检索结果-内蒙古大学图书馆

19th IEEE International Conference on Networking, Sensing and Control, ICNSC 2022

作者： Li, Xingyang Fu, Jun Jia, Zixi Zhao, Ziyan Li, Siyi Liu, Shixin Northeastern University Faculty of Robot Science and Engineering Shenyang110819 China College of Information Science and Engineering Northeastern University Shenyang110819 China Foshan Graduate School of Innovation Northeastern University Foshan528311 China

ISBN: (纸本)9781665472432

Blocking job shop scheduling problems are common in industrial environments. Various existing studies tackle them to enhance the production efficiency of job shops with machine blocking properties. In the environment of intelligent manufacturing, robots are commonly used to transfer the jobs to be processed among different processes. However, no previous work considers the integrated optimization of blocking job shop scheduling and transfer robot assignment. Facing the new and key demand of production scheduling, this work considers a novel blocking job shop scheduling problem with transfer robots whose speed varies with or without cargo load. It is first formulated by using constraint programming as a baseline model. By analyzing the characteristics of both the considered problem and baseline model this work proposes an improved constraint programming model. Numerous experiments on an adapted benchmark dataset show that the improved constraint programming model can well solve the concerned problem. Comparing with a baseline model, it can greatly enhance the solution efficiency and accuracy. Its great performance shows its high potential to be used in practical industrial scenarios. © 2022 IEEE.

关键词： Job shop scheduling

来源：评论

学校读者我要写书评

暂无评论

A Dynamic Operational Optimization Method for robotic Mobile Fulfillment Systems with Inventory Discrepancy Events

A Dynamic Operational Optimization Method for Robotic Mobile...

引用

2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Ma, Huai Zhao, Ziyan Liang, Jiaqi Li, Xingyang Liu, Shixin Northeastern University Department of Information Science and Engineering Shenyang110819 China College of Information Science and Engineering Northeastern University Shenyang110819 China Foshan Graduate School of Innovation Northeastern University Foshan528311 China Polytechnique Montréal Département de Mathématiques et Génie Industriel Montréal Canada Northeastern University Faculty of Robot Science and Engineering Shenyang110819 China School of Control Engineering Northeastern University at Qinhuangdao Hebei Qinhuang-dao066004 China

ISBN: (纸本)9781665410205

A robotic Mobile Fulfillment System (RMFS) is an emerging 'cargos-to-person' picking system that relies on the broom of Internet of Things (IoT) technology. It aims to offer significant enhancements in order picking efficiency. However, dynamic disturbances, such as inventory discrepancies arising from errors in receiving, shipping, and handling of goods, often disrupt its operations, leading to degraded service and increased operational costs, thereby affecting overall system performance. Traditional optimization solutions may necessitate adaptations or overhauls in response to such disturbances. This paper introduces a proactive multi-pathway response algorithm tailored to mitigating dynamic disturbances in RMFS, particularly concerning inventory discrepancies. We extend an open-source simulation framework to evaluate the performance of the proposed algorithm and conduct a comparative analysis of dynamic systems. Experimental results indicate that our proposed algorithm can effectively improve the processing efficiency of abnormal orders with the minimal system-wide impact, highlighting its potential to well address dynamic and abnormal events in smart warehouses. © 2024 IEEE.

关键词： Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Generalized Deep Implicit Surface Network for Image-based Three-dimensional Object Reconstruction

Generalized Deep Implicit Surface Network for Image-based Th...

引用

2021 China Automation Congress, CAC 2021

作者： Zhang, Yanqiang Fang, Lijin Li, Chengpeng Faculty of Robot Science and Engineering Northeastern University Shenyang China SIASUN Robot & Automation CO. Ltd Shenyang China

ISBN: (纸本)9781665426473

Three-dimensional(3D) Object Reconstruction is an activate field in Computer Vision and Computer Graphics. Deep Implicit Surface Network(DISN) utilizes Signed Distance Function(SDF) to generate a high-quality 3D mesh model from a 2D image. However this method can only handle the image with a clear background, since it was trained with rendered images from ShapeNet dataset. To solve this problem, we propose a mask generating method based on saliency map to make DISN more generalized. By performing saliency detection algorithm and morphological operations on image, the object to be reconstruct can be obtained and background would be removed. In order to enhance the representing ability of local features, we propose a channel-weighted local feature extraction algorithm. Using modified sigmoid function, discriminative channels in feature map would have larger weights than others. We evaluate our methods on Pix 3D and Pascal 3D+ datasets. Experimental results show that our methods perform better than other works. © 2021 IEEE

关键词： Mathematical morphology

来源：评论

学校读者我要写书评

暂无评论

RGB-D SLAM Algorithm Suitable for Dynamic Environment Based on Target Detection 5

RGB-D SLAM Algorithm Suitable for Dynamic Environment Based ...

