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检索条件"机构=Department of automatic control and applied informatics"

共 338 条记录，以下是21-30 订阅

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Policy Transfer with Maximum Entropy Deep Reinforcement Learning for Real Cart-Pole control

Policy Transfer with Maximum Entropy Deep Reinforcement Lear...

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IEEE International Conference on Intelligent Computer Communication and Processing (ICCP)

作者： Tudor-Andrei Paleu Adrian Burlacu Carlos Pascal Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798331539979

ISBN: (纸本)9798331539986

Transferring learned controllers from simulation to real-world domains is rarely observed for deep reinforcement learning applications, even physics-based tasks like the inverted pendulum being particularly difficult when transitioning to the physical world. Model-free controllers based on deep reinforcement learning have been a successful choice for many tasks. They are preferred over model-based ones due to their adaptive capability to situations not included in the initial design and for requiring less advanced expertise in control. This paper aims to apply learning-based model-free control to a real cart-pole system using a deep reinforcement learning policy transferred from simulation to a real environment without any fine-tuning involved with the dynamics model. In a simulation, the baseline deep Q-learning, an off-policy model-free algorithm, delivered an inferior performance on the Cart-Pole environment compared to the soft Q-learning, keeping the same hyper-parameters and ensuring reproducible outcomes. In the real experimental setup, besides a PD controller feasible for under-actuated systems, the soft version policy was transferred to accelerate the design process and enhance the control. Additionally, limitations related to the brittle robustness of PD controllers and the absence of accurate models in the learning phase are studied and addressed.

关键词： Adaptation models Q-learning Heuristic algorithms Process control Deep reinforcement learning Robustness Hardware Entropy Data models PD control

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Model-Free Adaptive Pitch control for a Nonlinear Aerospace Laboratory Equipment

Model-Free Adaptive Pitch Control for a Nonlinear Aerospace ...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Andrei Baciu Corneliu Lazar Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

The Model Free Adaptive control (MFAC) control laws are attractive for applications involving complex plants. This is mainly due to the fact that no process modeling is required, which becomes more and more cumbersome, but only a dynamic linearization through the concept of pseudo partial derivatives (PPD), which it introduces. Using PPD, the control law uses only the input and output data of the process to understand and control it. Systems in the aerospace category are increasingly complex, using a multitude of sensors, information that can be used very easily for applications involving MFAC. The paper proposes a test of an MFAC law conjugated with Sliding Mode control (SMC), to test this type of law in comparison with the classic MFAC-CFDL variant.

关键词： Adaptation models Process modeling Heuristic algorithms Process control Aerodynamics Sensor systems and applications Pitch control (position) Sliding mode control Oscillators Aerospace control

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Colouring Grayscale Images Using Cycle-Generative-Adversarial Networks

Colouring Grayscale Images Using Cycle-Generative-Adversaria...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Radu-Cosmin Hobincă Lavinia-Eugenia Ferariu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iaşi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

This paper analyses models that can realistically map the grayscale image domain to the color image domain. We thus focus our attention on a CycleGAN (Cycle-consistent Generative Adversarial Network) neural network architecture, which proves to have good results in the area of translation between domains, and implicitly in the application of image coloring. In addition to exploring CycleGAN for image colorization, this study introduces novel techniques aimed at enhancing its performance. We incorporate a color distribution loss term to ensure reliable color mapping, effectively addressing discrepancies in color distribution between domains. Moreover, an in-depth analysis of generator errors is conducted, unveiling critical insights into model limitations. Leveraging this analysis, we propose a correction network to generate residual images, facilitating more accurate colorization. Through rigorous experimentation across diverse datasets, our approach showcases a remarkable capacity to produce lifelike and coherent colorizations.

关键词： Analytical models Image color analysis Neural networks Refining Color Gray-scale Generative adversarial networks control systems Generators Reliability

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Velocity Computation for Vehicle Trajectory Tracking: A Comparative Analysis of Performance and Efficiency 24

Velocity Computation for Vehicle Trajectory Tracking: A Comp...

