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arXiv 2022年

作者： Abu-Dakka, Fares J. Saveriano, Matteo Kyrki, Ville Electronic and Computer Science Department Faculty of Engineering Mondragon Unibertsitatea Arrasate20500 Spain Automatic Control Lab Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Aalto Finland

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional approach works well for some robotic tasks, but for many tasks of interest, it is necessary to learn skills such as orientation, impedance, and/or manipulability that have specific geometric characteristics. An effective encoding of such skills can be only achieved if the underlying geometric structure of the skill manifold is considered and the constrains arising from this structure are fulfilled during both learning and execution. However, typical learned skill models such as dynamic movement primitives (DMPs) are limited to Euclidean data and fail in correctly embedding quantities with geometric constraints. In this paper, we propose a novel and mathematically principled framework that uses concepts from Riemannian geometry to allow DMPs to properly embed geometric constrains. The resulting DMP formulation can deal with data sampled from any Riemannian manifold including, but not limited to, unit quaternions and symmetric and positive definite matrices. The proposed approach has been extensively evaluated both on simulated data and real robot experiments. The performed evaluation demonstrates that beneficial properties of DMPs, such as convergence to a given goal and the possibility to change the goal during operation, apply also to the proposed formulation. © 2022, CC BY-NC-ND.

关键词： Demonstrations

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Predicting of Uncertainty Facial Expressions in Children with Autism Spectrum Disorder Based on an Improved Fuzzy Convolutional Neural Network Model

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SSRN 2024年

作者： Abd-Alhalem, Samia M. Ali, Hesham A. El-Shafai, Walid Soliman, Naglaa F. Algarni, Abeer D. El-Samie, Fathi E. Takieldeen, Ali E. Faculty of Artificial Intelligence Delta University for Science and Technology Gamasa35712 Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Security Engineering Lab Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia Zagazig University Egypt Menoufia University Egypt

Facial expression recognition plays a pivotal role in comprehending emotions and social interactions, particularly in individuals grappling with autism spectrum disorder (ASD), who often encounter challenges in non-verbal communication. For some with ASD, even subtle shifts in their facial expressions can prove elusive, rendering it arduous to categorize their emotional states accurately. Consequently, the analysis and processing of facial expression data hold the potential to facilitate early autism diagnosis, thereby enabling timely therapeutic interventions and alleviating the economic and psychological burdens experienced by patients. In this study, we introduce an enhanced approach that leverages a fuzzy convolutional neural network (CNN) and an Improved Binary Genetic Algorithm (IBGA) for autism diagnosis based on facial expression data. Our model confronts the intricate task of recognizing facial images by selecting salient features employing the IBGA method. Moreover, it employs fuzzy weights to ascertain the probability of similarity within the classifier layer. Our proposed model has yielded impressive outcomes, boasting an average accuracy of 0.9405 for ASD detection and 0.9365 for the recognition of six distinct facial expressions. These results hold profound implications for the enhancement of emotion recognition systems and the refinement of interventions aimed at bolstering social interactions for individuals grappling with ASD. © 2024, The Authors. All rights reserved.

关键词： Emotion Recognition

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Selection of Methods for Intuitive, Haptic control of the Underwater Vehicle’s Manipulator 20th

Selection of Methods for Intuitive, Haptic Control of the Un...

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20th Polish control Conference, PCC 2020

作者： Grzejszczak, Tomasz Babiarz, Artur Bieda, Robert Jaskot, Krzysztof Kozyra, Andrzej Ściegienka, Piotr Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland SR Robotics sp. z o.o. ul. Karoliny 4 Katowice40-186 Poland

ISBN: (纸本)9783030509354

This paper is the early report of available market and scientific solutions allowing intuitive control. Manipulator control is presented in form of the Human Machine Interaction loop that describes both machine possibilities of sensing the human control and human possibilities of sensing the machine state. The survey is presented in form of the description and discussion of the advantages, disadvantages and usability of the available solutions. The aim of the research is to chose the proper path of development of the new way of intuitive control. © 2020, Springer Nature Switzerland AG.

