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2024 International Conference Automatics and Informatics, ICAI 2024

作者： Kalandarov, Palvan I. Ubaydullayeva, Shakhnoza R. Ismailov, Mirhalil A. Nikolov, Nikola N. Alexandrova, Mariela Tashkent Inst. of Irrigation and Agricultural Mechanization Engineers National Research University Department "Automation and Control of Technology Process in Production" Tashkent Uzbekistan Faculty of Computer Science and Automation Technical University of Varna Department of Automation Varna Bulgaria

ISBN: (纸本)9798350353907

The article discusses the theoretical foundations of the design of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. In accordance with the requirements of the methodology for selecting efficiency criteria, it is necessary to develop structural diagrams of measuring devices. For these purposes, the standard deviation of the random error is determined, characterizing the accuracy. It includes the main components: sensitivity error, zero error and additive component. Mathematical models of structures are constructed and the standard deviation of random errors, which are caused by certain parameters and additive fluctuations, is calculated. A single-parameter ultrahigh-frequency method for determining the moisture content is proposed. This method provides high accuracy of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. The measuring device can be used in the agricultural industry, where humidity is one of the important parameters, starting with harvesting and ending with the release of finished products. © 2024 IEEE.

关键词： Moisture meters

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Causal Discovery via Conditional Independence Testing with Proxy Variables 41

Causal Discovery via Conditional Independence Testing with P...

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41st International Conference on Machine Learning, ICML 2024

作者： Liu, Mingzhou Sun, Xinwei Qiao, Yu Wang, Yizhou School of Computer Science Peking University China Peking University China Sch. of Data Science Fudan University China Dep. of Automation Shanghai Jiao Tong University China Inst. for Artificial Intelligence Peking University China Nat'l Eng. Research Center of Visual Technology Peking University China Nat'l Key Lab of General Artificial Intelligence Peking University China

Distinguishing causal connections from correlations is important in many scenarios. However, the presence of unobserved variables, such as the latent confounder, can introduce bias in conditional independence testing commonly employed in constraint-based causal discovery for identifying causal relations. To address this issue, existing methods introduced proxy variables to adjust for the bias caused by unobserveness. However, these methods were either limited to categorical variables or relied on strong parametric assumptions for identification. In this paper, we propose a novel hypothesis-testing procedure that can effectively examine the existence of the causal relationship over continuous variables, without any parametric constraint. Our procedure is based on discretization, which under completeness conditions, is able to asymptotically establish a linear equation whose coefficient vector is identifiable under the causal null hypothesis. Based on this, we introduce our test statistic and demonstrate its asymptotic level and power. We validate the effectiveness of our procedure using both synthetic and real-world data. Code is publicly available at https://***/lmz123321/proxy_causal_discovery. Copyright 2024 by the author(s)

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Causal discovery via conditional independence testing with proxy variables 24

Causal discovery via conditional independence testing with p...

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Proceedings of the 41st International Conference on Machine Learning

作者： Mingzhou Liu Xinwei Sun Yu Qiao Yizhou Wang School of Computer Science and Center on Frontiers of Computing Studies (CFCS) Peking University Sch. of Data Science Fudan University Dep. of Automation Shanghai Jiao Tong University Center on Frontiers of Computing Studies (CFCS) and School of Computer Science and Inst. for Artificial Intelligence and Nat'l Eng. Research Center of Visual Technology and Nat'l Key Lab of General Artificial Intelligence Peking University

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Real-time Holistic Robot Pose Estimation with Unknown States

arXiv

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arXiv 2024年

作者： Ban, Shikun Fan, Juling Ma, Xiaoxuan Zhu, Wentao Qiao, Yu Wang, Yizhou Center on Frontiers of Computing Studies School of Computer Science Peking University China Inst. for Artificial Intelligence Peking University China Nat’l Eng. Research Center of Visual Technology Nat’l Key Lab of General Artificial Intelligence Department of Automation School of Electronics Information and Electrical Engineering Shanghai Jiao Tong University China

Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot joint angles. However, this assumption is not always valid in practical situations. In real-world applications such as multi-robot collaboration or human-robot interaction, the robot joint states might not be shared or could be unreliable. On the other hand, existing approaches that estimate robot pose without joint state priors suffer from heavy computation burdens and thus cannot support real-time applications. This work introduces an efficient framework for real-time robot pose estimation from RGB images without requiring known robot states. Our method estimates camera-to-robot rotation, robot state parameters, keypoint locations, and root depth, employing a neural network module for each task to facilitate learning and sim-to-real transfer. Notably, it achieves inference in a single feed-forward pass without iterative optimization. Our approach offers a 12× speed increase with state-of-the-art accuracy, enabling real-time holistic robot pose estimation for the first time. Code and models are available at https: //***/Oliverbansk/Holistic-Robot-Pose-Estimation. Copyright © 2024, The Authors. All rights reserved.

