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arXiv 2022年

作者： Deolasee, Srujan Lin, Qin Li, Jialun Dolan, John M. Department of Computer Science & Information Systems Birla Institute of Technology and Science Rajasthan Pilani India Department of Electrical Engineering and Computer Science Cleveland State University ClevelandOH United States Dajiang Innovation Technology Co. Ltd Shenzhen China Robotics Institute Carnegie Mellon University PittsburghPA United States

Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone to be suboptimal in the presence of dynamic obstacles. Spatial-temporal approaches deal with path planning and speed planning simultaneously;however, the existing methods only support simple-shaped corridors like cuboids, which restrict the search space for optimization in complex scenarios. We propose to use trapezoidal prism-shaped corridors for optimization, which significantly enlarges the solution space compared to the existing cuboidal corridors-based method. Finally, a piecewise Bézier curve optimization is conducted in our proposed corridors. This formulation theoretically guarantees the safety of the continuous-time trajectory. We validate the efficiency and effectiveness of the proposed approach in numerical and CommonRoad simulations. © 2022, CC BY.

关键词： Motion planning

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On the solvability of implicit differential inclusions (vol 94, pg 129, 2014)

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APPLICABLE ANALYSIS 2015年第5期94卷 129-143页

作者： Arutyunov, A. de Oliveira, V. A. Pereira, Lobo F. Zhukovskiy, E. Zhukovskiy, S. [a] Department of Nonlinear Analysis and Optimization Peoples’ Friendship University of Russia ul. Miklukho-Maklaya 6 Moscow 117198 Russia.[b] Departamento de Matematica Aplicada Instituto de Biociencias Letras e Ciencias Exatas UNESP - Univ. Estadual Paulista Campus de Sao Jose do Rio Preto S?o Paulo Brazil.[c] Department of Electrical and Computer Engineering Institute for Systems and Robotics Universidade do Porto Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal.[d] Department of Algebra and Geometry Tambov State University ul. Internatsilonalnaya 33 Tambov 392000 Russia.

In the paper, the set-valued covering mappings are studied. The statements on solvability, solution estimates, and well-posedness of inclusions with conditionally covering mappings are proved. The results obtained are applied to the investigation of differential inclusions unsolved for the unknown function. The statements on solvability, solution estimates, and well-posedness of these inclusions are derived.

关键词： conditionally covering mapping Lipschitz perturbation implicit differential inclusion 47J22 34A60

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Ensemble of CNN classifiers using Choquet Fuzzy Integral Technique for PCB Defect Classification

Ensemble of CNN classifiers using Choquet Fuzzy Integral Tec...

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IEEE International Conference on computer Communication and the Internet (ICCCI)

作者： Boonchana Purahong Woranidtha Krungseanmuang Kasi Tenghongsakul Tuanjai Archevapanich Parkpoom Khunthawiwone Nitjaree Satayarak Attasit Lasakul Department of Computer Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Robotics and Computational Intelligent Systems School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Electrical Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Electronics and Communication Engineering Faculty of Engineering and Architecture Rajamagala University of Technology Suvarnabhumi Nonthaburi Thailand

ISBN: (数字)9798350351767

ISBN: (纸本)9798350351774

This paper presents a novel method for detecting defects in printed circuit boards (PCBs) using an ensemble of classifiers based on the Choquet fuzzy integral. Our approach employs convolutional neural network (CNN) models, specifically ResNet152, VGG19, and InceptionV3 as base classifiers to identify six types of PCB defects: spurs, mouse bites, short circuits, open circuits, spurious copper, and pinholes. Given the critical role of PCBs in ensuring electronic equipment reliability, effective defect detection methods like ours are essential. We employ pre-trained CNN models for feature extraction and classification of PCB defects. Following this, we combine the prediction scores using the Choquet fuzzy integral to derive more accurate final labels, exceeding the accuracy of standalone models. Our approach is tested on PCB images obtained from public repositories, captured using a linear scan CCD. The evaluation results demonstrate average precision, recall, F-score, and accuracy of 93.0%, 95.2%, 95.1%, and 95.1%, respectively.

关键词： Measurement Accuracy Electronic equipment Printed circuits Predictive models Feature extraction Internet

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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LiDAR-Based control of autonomous rotorcraft for the inspection of pier-like structures: Proofs

arXiv

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arXiv 2017年

作者： Guerreiro, Bruno J. Silvestre, Carlos Cunha, Rita Cabecinhas, David Institute for Systems and Robotics LARSyS Instituto Superior Técnico Universidade de Lisboa Av. Rovisco Pais 1 Lisboa1049 Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Taipa Macau IST

This is a complementary document to the paper presented in [1], where more detailed proofs are provided for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only relative position measurements obtained from LiDAR sensors are possible. The proposed approach defines an alternative kinematic model, directly based on LiDAR measurements, and uses a trajectory-dependent error space to express the dynamic model of the vehicle. An LPV representation with piecewise affine dependence on the parameters is adopted to describe the error dynamics over a set of predefined operating regions, and a continuous-time H2 control problem is solved using LMIs and implemented within the scope of gain-scheduling control theory. In this document, Section A presents the stability analysis of the attitude inner-loop presented in [1, Section II.B], whereas Section B presents a more detailed version of the stability and performance guarantees for the LPV system, extending the results presented in [1, Section IV.A]. Copyright © 2017, The Authors. All rights reserved.