关键词： Manipulators

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A Review of Alzheimer’s Disease and Emerging Patient Support Systems

A Review of Alzheimer’s Disease and Emerging Patient Suppor...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Thair A. Kadhim Nadia Smaoui Zghal Walid Hariri Dalenda Ben Aissa Microwave Electronics Research Laboratory Faculty of Sciences of Tunis Tunis El-Manar University Tunis El-Manar Tunis Control and Energy Management Laboratory (CEM Lab) ENIS Sfax Tunis Computer Science Department Labged Laboratory Badji Mokhtar Annaba University Annaba Algeria

Alzheimer's disease (AD) is the main and most common source of brain ill health and neurocognitive disorders. Dementia accounts for 80% of AD cases. This disease is considered one of the biggest challenges facing social organizations and medical care providers at present, whether they are within these organizations or at home. The most worrying problems facing the world are the significant rise in the prevalence of dementia, especially for those over the age of 65, with no treatment for this disease. Consequently, healthcare costs have increased steadily, which puts a burden on healthcare systems and puts pressure on families. Researchers have estimated that by 2050, there would be 152 million individuals worldwide living with dementia. The cost of dementia care is expected to exceed $1 trillion. Therefore, it is important for these patients to try to do what they can do for themselves, such as going out without a company and taking medicine on time for as long as possible. The aim of this study is to assist Alzheimer's disease patients to slow cognitive degradation and reduce the burden of care and psychological pressure on families and caregivers. The research reviews the existing studies into AD prevention, progression, planning, and relevant factors for risk reduction. Additionally, the study investigates assistance systems through computerized cognitive assessment, using technology tools and applications dealing with health information recording, drug monitoring, location, and behavior tracking.

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Predicting of Uncertainty Facial Expressions in Children with Autism Spectrum Disorder Based on an Improved Fuzzy Convolutional Neural Network Model

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SSRN 2024年

作者： Abd-Alhalem, Samia M. Ali, Hesham A. El-Shafai, Walid Algarni, Abeer D. Soliman, Naglaa F. El-Samie, Fathi E. Faculty of Artificial Intelligence Delta University for Science and Technology Gamasa35712 Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Security Engineering Lab Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Department Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia Zagazig University Egypt Menoufia University Egypt

关键词： Emotion Recognition

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Kinematics and dynamics for a 4-DOF parallel robot

Kinematics and dynamics for a 4-DOF parallel robot

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2021 International Conference on System science and Engineering, ICSSE 2021

作者： Dinh, Kien Cuong Dao, Ngoc Sang Le, Hai Dang Le, Hoang Lam Cam, Tu Duong Thi Tran, Duc Thien Ho Chi Minh City University of Technology and Education Robotic and Intelligent Control Lab Faculty of Electrical and Electronics Engineering Ho Chi Minh Viet Nam Ho Chi Minh City University of Technology and Education Faculty of Electrical and Electronics Engineering Ho Chi Minh Viet Nam School of Engineering Department of Electrical and Computer Science WashingtonDC20064 United States

ISBN: (纸本)9781665448482

This paper presents a research about kinematics, dynamics for a robotic closed-chain mechanism. The mechanical structure, kinematics, and Lagrange formulation for a dynamic affair of the parallel robot 4-DOF are described. A MATLAB simulation model of the robot is built and utilized for each stage of identification. Besides, comparing the output response with the input signal will support in determining the error factor of the parallel robot. Results show that the movement equations of the robot are really complex and have certain constraints in the calculation;therefore, a combination of different method is implemented for the parallel robot algorithm. © 2021 IEEE.

关键词： Inverse kinematics

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METHODOLOGY OF MODELING THE DETECTION OF LIMESCALE DEPOSITS IN SANITARY INSTALLATIONS 21

METHODOLOGY OF MODELING THE DETECTION OF LIMESCALE DEPOSITS ...

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21st International Multidisciplinary Scientific Geoconference: Water Resources, Forest, Marine and Ocean Ecosystems, SGEM 202

作者： Czajkowski, Adrian Remiorz, Leszek Pawlak, Sebastian Remiorz, Eryk Szygula, Jakub Miscea.pl Engineering Sp. z o.o. Poland Department of Power Engineering and Turbomachinery Faculty of Energy and Environmental Engineering Silesian University of Technology Poland Doctoral School The Silesian University of Technology Poland Faculty of Mechanical Engineering Scientific and Didactic Laboratory of Nanotechnology and Materials Technologies Poland Department of Mining Mechanization and Robotisation Faculty of Mining Safety Engineering and Industrial Automation Silesian University of Technology Poland Department of Distributed Systems and Informatic Devices Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Poland