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Computational Geometry Data Structures in Logistics and Navigation Tasks

Computational Geometry Data Structures in Logistics and Navi...

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Miloš Šeda Pavel Seda Inst. of Automation and Computer Science Brno University of Technology Brno Czechia Dept. of Telecommunications Brno University of Technology Brno Czechia

ISBN: (数字)9781728192819

ISBN: (纸本)9781728192826

Computational geometry data structures have many applications, such as network optimisation, location tasks, but they can also be used in robot motion planning when a path of the shortest length must be found between the start and target positions that guarantee movements without the risk of collisions with obstacles. The paper deals with visibility graphs, strip and cell decompositions, Voronoi diagrams and compares their properties and efficiency in the investigated area. Since cell decomposition-based approaches give exponential complexity depending on the number of cells, and the knowledge base makes it possible to reduce it mostly only insignificantly, Voronoi diagrams with their polynomial complexity are more efficient for large inst.nces. In addition, their generalized version allows them to generate smooth trajectories.

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An automated biometric identification system using CNN-based palm vein recognition

An automated biometric identification system using CNN-based...

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2020 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2020

作者： Jhong, Sin-Ye Tseng, Po-Yen Siriphockpirom, Natnuntnita Hsia, Chih-Hsien Huang, Ming-Shih Hua, Kai-Lung Chen, Yung-Yao National Cheng Kung University Dept. of Engineering Science Tainan Taiwan Grad. Inst. of Automation Technology National Taipei University of Technology Taipei Taiwan Dept. of Computer Science and Information Engineering National Ilan University Ilan Taiwan Open AI Fab Inc. Taipei Taiwan Dept. of Computer Science and Information Engineering National Taiwan University of Science and Technology Taipei Taiwan Dept. of Electronic and Computer Engineering National Taiwan University of Science and Technology Taipei Taiwan

ISBN: (纸本)9781728198231

Recently, automated biometric identification system (ABIS) has wide applications involving automatic identification and data capture (AIDC), which includes automatic security checking, verifying personal identity to prevent information disclosure or identity fraud, and so on. With the advancement of biotechnology, identification systems based on biometrics have emerged in the market. These systems require high accuracy and ease of use. Palm vein identification is a type of biometric that identifies palm vein features. Compared with other features, palm vein recognition provides accurate results and has received considerable attention. We developed a novel high-performance and noncontact palm vein recognition system by using high-performance adaptive background filtering to obtain palm vein images of the region of interest. We then used a modified convolutional neural network to determine the best recognition model through training and testing. Finally, the developed system was implemented on the low-level embedded Raspberry Pi platform with cloud computing technology. The results showed that the system can achieve an accuracy of 96.54%. © 2020 IEEE.

关键词： Biometrics

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Multiple Pseudo-Local Feedbacks for Controlling High-Order Oscillatory Objects 15

Multiple Pseudo-Local Feedbacks for Controlling High-Order O...

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15th International Scientific-Technical Conference on Actual Problems of Electronic inst.ument Engineering, APEIE 2021

作者： Zhmud, V.A. Nosek, J. Mansurova, M.E. Semibalamut, V.M. Fomin, Yu. N. Stukach, O.V. Novosibirsk State Technical University Institute of Laser Physics Sb Ras Dept. of Automation Novosibirsk Russia Technical University of Liberec Inst. of Mechatronics and Computer Engineering Liberec Czech Republic Al-Farabi Kazakh National University Department of Artificial Intelligence and Big Data Almaty Kazakhstan Unified Geophysical Service of the Russian Academy of Sciences Siberian Branch of the Federal State Budgetary Institution of Science of the Federal Research Center Novosibirsk Russia Novosibirsk State Technical University Higher School of Economics Dept. of Information Defense Moscow Russia

