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arXiv 2020年

作者： Kulhánek, Jonáš Derner, Erik Babuška, Robert Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague16636 Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague16627 Czech Republic Cognitive Robotics Faculty of 3mE Delft University of Technology CD Delft2628 Netherlands Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague16636 Czech Republic

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing, localization, and planning in one module, which can be trained and therefore optimized for a given environment. However, to date, DRL-based visual navigation was validated exclusively in simulation, where the simulator provides information that is not available in the real world, e.g., the robot’s position or image segmentation masks. This precludes the use of the learned policy on a real robot. Therefore, we propose a novel approach that enables a direct deployment of the trained policy on real robots. We have designed visual auxiliary tasks, a tailored reward scheme, and a new powerful simulator to facilitate domain randomization. The policy is fine-tuned on images collected from real-world environments. We have evaluated the method on a mobile robot in a real office environment. Training took ~30 hours on a single GPU. In 30 navigation experiments, the robot reached a 0.3-meter neighborhood of the goal in more than 86.7 % of cases. This result makes the proposed method directly applicable to tasks like mobile manipulation. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep learning

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Data-driven Algorithm for Scheduling with Total Tardiness

arXiv

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arXiv 2020年

作者： Bouška, Michal Novák, Antonín Sůcha, Přemysl Módos, István Hanzálek, Zdeněk Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 Prague Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Karlovo náměstí 13 Prague Czech Republic

In this paper, we investigate the use of deep learning for solving a classical N P-hard single machine scheduling problem where the criterion is to minimize the total tardiness. Instead of designing an end-to-end machine learning model, we utilize well known decomposition of the problem and we enhance it with a data-driven approach. We have designed a regressor containing a deep neural network that learns and predicts the criterion of a given set of jobs. The network acts as a polynomial-time estimator of the criterion that is used in a single-pass scheduling algorithm based on Lawler's decomposition theorem. Essentially, the regressor guides the algorithm to select the best position for each job. The experimental results show that our data-driven approach can efficiently generalize information from the training phase to significantly larger instances (up to 350 jobs) where it achieves an optimality gap of about 0.5%, which is four times less than the gap of the state-of-the-art NBR heuristic. Copyright © 2020, The Authors. All rights reserved.

关键词： Scheduling algorithms

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On idle energy consumption minimization in production: Industrial example and mathematical model

arXiv

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arXiv 2020年

作者： Benedikt, Ondřej Šůcha, Přemysl Hanzálek, Zdeněk Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 Prague Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Karlovo náměstí 13 Prague Czech Republic

This paper, inspired by a real production process of steel hardening, investigates a scheduling problem to minimize the idle energy consumption of machines. The energy minimization is achieved by switching a machine to some power-saving mode when it is idle. For the steel hardening process, the mode of the machine (i.e., furnace) can be associated with its inner temperature. Contrary to the recent methods, which consider only a small number of machine modes, the temperature in the furnace can be changed continuously, and so an infinite number of the power-saving modes must be considered to achieve the highest possible savings. To model the machine modes efficiently, we use the concept of the energy function, which was originally introduced in the domain of embedded systems but has yet to take roots in the domain of production research. The energy function is illustrated with several application examples from the literature. Afterward, it is integrated into a mathematical model of a scheduling problem with parallel identical machines and jobs characterized by release times, deadlines, and processing times. Numerical experiments show that the proposed model outperforms a reference model adapted from the literature. Copyright © 2020, The Authors. All rights reserved.

关键词： Scheduling

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Preliminary study of the relation between the content of cadmium and the hyperspectral signature of organic cocoa beans

Preliminary study of the relation between the content of cad...