引用

24th International Conference on control Systems and Computer Science, CSCS 2023

作者： Pauca, Georgiana-Sinziana Caruntu, Constantin Florin Gheorghe Asachi Technical University of Iasi Department of Automatic Control and Applied Informatics Iasi Romania Safety and Motion Iasi Romania Software and Central Technologies Continental Automotive Romania Iasi Romania

ISBN: (纸本)9798350313390

Vehicles are a common topic and of great interest in the modern society in which we live. Their automation and the implementation of mechanisms and functionalities make driving easier and easier. The desire to completely exclude driving for every individual who owns a car has captured the interest of engineers and scientists in the automotive field. This paper aims to present such an algorithm that calculates a profile of the maximum velocity with which the car can travel on a certain trajectory. To illustrate the accuracy and to demonstrate the effectiveness of the proposed algorithm, three different scenarios were implemented. For each scenario, three maximum speeds were given with which the car can travel, to demonstrate that regardless of its power, each maneuver will be completed with the same minimum speed. To control the dynamical system, an advanced control method, the predictive control strategy, was implemented, which generated satisfactory results in each presented case. © 2023 IEEE.

关键词： Heuristic algorithms

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Enhanced Loss Function for the Design of Image Transform Models

Enhanced Loss Function for the Design of Image Transform Mod...

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International Symposium on Fundamentals of Electrical Engineering (ISFEE)

作者： Lavinia Ferariu Ioana Axinte Department of Automatic Control and Applied Informatics Gheorge Asachi Technical University of Iasi Romania Ioana Axinte is With the Department of Automatic Control and Applied Informatics Gheorge Asachi Technical University of Iasi Romania

ISBN: (数字)9798350308563

ISBN: (纸本)9798350308570

Deep convolutional neural networks have triggered important progress in image-to-image mapping. The enhanced learning capabilities allow them to understand the input visual layout and perform local transformations customized to image content. This paper discusses an approach based on Generative Adversarial Convolutional Neural Networks (GAN) to help augment training datasets with generated images. The proposed design uses a loss function that integrates terms based on image quality metrics to validate the production of realistic images. This allows the configuration of neural parameters according to the visual perception of the generated images, without imposing a strict pixel-wise similarity with targets. This technique could be helpful for real applications in which supervised training should be done for pairs of input-output images that do not illustrate the same scene. The performance of the proposed approach is illustrated by a transformation of outdoor scenes from summer to winter. The experiments performed for different GAN schemes and quality metrics show improved quality of the generated images when the loss function includes loss terms related to visual perception.

关键词： Training Measurement Image quality Visualization Neural networks Transforms Production

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Determining on-shelf availability based on RGB and ToF depth cameras 23

Determining on-shelf availability based on RGB and ToF depth...

引用

23rd International Conference on control Systems and Computer Science Technologies, CSCS 2021

作者： Craciunescu, Mihai Baicu, Diana Mocanu, Stefan Dobre, Cristian Faculty of Automatic Control and Computer Science Department of Automatic Control and Applied Informatics Bucharest Romania Rinftech Bucharest Romania

ISBN: (纸本)9781665439398

In this paper, a method of calculating the occupancy of a shelf will be presented. A vision pillar composed of two RGB cameras and two ToF depth cameras will be used to scan a shelf and determine the percentage of emptiness for the products. Since the cameras will scan a small section of the shelf at the time, a stitching method will be applied on both depth and RGB stream. In order to identify categories of products, along with their spatial delimitation within a shelf, a segmentation neural network is used. By combining the segmentation output with the depth information, the distance from the pillar to the product can be determined. Since this type of information does not help a human operator or a supervisor in understanding the state of the shelf or in making an appropriate decision, such as restocking, a method for computing the shelf occupancy is proposed. Optimization must be done to the processing algorithms to enable them to run on an embedded platform, which will allow for the implementation of the proposed architecture on a platform deployed in a production environment. All the computation is done on board of the mobile robot without transmitting the data to an external server. © 2021 IEEE.

关键词： Cameras

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Experimental Comparison of Two Data-Driven Algorithms for Pitch control of an Aerospace System

Experimental Comparison of Two Data-Driven Algorithms for Pi...

