检索结果-内蒙古大学图书馆

A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Papageorgiou, Dimitrios Koutras, Leonidas Doulgeri, Zoe The Automation & Robotics Lab Dept. of Electrical & Computer Engineering Aristotle University of Thessaloniki Greece

In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed. The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object progressively unveiling the neighborhood of each visible point of the object of interest. It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through simulations and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape. © 2021, CC BY.

关键词： Cameras

A Hierarchical Robust Control Strategy for Decentralized Signal-Free Intersection Management

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Pan, Xiao Chen, Boli Dai, Li Timotheou, Stelios Evangelou, Simos A. The Dept. of Electrical and Electronic Engineering Imperial College London London United Kingdom The Dept. of Electronic and Electrical Engineering University College London London United Kingdom The School of Automation Beijing Institute of Technology Beijing China The Dept. of Electrical and Computer Engineering The KIOS Research and Innovation Center of Excellence University of Cyprus Cyprus Cyprus

The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling uncertainties and sensor measurement disturbances. The problem is approached by a hierarchical robust control strategy in a decentralized traffic coordination framework where optimal control and tube-based robust model predictive control methods are designed to hierarchically solve the optimal crossing order and the velocity trajectories of a group of CAVs in terms of energy consumption and throughput. To capture the energy consumption of each vehicle, their powertrain system is modeled in line with an electric drive system. With a suitable relaxation and spatial modeling approach, the optimization problems in the proposed strategy can be formulated as convex second-order cone programs, which provide a unique and computationally efficient solution. A rigorous proof of the equivalence between the convexified and the original problems is also provided. Simulation results illustrate the effectiveness and robustness of the proposed strategy and reveal the impact of traffic density on the control solution. The study of the Pareto optimal solutions for the energy-time objective shows that a minor reduction in journey time can considerably reduce energy consumption, which emphasizes the necessity of optimizing their trade-off. Finally, the numerical comparisons carried out for different prediction horizons and sampling intervals provide insight into the control design. Copyright © 2022, The Authors. All rights reserved.

关键词： Robust control

Optical Data Center Implementation within Data Center Networks Context Based on Mininet

学校读者我要写书评

暂无评论

Optical Data Center Implementation within Data Center Networ...

Electrical, Energy, and Artificial Intelligence (EICEEAI), International engineering Conference on

作者： Esraa Ali Abdulmahdi Adnan Hussein Ali Raed Khalid Ibrahim Ali Al-Askery Hayder Jasim Alhamdane Amal Ibrahim Mahmood Student at Dept. of Computer Engineering Techniques Electrical Engineering College Middle Technical University Baghdad Iraq Electrical Techniques Department Institute of Technology Middle Technical University Baghdad Iraq Department of Medical Instruments Engineering Techniques Al-Farahidi University Baghdad Iraq Department of Control and Automation Technical Engineering Electrical Engineering College Middle Technical University Baghdad Iraq College of Applied Arts Middle Technical University Baghdad Iraq Dept. of Computer Engineering Techniques Electrical Engineering College Middle Technical University Baghdad Iraq

ISBN: (数字)9798350373363

ISBN: (纸本)9798350373370

The technology of reconfigurable optical networks (RONs) is growing to be a promising solution to effectively cater to the rapidly increasing traffic generated by the digital society. Optical technology emerges as a viable alternative because to its capacity to offer a substantial bandwidth, little latency, and enhanced overall performance. Nevertheless, it is imperative to effectively manage the physical resources comprising a data center. This study provides an experimental demonstration of the RONs, which is enhanced by a control plane. The implementation relies on the monitoring of real-time network statistics. This enables the execution of various activities, including as network slice provisioning and reconfiguration, assignment of packet priority classes, and dynamic operations. These actions are performed to ensure the attainment of the desired Quality of Service level. The experimental results show the successfully implementation of RONs using Mininet Emulator and sFlow traffic monitoring technology. The results approve that optical datacenter has minimum delay with low OSNR even with long distance and fast switching time.

关键词： Data centers Optical switches Optical fiber networks Traffic control Real-time systems Service-oriented architecture Monitoring

Change Bit-dept. Procedure for Data Measured Preprocessing before Compression

学校读者我要写书评

暂无评论

Change Bit-Depth Procedure for Data Measured Preprocessing b...