引用

5th International Conference on Automation, Control and robots, ICACR 2021

作者： Huo, Xiaochuang Zhang, Lei Guo, Mingce Wu, Xiangrui Northeastern University Faculty of Robot Science And Engineering Shenyang China Siasun Robot Automation Co. Ltd Shenyang China

ISBN: (纸本)9781665438490

When traditional SLAM algorithm is applied to position and pose estimation in dynamic scene, there are some problems such as low accuracy and poor robustness. The SLAM algorithm using semantic segmentation can achieve high accuracy in dynamic scenes, but the pixel level segmentation network used in SLAM algorithm will consume a lot of time, which can't meet the real-time operation. In order to solve these two problems, we propose a SLAM algorithm which can run in real time in dynamic environment based on ORB-SLAM2 algorithm. Firstly, in the Tracking thread, we use the YOLO network to detect the dynamic objects, and use the double threshold method to divide the feature points in the detection frame into static feature points and dynamic feature points. In order to ensure the real-time performance, we parallel the target detection and feature point extraction. Images with dynamic feature points larger than static ones cannot be keyframes. In the Local Mapping thread, the motion consistency of the generated map points is checked to further screen the dynamic feature points. The results show that our algorithm can achieve state-of-the-art accuracy in dynamic environment, and the average processing time of a frame is 50ms. © 2021 IEEE.

关键词： Semantics

来源：评论

学校读者我要写书评

暂无评论

Parameters Evaluation and Optimization of Battery-Powered Wireless Smoke Alarms with Cluster-Based Sensor Networks for Real-World Application Requirements

Parameters Evaluation and Optimization of Battery-Powered Wi...

引用

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Li Wang Xi Zhang Zhibin Mei Xiaosheng Yu Shenyang Fire Science and Technology Research Institute of MEM Shenyang Liaoning China Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

Fire is a leading cause of unnatural deaths in daily life. Battery-powered wireless smoke alarm systems are crucial in preventing fire deaths in communities. However, large-scale applications face issues such as rapid battery consumption, uneven energy consumption, concentrated risk of malfunctions, and vulnerability of communication to environmental impacts. To address this issue, we introduce a cluster-based network structure that operates on NB-IoT and AdHoc dual-mode converged communication. We propose a method for evaluating the system's performance and optimizing its parameters before physical fabrication. Laboratory experiments and 2-year-long real-world field tests validate the effectiveness of our method in solving the real-world wireless smoke alarm system application problem.

关键词： Wireless communication Wireless sensor networks Power demand System performance Synthesizers Spread spectrum communication Routing Communications technology Smoke detectors Research and development

来源：评论

学校读者我要写书评

暂无评论

A New Type of Variable Stiffness Magnetic Oscillation Energy Harvester: Design, Simulation, and Experiments

SSRN

引用

SSRN 2024年

作者： Cong, Moyue Dong, Wei Gao, Yongzhuo Long, Yi Wang, Weidong Dong, Hui School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin150001 China Faculty of Robot Science and Engineering Northeastern University Foshan528311 China

To achieve high power output under low-intensity, broadband, time-varying vibrations, this paper introduces a Variable Stiffness Magnetic Oscillation (VSMO) energy harvesting device. The VSMO device comprises a cantilever beam and a variable stiffness magnetic oscillation element, with fixed magnets positioned at both ends of the magnetic oscillation element cavity and a floating magnet situated in the middle. Utilizing the kinetic energy generated by a magnet sliding in a cavity, this VSMO design achieves high power output. It functions autonomously across a broadband frequency range without requiring manual adjustments. The structural characteristics of the proposed VSMO were evaluated through numerical analysis, and its kinetic equations were constructed, and the core parameters were experimentally verified. Experimental data indicate that the VSMO can achieve a maximum power output of 23.7 mW at 18.7 Hz and 3.92 m/s2, marking a 217.4% enhancement in power output compared to the original technology. The VSMO enables enhanced energy harvesting over a broadband frequency range of 1 Hz to 30.6 Hz. Furthermore, the device incorporates sensors for monitoring temperature and humidity in the vibrational surroundings, no lithium batteries, and employs Bluetooth for data transmission. This device holds promise for condition monitoring in unstable vibration environments, thus facilitating distributed monitoring within the realm of the Internet of Things. © 2024, The Authors. All rights reserved.

关键词： Condition monitoring

来源：评论

学校读者我要写书评

暂无评论

A New Type of Variable Stiffness Magnetic Oscillation Energy Harvester: Design, Simulation, and Experiments

SSRN

引用

SSRN 2024年

作者： Cong, Moyue Dong, Wei Gao, Yongzhuo Yi, Long Wang, Weidong Dong, Hui School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin150001 China Faculty of Robot Science and Engineering Northeastern University Foshan528311 China

To achieve high power output under low-intensity, broadband, time-varying vibrations, this paper introduces a Variable Stiffness Magnetic Oscillation (VSMO) energy harvesting device. The VSMO device comprises a cantilever beam and a variable stiffness magnetic oscillation element, with fixed magnets positioned at both ends of the magnetic oscillation element cavity and a floating magnet situated in the middle. Utilizing the kinetic energy generated by a magnet sliding in a cavity, this VSMO design achieves high power output. It functions autonomously across a broadband frequency range without requiring manual adjustments. The structural characteristics of the proposed VSMO were evaluated through numerical analysis, and its kinetic equations were constructed, and the core parameters were experimentally verified. Experimental data indicate that the VSMO can achieve a maximum power output of 23.7 mW at 18.7 Hz and 3.92 m/s², marking a 217.4% enhancement in power output compared to the original technology. The VSMO enables enhanced energy harvesting over a broadband frequency range of 1 Hz to 30.6 Hz. Furthermore, the device incorporates sensors for monitoring temperature and humidity in the vibrational surroundings, no lithium batteries, and employs Bluetooth for data transmission. This device holds promise for condition monitoring in unstable vibration environments, thus facilitating distributed monitoring within the realm of the Internet of Things. © 2024, The Authors. All rights reserved.