关键词： Continuous time systems

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain

作者： Bos, Danny Plass-Oude Duvinage, Matthieu Oktay, Oytun Saa, Jaime Delgado Guruler, Huseyin Istanbullu, Ayhan Van Vliet, Marijn Van De Laar, Bram Poel, Mannes Roijendijk, Linsey Tonin, Luca Bahramisharif, Ali Reuderink, Boris HMI Group Faculty of EEMCS University of Twente Netherlands TCTS Lab Electrical Engineering University Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal University Turkey Faculty of Engineering and Natural Sciences VPA Lab Sabanci University Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Radboud University Nijmegen Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Radboud University Nijmegen Institute for Computing and Information Sciences Nijmegen Netherlands

ISBN: (纸本)9781424498918

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment. © 2011 IEEE.

关键词： Virtual reality

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Scheduling Measurements and Controls over Networks - Part I: Rollout Strategies for Protocol Design

Scheduling Measurements and Controls over Networks - Part I:...

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American Control Conference

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhoven University of Technology the Netherlands Dept. of Electrical and Computer Eng. University of California Santa Barbara CA 93106-9560 USA Institute for Systems and Robotics Instituto Superior Tecnico 1046-001 Lisboa Portugal

ISBN: (纸本)9781457710957

We consider networked control systems where nodes (sensors, actuators, and controller) are connected via a communication network that allows only one user to transmit at a given time. We tackle the scheduling problem of deciding which node should access the network at each transmission time so as to optimize a quadratic performance objective. Using the framework of dynamic programming, we propose a rollout strategy by which the node elected to transmit at each step is the one that leads to optimal performance over a lookahead horizon assuming that from then on nodes transmit in a periodic order. The proposed strategy leads to a protocol in which a conic state partition determines which node transmits at each step and which can outperform any given periodic protocol. Moreover, we show that some of the protocols previously proposed in the literature, such as the Maximum Error First and the dynamic protocols, can be viewed as rollout strategies for a certain dynamic programming problem. The advantages of using rollout strategies are illustrated by a numerical example.

关键词： Protocols Networked control systems Actuators Sensors Vectors Dynamic programming Stability analysis

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A Taxonomy for User-Healthcare Robot Interaction

A Taxonomy for User-Healthcare Robot Interaction

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Conrad Bzura Hosung Im Tammy Liu Kevin Malehorn Taskin Padir Bengisu Tulu Biomedical Engineering Department Worcester Polytechnic Institute Worcester MA 01609 USA Robotics Engineering Program Worcester Polytechnic Institute Worcester MA 01609 USA Management Information Systems Program Worcester Polytechnic Institute Worcester MA 01609 USA Assistant Professor of Robotics Engineering and Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA 01609 USA Assistant Professor in the School of Business Worcester Polytechnic Institute Worcester MA 01609 USA

ISBN: (纸本)9781424441198

This paper evaluates existing taxonomies aimed at characterizing the interaction between robots and their users and modifies them for health care applications. The modifications are based on existing robot technologies and user acceptance of robotics. Characterization of the user, or in this case the patient, is a primary focus of the paper, as they present a unique new role as robot users. While therapeutic and monitoring-related applications for robots are still relatively uncommon, we believe they will begin to grow and thus it isimportant that the spurring relationship between robot and patient is well understood.

关键词： understood relationship isimportant

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Selfish caching games on directed graphs

arXiv

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arXiv 2020年

作者： Ma, Qian Yeh, Edmund Huang, Jianwei School of Intelligent Systems Engineering Sun Yat-sen University China Department of Electrical and Computer Engineering Northeastern University Boston02215 United States Shenzhen Institute of Artificial Intelligence and Robotics for Society School of Science and Engineering Chinese University of Hong Kong Shenzhen518172 Hong Kong

Caching networks can reduce the routing costs of accessing contents by caching contents closer to users. However, cache nodes may belong to different entities and behave selfishly to maximize their own benefits, which often lead to performance degradation for the overall network. While there has been extensive literature on allocating contents to caches to maximize the social welfare, the analysis of selfish caching behaviors remains largely unexplored. In this paper, we model the selfish behaviors of cache nodes as selfish caching games on arbitrary directed graphs with heterogeneous content popularity. We study the existence of a pure strategy Nash equilibrium (PSNE) in selfish caching games, and analyze its efficiency in terms of social welfare. We show that a PSNE does not always exist in arbitrary-topology caching networks. However, if the network does not have a mixed request loop, i.e., a directed loop in which each edge is traversed by at least one content request, we show that a PSNE always exists and can be found in polynomial time. Furthermore, we can avoid mixed request loops by properly choosing request forwarding paths. We then show that the efficiency of Nash equilibria, captured by the price of anarchy (PoA), can be arbitrarily poor if we allow arbitrary content request patterns, and adding extra cache nodes can make the PoA worse, i.e., cache paradox happens. However, when cache nodes have homogeneous request patterns, we show that the PoA is bounded even allowing arbitrary topologies. We further analyze the selfish caching games for cache nodes with limited computational capabilities, and show that an approximate PSNE exists with bounded PoA in certain cases of interest. Simulation results show that increasing the cache capacity in the network improves the efficiency of Nash equilibria, while adding extra cache nodes can degrade the efficiency of Nash equilibria. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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