IEEE Region 8 International Conference on Computational Technologies in Electrical and Electronics engineering, SIBIRCON

作者： Alexey V. Levenets Vladislav V. Bondarenko Ruslan I. Bahenov Oleg I. Belozerov Svetlana I. Belozerova Sergey A. Bogatenkov Dept. Automation and System Engineering Pacific National University Khabarovsk Russia Dept. Information Systems and Mathematics Sholom-Aleichem Priamursky State University Birobidzhan Russia Dept. Computer Technology and Computer Graphics Far Eastern State Transport University Khabarovsk Russia Dept. Information Technology in Economics South Ural State University Chelyabinsk Russia

ISBN: (纸本)9781665464819

The paper proposes to change the bit-dept. of the original data sequence as a preprocessing of the measuring data, which is carried out before the compression procedure. In this case the digit capacity conversion is performed without accounting for the primary data sample boundaries. The simulation was carried out in the Matlab software environment. The findings of the authors’ research are presented. They prove to be a promising approach for some types of the studied data at least and several digit capacity values. The analysis of autocorrelation function values showing the data correlation revealed by the conversion is used as an assessment of perspective of the active conversion. In this article the authors review the values of secondary maximums of autocorrelation function. Their occurrence shows the demonstration of the implied correlative correspondence. Such correlations can potentially allow the converted data to be compressed more effectively than the original data using the known compression methods.

关键词： Current measurement Software Encoding Autocorrelation Matlab

Iterative Feedback Tuning Algorithm for Tower Crane Systems

学校读者我要写书评

暂无评论

Procedia computer Science 2022年 199卷 157-165页

作者： Raul-Cristian Roman Radu-Emil Precup Elena-Lorena Hedrea Stefan Preitl Iuliu Alexandru Zamfirache Claudia-Adina Bojan-Dragos Emil M Petriu Politehnica University of Timişoara Dept. Automation and Applied Informatics Bd. V. Parvan 2 300223 Timişoara Romania University of Ottawa School of Electrical Engineering and Computer Science Ottawa Canada

This paper proposes validates an Iterative Feedback Tuning (IFT) algorithm, which is a classical and also popular data-driven algorithm, on tower crane systems. The IFT algorithm is applied to improve the performances of three proportional-integral (PI) controllers by solving an optimization problem. The IFT algorithm is validated using experiments to control the cart position, the arm angular position and the payload position. The experiments are conducted on a tower crane system in authors’ laboratory, and the experimental setup is laboratory equipment that has strong nonlinearities. Ten iterations are performed to highlight the control system performance using IFT controllers.

关键词： Iterative Feedback Tuning control algorithms tower crane systems

The Architecture of Intelligent Agent-based Educational System for Training Students in a Technical University 5

学校读者我要写书评

暂无评论

The Architecture of Intelligent Agent-based Educational Syst...

5th International Conference on Information Technologies in engineering Education, Inforino 2020

作者： Shvetsov, Anatoly Rzheutskaya, Svetlana Sergushicheva, Anna Sukonschikov, Alexey Andrianov, Igor Kochkin, Dmitry Vologda State University Dept. of Information Systems and Technologies Vologda Russia Vologda State University Dept. of Automation and Computer Engineering Vologda Russia

ISBN: (纸本)9781728148106

The article presents the development, implementation and approbation of a multi-level architecture of the intelligent agent-based educational system for training of technical specialists. The proposed architecture combines openness, flexibility and good scalability. This article shows how these quality indicators were achieved through a combination of multi-agent and service-oriented approaches. It describes the purpose and components of each level, presents some key aspects of the implementation and shows the results of pedagogical experiments. © 2020 IEEE.

关键词： Intelligent agents

OpenDR: An Open Toolkit for Enabling High Performance, Low Footprint Deep Learning for Robotics

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Passalis, Nikolaos Pedrazzi, S. Babuska, R. Burgard, W. Dias, D. Ferro, F. Gabbouj, M. Green, O. Iosifidis, A. Kayacan, E. Kober, J. Michel, O. Nikolaidis, N. Nousi, P. Pieters, R. Tzelepi, M. Valada, A. Tefas, A. Dept. of Informatics Aristotle University of Thessaloniki Greece Cyberbotics Switzerland Dept. of Cognitive Robotics Delft University of Technology Netherlands Dept. of Computer Science University of Freiburg Germany PAL Robotics Spain The units of Computing Sciences and Automation Technology and Mechanical Engineering Tampere University Finland Agrointelli Denmark The Department of Electrical and Computer Engineering Aarhus University Denmark