关键词： Kinetics

来源：评论

学校读者我要写书评

暂无评论

Semantic Range Image for Loop Closure of 3D Lidar SLAM

Semantic Range Image for Loop Closure of 3D Lidar SLAM

引用

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Fang Li Yehui Shen Fengshan Zou Zhenjun Du Mingmin Liu Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning China SIASUN Robot & Automation Co. Ltd Shenyang Liaoning China

The purpose of SLAM loop closure detection is to reduce the cumulative error in the system by identifying the same scene that the robot passed through. Traditional loop detection methods detect loops based on physical information. These methods use basic physical features to identify loop closures and pay less attention to the role of semantic information as high-level information in loop closure detection. This paper regards semantic information as one of the criteria for confirming loop closure, so that semantic information can be deeply involved in the process of loop closure detection. We construct a global descriptor based on range image and semantic information, which is called SeRI. The descriptor encodes the semantic and geometric features of the surrounding environment. Loop closure candidates are determined by matching between pairs of semantic range images. We evaluate our method on the KITTI dataset. Experiments have shown that the proposed method can effectively identify loop closure candidates correctly with high precision and recall rate.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Advancing Sustainable Energy: Analyzing Stochastic Algorithms and Q-Learning for Wind Farm Layout Optimization

Advancing Sustainable Energy: Analyzing Stochastic Algorithm...

引用

Artificial Intelligence, robotics and Control (AIRC), International Conference on

作者： Mohamed Elsheikh Amr Yonis Jessica Magdy Omar M. Shehata Computer Science Department Faculty of Media Engineering and Technology German University in Cairo Egypt Mechatronics Engineering Department Faculty of Engineering and Materials Science German University in Cairo Egypt Multi-Robot Systems (MRS) Research Group Cairo Egypt

ISBN: (数字)9798350385076

ISBN: (纸本)9798350385083

This paper presents a comprehensive study on the optimization of wind farm layouts, a critical aspect of enhancing the efficiency and effectiveness of wind energy production. We delve into various optimization techniques, including Simulated Annealing, Genetic Algorithm, Particle Swarm Optimization, Moth Flame Optimization, and Deep Q-Learning. Each optimization technique is explored through a series of case studies, where different configurations and parameters are applied to assess their effectiveness in optimizing wind farm layouts. These techniques are evaluated based on criteria such as computational complexity, optimality of solutions, and repeatability of results. The paper's findings offer insightful comparisons and analyses of each technique, providing an understanding of their respective strengths and limitations in the context of wind farm layout optimization.

关键词： Machine learning algorithms Runtime Wind energy Computational modeling Layout Wind farms Prediction algorithms

来源：评论

学校读者我要写书评

暂无评论

Trajectory Planning of robot End-Effector Position and Orientation Based on Cubic Spline

Trajectory Planning of Robot End-Effector Position and Orien...

引用

WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yang Liu Zhenjun Du Mingmin Liu Yongliang Tao Chenpeng Li Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning China SIASUN Robot & Automation Co. Ltd Shenyang Liaoning China

Trajectory planning for the end effector of industrial robots has been a hot topic in the field of robotics. A continuous and smooth trajectory of the end effector’s pose is beneficial for avoiding unnecessary impacts and vibrations, thereby improving the performance and lifespan of industrial robots. In recent years, researchers have predominantly focused on the trajectory planning of multi-directional variations in orientation using quaternions, while giving less attention to the coordinated planning of position and orientation. To address this issue, this paper proposes an efficient trajectory planning method based on improved spline curve interpolation. The orientation of key pose points, characterized by multi-directional variations, is represented using quaternions. By employing a quaternion dimension reduction algorithm, these quaternions are transformed into vector forms in three-dimensional space, allowing for unified representation of position and orientation within the same dimension. Taking the chord length between key pose points as a parameter, the position and orientation components are subjected to cubic spline curve interpolation with chord length as the independent variable. The proposed method is applicable for coordinated planning of position and orientation trajectories, ensuring high-order continuity of the pose trajectory. The effectiveness and rationality of the proposed method are validated through a set of key pose points featuring multi-directional variations. Finally, a comparative analysis is conducted between this set of key pose points and existing trajectory planning algorithms. Experimental results demonstrate that the proposed method not only guarantees high-order continuity of the trajectory but also exhibits higher smoothness.

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：