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Mediterranean Conference on control and Automation (MED)

作者： Andrei Baciu Corneliu Lazar Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

Data-driven control (DDC) algorithms have been developed in the last decades, whose design is based only on the data collected from the controlled plant, without using a process model. These techniques that do not use an explicit model of the system have become very attractive for the control of complex processes with high nonlinearities. This paper presents two DDC algorithms, one model-free adaptive control (MFAC), and the other model-free intelligent P(iP), whose performances are experimentally evaluated using the AERO 2 platform, a highly nonlinear aerospace system made by Quanser. The similarities and differences between the two DDC are succinctly presented and based on the results obtained through real-time experiments, the performances are compared.

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Trajectory Extraction from Online Mapping Platforms: Empowering Vehicle Dynamics and Intelligent Functionalities 27

Trajectory Extraction from Online Mapping Platforms: Empower...

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27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Pauca, Georgiana-Sinziana Caruntu, Constantin-Florin Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania Safety and Motion Continental Automotive Romania Iasi Romania Software and Central Technologies Continental Automotive Romania Iasi Romania

ISBN: (纸本)9798350337983

The development, enhancement, and integration of intelligent functionalities aimed at automating vehicles are increasingly becoming a fundamental aspect of modern life. There is a growing emphasis on improving the everyday driving experience and reaping the benefits that these advanced cars offer. In light of these advancements, this study proposes a novel method for extracting trajectories, which serves as a valuable tool in implementing and evaluating complex algorithms and functionalities. Obtaining a real trajectory enables the observation of how a vehicle moves along a given road. Moreover, the extracted trajectory can also facilitate the development of additional functionalities such as lane keeping, velocity profile, and other advanced techniques. This multifaceted approach allows for the exploration and refinement of various intelligent systems, ultimately contributing to the overall improvement of autonomous driving capabilities. The proposed method of trajectory extraction opens up new possibilities for advancing the field, providing a solid foundation for implementing and evaluating intricate algorithms. Through the utilization of real trajectories, valuable insights into vehicle behavior can be gained, which can further enhance the performance of autonomous vehicles. © 2023 IEEE.

关键词： Motion planning

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Towards independent SMA actuators: A novel analog two-state control system for flexible robots

Towards independent SMA actuators: A novel analog two-state ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Florian-Alexandru Brasoveanu Adrian Burlacu Department of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

The soft robotics field offers a large variety of actuators and robots, complex structures and designs able to behave in a required way, offering speed and resistance and at the same time reducing the contact damage chance. The control of such structures using mathematical methods requires complex methods which evolved over time in the form of predictive control and even neural networks and genetic algorithms. The current paper presents ongoing research that can be found at the intersection of meta-materials and sensor technology. It approaches a simpler method of controlling a flexible actuator based on a shape memory alloy, the regulator being a two-state switch controller steered by a pressure force sensor. We propose a complete analogical electrical structure and analyze the performance of the outcome, focusing on time response. The present work also contains a brief description of a mechanical design proposal able to optimize the impact of the shape memory alloy used, in order to obtain an amplified actuation.

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Evaluation of Channel Congestion for V2V Safety Communication in Multiplatooning Applications

Evaluation of Channel Congestion for V2V Safety Communicatio...

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International Symposium on Electronics in Marine (ELMAR)

作者： Razvan-Gabriel Lazar Constantin-Florin Caruntu Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

The applications related to cooperative automated driving need to share periodic safety information with neighboring vehicles in a reliable and low-latency manner. However, the performance of vehicular ad-hoc technologies degrades substantially when the channel becomes congested. Therefore, this paper presents a channel congestion evaluation method for V2V safety communication for the IEEE 802.11p protocol. The evaluation addresses multiplatooning applications, in which the vehicles' density is a defining element. To illustrate the negative effects of the channel load level, a number of relevant performance metrics were analyzed, such as Channel Busy Ratio (CBR), Packet Loss Rate (PLR), and Inter-Packet Delay (IPD).

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