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CHILEAN Conference on electrical, Electronics engineering, Information and Communication Technologies (CHILECON)

作者： K. Checa M. Gamarra J. Soto W. Ipanaqué G. La Rosa University of Piura in the Faculty of Mechanical Electrical Engineering University of Piura in the Laboratory of Automatic Control Systems University of Piura in the Office of Researcher Support and Research

ISBN: (纸本)9781728131863

The contamination of soils by heavy metals is a current problem for agricultural production. Rapid access and reliability to heavy metal concentration such as cadmium is crucial for international trade. In the present study, visible and near infrared (VIS-NIR) spectroscopy, combined with linear and statistical methods, were used to predict the cadmium concentration of organic cocoa bean samples. Partial Least Square Regression (PLSR) and Support Vector Regression (SVR) were implemented to estimate the content of this heavy metal from hyperspectral imaging and chemical analysis. Competitive Adaptive Reweighted Sampling Method (CARS) and Jackknife method were used for selecting optimal wavelength. The SVR model performed satisfactorily with the use of 45 resulting wavelengths from optimization using CARS and the Jackknife method, with an adjusted coefficient for the test R 2 of 0.9401 and an RMSEP of 0.2594. Based on the results, it was concluded that VIS-NIR spectroscopy combined with CARS-Jackknife methods seems to be a fast and effective alternative to classical methods for predicting the concentration of cadmium in organic cocoa beans.

关键词： agricultural products agricultural safety cadmium chemical analysis data analysis food products hyperspectral imaging infrared spectra least squares approximations optimisation regression analysis sampling methods soil pollution support vector machines vi cadmium cocoa beans agricultural safety least squares approximations sampling methods Soil Pollution agricultural products agricultural byproducts chemical analysis Support Vector Network infrared spectra Data analysis Food hyperspectral imagery regression analysis

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Preface

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2021年 485卷 v-viii页

作者： Faulwasser, Timm Müller, Matthias A. Worthmann, Karl Department of Electrical Engineering and Information Technology Institute of Energy Systems Energy Efficiency and Energy Economics TU Dortmund University Dortmund Germany Faculty of Electrical Engineering and Computer Science Institute of Automatic Control Leibniz University Hannover Hannover Germany Faculty of Mathematics and Natural Sciences Institute for Mathematics Optimization-based Control Technische Universität Ilmenau Ilmenau Germany

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Admittance control of an Industrial Robot during Resistance Training

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IFAC-PapersOnLine 2019年第19期52卷 223-228页

作者： Maike Ketelhut Melanie Kolditz Fabian Göll Bjoern Braunstein Kirsten Albracht Dirk Abel Institute of Automatic Control RWTH Aachen University Germany Institute of Biomechanics and Orthopaedics German Sport University Cologne Germany Electrical Engineering Department Faculty of Medical Engineering and Technomathematics University of Applied Sciences Aachen Germany

Neuromuscular strength training of the leg extensor muscles plays an important role in the rehabilitation and prevention of age and wealth related diseases. In this paper, we focus on the design and implementation of a Cartesian admittance control scheme for isotonic training, i.e. leg extension and flexion against a predefined weight. For preliminary testing and validation of the designed algorithm an experimental research and development platform consisting of an industrial robot and a force plate mounted at its end-effector has been used. Linear, diagonal and arbitrary two-dimensional motion trajectories with different weights for the leg extension and flexion part are applied. The proposed algorithm is easily adaptable to trajectories consisting of arbitrary six-dimensional poses and allows the implementation of individualized trajectories.

关键词： Assistive Technology Rehabilitation engineering Human-Computer Interaction automatic control

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Conceptual Foundations of the Use of Formal Models and Methods for the Rapid Creation of Web Applications

Conceptual Foundations of the Use of Formal Models and Metho...

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IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems

作者： Sergii Telenyk Grzegorz Nowakowski Eduard Zharikov Jewhenii Vovk Department of Theoretical Electrical Engineering and Computer Science Faculty of Electrical and Computer Engineering Cracow University of Technology Department of Automatic Control and Information Technology Faculty of Electrical and Computer Engineering Cracow University of Technology Department of Automation and Control in Technical Systems National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute"

ISBN: (纸本)9781728140704

The problem of the rapid creation of effective web applications of one class using formal means is considered. A conceptual approach to its solution is offered based on an analysis of the peculiarities of the construction of web applications. Our approach is based on defining the standard web application architecture and selecting its components using formal methods in accordance with user requirements. A formal logical system is proposed that uses the design of web applications as a process of outputting a formula specified according to the needs of the user, which defines the schemes of execution of the modules of the system. An important feature of this approach is the ability to visualise the process of designing the system in 3D, which creates the conditions for effective interaction between developers and machine development tools.