Existing Deep Learning (DL) frameworks typically do not provide ready-to-use solutions for robotics, where very specific learning, reasoning, and embodiment problems exist. Their relatively steep learning curve and the different methodologies employed by DL compared to traditional approaches, along with the high complexity of DL models, which often leads to the need of employing specialized hardware accelerators, further increase the effort and cost needed to employ DL models in robotics. Also, most of the existing DL methods follow a static inference paradigm, as inherited by the traditional computer vision pipelines, ignoring active perception, which can be employed to actively interact with the environment in order to increase perception accuracy. In this paper, we present the Open Deep Learning Toolkit for Robotics (OpenDR). OpenDR aims at developing an open, non-proprietary, efficient, and modular toolkit that can be easily used by robotics companies and research institutions to efficiently develop and deploy AI and cognition technologies to robotics applications, providing a solid step towards addressing the aforementioned challenges. We also detail the design choices, along with an abstract interface that was created to overcome these challenges. This interface can describe various robotic tasks, spanning beyond traditional DL cognition and inference, as known by existing frameworks, incorporating openness, homogeneity and robotics-oriented perception e.g., through active perception, as its core design principles. Copyright © 2022, The Authors. All rights reserved.

关键词： Robotics

I Can Read Your Mind: Control Mechanism Secrecy of Networked Dynamical Systems under Inference Attacks

学校读者我要写书评

暂无评论

arXiv 2022年

作者： He, Jianping Li, Yushan Cai, Lin Guan, Xinping The Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The Dept. of Electrical and Computer Engineering University of Victoria BC Canada

Recent years have witnessed the fast advance of security research for networked dynamical system (NDS). Considering the latest inference attacks that enable stealthy and precise attacks into NDSs with observation-based learning, this article focuses on a new security aspect, i.e., how to protect control mechanism secrets from inference attacks, including state information, interaction structure and control laws. We call this security property as control mechanism secrecy, which provides protection of the vulnerabilities in the control process and fills the defense gap that traditional cyber security cannot handle. Since the knowledge of control mechanism defines the capabilities to implement attacks, ensuring control mechanism secrecy needs to go beyond the conventional data privacy to cover both transmissible data and intrinsic models in NDSs. The prime goal of this article is to summarize recent results of both inference attacks on control mechanism secrets and countermeasures. We first introduce the basic inference attack methods on the state and structure of NDSs, respectively, along with their inference performance bounds. Then, the corresponding countermeasures and performance metrics are given to illustrate how to preserve the control mechanism secrecy. Necessary conditions are derived to guide the secrecy design. Finally, thorough discussions on the control laws and open issues are presented, beckoning future investigation on reliable countermeasure design and tradeoffs between the secrecy and control performance. Copyright © 2022, The Authors. All rights reserved.

关键词： Cybersecurity

A silicon-based ion trap chip protected from semiconductor charging

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Chung, Daun Choi, Kwangyeul Lee, Woojun Kim, Chiyoon Shon, Hosung Park, Jeonghyun Cho, Beomgeun Lee, Kyungmin Kim, Suhan Yoo, Seungwoo Jung, Eui Hwan Jung, Changhyun Kang, Jiyong Kim, Kyunghye Berkis, Roberts Northup, Tracy Cho, Dong-Il Kim, Taehyun Dept. of Computer Science and Engineering Seoul National University Seoul08826 Korea Republic of Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of Inter-University Semiconductor Research Center Seoul National University Seoul08826 Korea Republic of Institute of Computer Technology Seoul National University Seoul08826 Korea Republic of Dept. of Experimental Physics University of Innsbruck Technikerstraße 25 Innsbruck6020 Austria Dept. of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of Institute of Applied Physics Seoul National University Seoul08826 Korea Republic of NextQuantum Seoul National University Seoul08826 Korea Republic of

Silicon-based ion trap chips can benefit from existing advanced fabrication technologies, such as multi-metal layer techniques for two-dimensional architectures and silicon photonics for the integration of on-chip optical components. However, the scalability of these technologies may be compromised by semiconductor charging, where photogenerated charge carriers produce electric potentials that disrupt ion motion. Inspired by recent studies on charge distribution mechanisms in semiconductors, we developed a silicon-based chip with gold coated on all exposed silicon surfaces. This modification significantly stabilized ion motion compared to a chip without such metallic shielding, a result that underscores the detrimental effects of exposed silicon. With the mitigation of background silicon-induced fields to negligible levels, quantum operations such as sideband cooling and two-ion entangling gates, which were previously infeasible with the unshielded chip, can now be implemented. © 2024, CC BY.

关键词： Silicon photonics