at the same time there is a limit on the maximum force to prevent the object from crushing. Apart from this the docking operation requires that the gripped object follows a specific path to dock the picked object. The work uses the concept of impedance control to achieve both the objectives, i.e. force control during gripping and trajectory control during docking. The methodology has been validated with simulated results. © 2009 14th National Conference on Machines and Mechanisms, NaCoMM 2009. All rights reserved.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Job Shop Scheduling Using Genetic and Heuristic Exchange Algorithms for AGVs

引用

Journal of Institute of control, robotics and Systems 2022年第2期28卷 191-201页

作者： Wang, Jun-Kyung Eoh, Gyuho Park, Tae-Hyoung Department of Control Robot Engineering Chungbuk National University Korea Republic of Industrial AI Research Center Chungbuk National University Korea Republic of Department of Intelligent Systems and Robotics Chungbuk National University Korea Republic of

Solving a job shop scheduling problem (JSSP) entails allocating entire jobs to machines to minimize the processing time. Generally, the transit time between machines is not considered in the conventional JSSP because it is shorter than the processing time. In a real production environment, however, the transit time of an autonomous ground vehicle (AGV) is long due to the need to solve random problems, such as finding an indirect route or avoiding collisions. Moreover, AGVs sometimes need to transport the job on directional roads with upstream and downstream constraints. Therefore, we present an AGV job scheduling algorithm considering the transit time. This study considers not only the transportation times of the jobs from one machine to another but also collisions on limited roads, similar to in a real environment. A near-optimal job sequence was obtained by combining the genetic algorithm (GA) with simulation and was comparing this with the traditional method. Additionally, this paper presents heuristics that deal with deadlocks in the process of combining JSSP and simulation. The combination of GA and heuristics was tested using various simulations. © ICROS 2022.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

SLIFER: Investigating Performance and Robustness of Malware Detection Pipelines

arXiv

引用

arXiv 2024年

作者： Ponte, Andrea Trizna, Dmitrijs Demetrio, Luca Biggio, Battista Ogbu, Ivan Tesfai Roli, Fabio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Viale Causa 13 Genova16145 Italy Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Rome00185 Italy Department of Electrical and Electronic Engineering University of Cagliari Via Marengo 3 Cagliari09123 Italy Rina Consulting S.p.A. Via Antonio Cecchi 6 Genova16129 Italy

As a result of decades of research, Windows malware detection is approached through a plethora of techniques. However, there is an ongoing mismatch between academia – which pursues an optimal performances in terms of detection rate and low false alarms – and the requirements of real-world scenarios. In particular, academia focuses on combining static and dynamic analysis within a single or ensemble of models, falling into several pitfalls like (i) firing dynamic analysis without considering the computational burden it requires;(ii) discarding impossible-to-analyze samples;and (iii) analyzing robustness against adversarial attacks without considering that malware detectors are complemented with more non-machine-learning components. Thus, in this paper we bridge these gaps, by investigating the properties of malware detectors built with multiple and different types of analysis. To do so, we develop SLIFER, a Windows malware detection pipeline sequentially leveraging both static and dynamic analysis, interrupting computations as soon as one module triggers an alarm, requiring dynamic analysis only when needed. Contrary to the state of the art, we investigate how to deal with samples that impede analyzes, showing how much they impact performances, concluding that it is better to flag them as legitimate to not drastically increase false alarms. Lastly, we perform a robustness evaluation of SLIFER. Counter-intuitively, the injection of new content is either blocked more by signatures than dynamic analysis, due to byte artifacts created by the attack, or it is able to avoid detection from signatures, as they rely on constraints on file size disrupted by attacks. As far as we know, we are the first to investigate the properties of sequential malware detectors, shedding light on their behavior in real production environment. Copyright © 2024, The Authors. All rights reserved.

关键词： Malware

来源：评论

学校读者我要写书评

暂无评论

Cascaded Model Predictive control of Underactuated Bipedal Walking with Impact and Friction Considerations

Cascaded Model Predictive Control of Underactuated Bipedal W...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Sait Sovukluk Christian Ott M. Mert Ankaralı Automation and Control Institute (ACIN) TU Wien Vienna Austria Department of Electrical and Electronics Engineering Middle East Technical University (METU) Ankara Turkey Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany METU Robotics and AI Technologies Application and Research Center (METU-ROMER) Ankara Turkey

This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined sta-bilizable trajectory. Our approach aims to increase the trajectory tracking performance of the system and produce realistic and applicable responses while respecting friction constraints and considering impact dynamics. Primarily focusing on zero dynamics with PD (ZD+PD) control, this proposed control method constitutes a second layer controller on top of the well-known trajectory tracking controllers for underactuated bipedal walking systems. We successfully implement this model-based controller and test against large modeling errors, noises, and disturbances, where the conventional ZD+PD control fails to maintain stability.

关键词：

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：