ISBN: (纸本)9781665434089

Development of the Internet of things (IoT) technologies arises many additional problems as energy harvesting. In particular, a long-Time controlling object needs a device without an external power supply. The control of technical objects with a high order of mathematical model has a large difficulty if a feature of the object is a high tendency to oscillations due to the ratio of the coefficients in the model. In particular, the tendency to oscillations occurs if the object model has complex roots, or if the model has a transport delay. One such example is a model that consists of two oscillatory objects and a delay loop. Widespread controlling such an objects using a PID controller is very difficult since in the transient process in the resulting system there is a large overshoot and many oscillations. If such an object could be stabilized with additional local feedbacks, the control task would be greatly simplified, but the object does not have corresponding outputs and inputs, therefore local feedbacks cannot be used. The pseudo-local feedback approach assumes the use of virtual fragments of the object's mathematical model in the controller to form such connections that the system perceives as local ones. This paper proposed the use of several pseudo-local feedbacks to control an object with elements that increased its tendency to oscillate. The effectiveness of the proposed approach is confirmed by modeling. © 2021 IEEE.

关键词： Feedback

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An Automated Biometric Identification System Using CNN-Based Palm Vein Recognition

An Automated Biometric Identification System Using CNN-Based...

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International Conference on Advanced Robotics and Intelligent Systems (ARIS)

作者： Sin-Ye Jhong Po-Yen Tseng Natnuntnita Siriphockpirom Chih-Hsien Hsia Ming-Shih Huang Kai-Lung Hua Yung-Yao Chen Dept. of Engineering Science National Cheng Kung University Tainan Taiwan Inst. of Automation Technology National Taipei University of Technology Taipei Taiwan Dept. of Electronic and Computer Engineering National Taiwan University of Science and Technology Taipei Taiwan Dept. of Computer Science and Information Engineering National Ilan University Ilan Taiwan AI Fab Inc. Taipei Taiwan Dept. of Computer Science and Information Engineering National Taiwan University of Science and Technology Taipei Taiwan

ISBN: (数字)9781728198231

ISBN: (纸本)9781728198248

关键词： Veins Feature extraction Convolution Cameras Electronic mail Filtering Convolutional neural networks

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Opportunities to parallelize path planning algorithms for autonomous underwater vehicles

arXiv

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arXiv 2017年

作者： Eichhorn, Mike Kremer, Ulrich Inst. for Automation and Systems Engineering Ilmenau University of Technology Ilmenau98684 Germany Dept. of Computer Science Rutgers University PiscatawayNJ08854 United States

This paper discusses opportunities to parallelize graph based path planning algorithms in a time varying environment. Parallel architectures have become commonplace, requiring algorithm to be parallelized for efficient execution. An additional focal point of this paper is the inclusion of inaccuracies in path planning as a result of forecast error variance, accuracy of calculation in the cost functions and a different observed vehicle speed in the real mission than planned. In this context, robust path planning algorithms will be described. These algorithms are equally applicable to land based, aerial, or underwater mobile autonomous systems. The results presented here provide the basis for a future research project in which the parallelized algorithms will be evaluated on multi and many core systems such as the dual core ARM Panda board and the 48 core Single-chip Cloud computer (SCC). Modern multi and many core processors support a wide range of performance vs. energy tradeoffs that can be exploited in energyconstrained environments such as battery operated autonomous underwater vehicles. For this evaluation, the boards will be deployed within the Slocum glider, a commercially available, buoyancy driven autonomous underwater vehicle (AUV). Copyright © 2017, The Authors. All rights reserved.

关键词： Graphic methods

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An unconditionally stable approximation of a circular flexible plate described by a fourth order partial differential equation

An unconditionally stable approximation of a circular flexib...

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International Conference on Methods and Models in automation and Robotics (MMAR)

作者： Petr Augusta Blazej Cichy Krzysztof Gałkowski Eric Rogers Inst. of Inf. Theory and Automation The Czech Academy of Sciences Prague Czech Republic Dept. of Electronics and Computer Science University of Southampton Southampton UK

An unconditionally stable finite difference scheme for systems whose dynamics are described by a second-order partial differential equation is developed with use of regular hexagonal grid. The scheme is motivated by the well-known Crank-Nicolson discretization which was developed for first-order systems. The stability of the finite-difference scheme is analyzed by von Neumann's method. Using the new scheme, a discrete in time and space model of a deformable mirror is derived as the basis for control law design. The convergence of this scheme for various values of the discretization parameters is checked by numerical simulations.

关键词： Mathematical model Numerical stability Stability analysis Numerical models Partial differential equations Power system stability Mirrors

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