关键词： Web-applications Application construction Business processes Mathematical logic web applications Mathematical logic conceptual User needs Developers

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Development of a mobile application for Early Warning Systems and risk management in Cuba

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IOP Conference Series: Materials Science and engineering 2021年第1期1154卷

作者： CeleneB. Milanés Ángel R. Batista Ricardo A. Núñez Humberto T. Yero Civil and Environmental Department. Universidad de la Costa. ORCID: 0000-0003-2560-8859 Automatic Control Department. Universidad de Oriente Faculty of Engineering. Universidad del Norte Faculty of Engineering Telecommunications Informatics and Biomedical. Universidad de Oriente

Information and communication technologies (ICT) play a determining role in tackling climate change. ICTs are increasingly used in surveillance, prediction and support actions in adapting to these environmental risks. The archipelago of Cuba is one of the most vulnerable due to the negative effects of climate change. The island nation adopts the benefits offered by ICTs, in order to promote risk reduction due to the impact of natural and anthropogenic threats. The article presents the design of a computer tool called SATEMovil, which was conceived as a mobile phone application for receiving early alerts in the face of extreme threats. The research exposes the operation of the Early Warning Systems and mobile applications in Cuba and the process of design and creation of the SATEMovil App. The application contributes to adequate integrated risk management in Cuba, by favoring the identification and continuous monitoring of natural hazards, through textual reports and dynamic graphics. Its use optimizes the existing relationship, between social vulnerability indices and the level of uncertainty in the population, in the six identified threats. The result obtained enhances the country's preparedness to reduce and confront risk.

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ANALYSIS OF POSSIBILITIES OF THE OPTICAL FIBERS USAGE IN THE MICROPROCESSOR PULSE - OXIMETER

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IFAC-PapersOnLine 2019年第27期52卷 556-561页

作者： Jacek Kusznier Wojciech Wojtkowski Bialystok University of Technology Faculty of Electrical Engineering Department of Power Engineering Photonics and Lighting Technology ul. Wiejska 45D 15-351 Bialystok Poland Bialystok University of Technology Faculty of Electrical Engineering Department of Automatic Control Engineering and Electronics ul. Wiejska 45D 15-351 Bialystok Poland

The article presents selected issues related to the construction of a microprocessor pulse-oximeter. Pulse oximeters are non invasive medical devices that monitor level of the oxygen saturation of the splanchnic blood. The proposed principle of the system’s operation, presented in the paper, was implemented in the device constructed and tested in a laboratory. The selected results of laboratory examination of the proposed system are presented in the paper. It is potentially possible to implement this method of the oxygen saturation measurement to the contemporary textiles and intelligent clothes. The result of the laboratory examination of the exemplary patient is presented and it proofs proper operation of the proposed device. Selected issues related with proper implementation of the proposed device in the intelligent clothes are described and a proper solution of the potential problems is proposed.

关键词： optoelectonic sensor fiber optic sensor microprocessor pulso-oxymeter

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FIBER OPTIC PULSE OXIMETER BASED ON A 32 BIT MICROcontrolLER

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IFAC-PapersOnLine 2019年第27期52卷 562-567页

作者： Wojciech Wojtkowski Jacek Kusznier Bialystok University of Technology Faculty of Electrical Engineering Department of Automatic Control Engineering and Electronics ul. Wiejska 45D 15-351 Bialystok Poland Bialystok University of Technology Faculty of Electrical Engineering Department of Power Engineering Photonics and Lighting Technology ul. Wiejska 45D 15-351 Bialystok Poland

The article presents selected issues related to the microprocessor pulso-oxymeter. The proposed principle of the system’s operation was implemented in the device constructed and tested in a laboratory. The selected results of laboratory examination of the proposed system are presented in the paper. The laboratory results proofs proper operation of the proposed device. Selected issues related with proper implementation of the proposed device in the intelligent clothes are described and a proper solution of the potential problems is proposed.

关键词： optoelectonic sensor fiber optic sensor microprocessor pulso-oxymeter

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