ISBN: (纸本)9786197603361

The article presents the issue of scale deposits in sanitary installations. Scale contributes to improper operation of sanitary devices and leads to their degradation. Scale build-up in pipes and measuring elements results in higher water consumption due to inaccurate estimation of this resource consumption. The consequence is that devices based on process automation do not work properly due to disturbances in the actual water flow. The formation of deposits also leads to economic and ecological losses, as sanitary installations elements have to be replaced, which affects the increased use of raw materials and the generation of waste. This is not in line with current trends and global objectives related to circular economy. Scale also results in increased energy consumption and reduced energy efficiency. This is due to the resistance of the flows and the increased work of the pumps. Scale has insulating properties, which results in less efficient heat transfer. In this stady, a mathematical model was developed to detect the formation of scale deposits in sanitary installations. On this basis, it is possible to control the quality status of sanitary installation components. In this way, by taking appropriate action at an early stage of the formation of deposits, it can extend the life of the installation. Having information on scale deposits, it will help avoid wasting water and lead to more accurate measurement of water flows. This is important for the proper operation of devices such as heat pumps, where their operation is automated and requires precise measurements of the energy processes taking place. Scale is a significant problem for households, and also for factories or public institutions that are exposed to hard water environments. © 2021 International Multidisciplinary Scientific Geoconference. All rights reserved.

关键词： Deposits

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Customizable Inverse Sensor Model for Bayesian and Dempster-Shafer Occupancy Grid Frameworks 20th

Customizable Inverse Sensor Model for Bayesian and Dempster-...

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20th Polish control Conference, PCC 2020

作者： Porębski, Jakub Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Aptiv Services Poland S.A. Kraków Poland

ISBN: (纸本)9783030509354

Occupancy grid mapping is an important component in a road scene understanding for autonomous driving. It can encapsulate data from heterogeneous sensor sources like radars, LiDARs, cameras and ultrasonics. At the core of occupancy grid (OG) generation, there is usually an inverse sensor model (ISM), which infers the occupancy representation from the sensor readings. Traditional ISMs are characterized by a very rigid structure, suited only for one sensor type, and specific occupancy grid representation. This paper proposes a novel ISM framework, which offers a separation between free and occupied space, supporting both Bayesian and Dempster-Shafer OG representations. The framework is especially useful when dealing with multiple different sensors where custom or preselected probability distribution can be applied. The presented ISM architecture is modular and flexible, which is described in an illustrative example of application customized for different detection sources. © 2020, Springer Nature Switzerland AG.

关键词： Probability distributions

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Hyperbolic embedding model for a class of microrna-disease networks

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2020年第1期82卷 219-230页

作者： Angelescu, Radu Dobrescu, Radu Department of Automatic Control and Industrial Informatics Faculty of Auto matic Control and Computer Science University "Politehnica" of Bucharest Romania

The main goal of this paper is to study the embedding of networks in a form that can be used in differential programming. We prove that certain networks have better embeddings in an appropriate metric space and provide a numerically stable embedding solution. We generate embeddings for the disease-microRNA network. © 2020, Politechnica University of Bucharest. All rights reserved.

关键词： RNA

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Reducing the energy consumption required for the disassembly process implemented on an assembly and disassembly line

Reducing the energy consumption required for the disassembly...

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International Conference on control Systems and computer science (CSCS)

作者： Paun Marius-Adrian Dragomir Otilia Elena Dragomir Florin Iliescu Sergiu Stelian Minca Eugenia Duca Octavian Gabriel Gurgu Ion Valentin Department of Automation and Industrial Informatics University “Politehnica” of Bucharest Bucharest Romania Faculty of Electrical Engineering Electronics and Information Technology Valahia University of Targoviste Targoviste Romania Faculty of Automatic Control and Computers University “Politehnica ” of Bucharest Bucharest Romania Department of Automation and Electrical Engineering University “Dunarea de Jos ” of Galati Galati Romania Institute of Multidisciplinary Research for Science and Technology Valahia University of Targoviste Targoviste Romania

This paper proposes a method to reduce the energy consumption of an industrial disassembly process implemented on a production line by using an energy-efficient secondary disassembly process. In the case of defective products, the flow directs the simple product with priority to be disassembled in workstation (WS) 7. Therefore, all defective products are redirected to WS7. The disassembly of all simple products in WS7 is problematic for two reasons: the power consumption of WS7 is high compared to the other workstations, additionally there is an increased possibility of bottlenecks in the production line due to the high disassembly time. The proposed solution to reduce the possibility of deadlock and reduce power consumption is to redirect the defective products to the flexible cell (FC). Handling robots located in neighboring stations will participate collaboratively in the disassembly process. The control structure ensures that the two robots "meet" in the boundary plane of WS3 with WS4 and disassemble each component through collaborative tasks. Collaborative control of disassembly is thought of as a solution to the global "fluidization" of production, removing the bottleneck, from the overall flow, but also as an ingenious solution to reduce energy consumption.

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