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IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Remuß, Volker Musial, Marek Technische Universität Berlin Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Group Germany

This paper presents a distributed, master-less communication system currently used for communication in a fleet of heterogeneous unmanned aerial vehicles in the European project COMETS for wired and wireless links. Communication is realized using distributed shared memory (DSM) where each network node is holding full or part of the DSM. The coherency of the DSM is kept by a real-time aware protocol that provides quality of service guarantee and dynamic routing. Furthermore, an experiment is presented using the communication system on a wireless ad-hoc network. Copyright © 2004 IFAC

关键词： Memory architecture

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Learning and communication in multi-agent systems

Learning and communication in multi-agent systems

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12th European Conference on Artificial Intelligence, ECAI 1996, 2nd International Conference on Multiagent systems, ICMAS 1996, Workshop on Learning in Distributed Artificial Intelligence systems, LDAIS 1996 and Workshop on Learning, Interaction, and Organization in Multiagent Environments, LIOME 1996

作者： Friedrich, Holger Kaiser, Michael Rogalla, Oliver Dillmann, Rüdigex University of Karlsruhe Institute for Real-Time Computer Systems and Robotics KarlsruheD-76128 Germany

ISBN: (纸本)3540629343

This paper discusses the significance of communication between individual agents that are embedded into learning Multi-Agent systems. For several learning tasks occurring within a Multi-Agent System, communication activities are investigated and the need for a mutual understanding of agents participating in the learning process is made explicit. Thus, the need for a common ontology to exchange learning-related information is shown. Building this ontogy is an additional learning task that is not only extremely important, but also extremely difficult. We propose a solution that is motiwtted by the human ability to understand each other even in the absence of a common language by using alternative commuification channels, such as gestures. We show some results for the task of cooperative material handling by several manipulators. © 1997, Springer Verlag.

关键词： Multi agent systems

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Sensor system and powerful computer system for controlling a microrobot-based micromanipulation station

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JOURNAL OF MICROMECHANICS AND MICROENGINEERING 1997年第3期7卷 256-258页

作者： Fischer, T Santa, K Fatikow, S University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr.12/Geb. 40.28 D-76128 Karlsruhe Germany Presented on 22 October 1996 accepted for publication 8 April 1997

Mobile microrobots, which are capable of performing microscopic motions, have become a subject of great interest all over the world, They have the potential to be used for a variety of applications: in industry for assembly of microsystems or for the testing of silicon chips;in medicine for handling biological cells, etc. A new model of an automated micromanipulation station, which includes piezoelectric microrobots is now being built by an interdisciplinary research group at the University of Karlsruhe, Germany, This paper describes a sensor system and a powerful tailorable computer for controlling the micromanipulation station.

关键词： Manipulators

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Deterministic models of the physical layer through signal simulation 8

Deterministic models of the physical layer through signal si...

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8th EAI International Conference on Simulation Tools and Techniques, SIMUTOOLS 2015

作者： Maier, Daniel Moser, Steffen Slomka, Frank Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science and Psychology Ulm University Germany

ISBN: (纸本)9781631900792

Current wireless network simulators provide very detailed and deterministic models of the network protocol layers, whereas rather simple and stochastic models, based on the signal-to-noise ratio, are used for the simulation of the physical layer. Although this approach can be sufficient to study the behavior of different upper layer protocol variations, it prevents an easy alteration of the physical layer because a stochastic abstraction of the physical layer must be provided in advance. In particular, the simulation of distributed systems with physical layers that are designed to have several senders transmitting signals at the same time intentionally, is hardly possible with current approaches. A further problem of stochastic physical layer simulations is the fact that the radio channel's influence must also be carried out stochastically, which limits the advantage of accurate ray-optical channel models. We present a novel approach for the accurate simulation of the physical layer by utilizing existing software-defined radio implementations to create signals, to calculate interference and to decode signals. This technique enables us to simulate wireless networks holistically and, furthermore, we can fully exploit the possibilities of available ray-optical channel models. Copyright © 2015 ICST.

关键词： Wireless networks

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Towards more realistic simulations of ad-hoc networks-challenges and opportunities

Towards more realistic simulations of ad-hoc networks-challe...

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2010 International Symposium on Performance Evaluation of computer and Telecommunication systems, SPECTS 2010

作者： Moser, Steffen Slomka, Frank Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University 89069 Ulm Germany

ISBN: (纸本)9781617387036

Vehicular Ad-hoc Networks are a very interesting self-organizing communication system that can make the traffic on our roads much safer. A lot of aspects of the behavior of these systems are studied using network simulation frameworks. While the upper communication layers of Vehicular Ad-hoc Networks are mainly simulated according to their specifications, in this paper we will highlight weak points in these simulations. They occur due the fact that the layers below the link layer are considered very rarely and are also almost neglected by the commonly used network simulation frameworks. This can potentially lead to inaccurate simulation results which can be fatal when studying safety relevant applications or application with real-time constraints. In this work in progress paper we are going to propose an approach to get this under control.

关键词： Vehicular ad hoc networks

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

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Efficient TD3 based path planning of mobile robot in dynamic environments using prioritized experience replay and LSTM

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Scientific reports 2025年第1期15卷 18331页

作者： Yunhan Lin Zhijie Zhang Yijian Tan Hao Fu Huasong Min School of Computer Science and Technology Wuhan University of Science and Technology Wuhan 430081 China. Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan 430081 China. Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan 430081 China. Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan 430081 China. mhuasong@***.

To address the challenges of sample utilization efficiency and managing temporal dependencies, this paper proposes an efficient path planning method for mobile robot in dynamic environments based on an improved twin delayed deep deterministic policy gradient (TD3) algorithm. The proposed method, named PL-TD3, integrates prioritized experience replay (PER) and long short-term memory (LSTM) neural networks, which enhance both sample efficiency and the ability to handle time-series data. To verify the effectiveness of the proposed method, simulation and practical experiments were designed and conducted. In the simulation experiments, both static and dynamic obstacles were included in the test environment, along with experiments to assess generalization capabilities. The algorithm demonstrated superior performance in terms of both execution time and path efficiency. The practical experiments, based on the assumptions from the simulation tests, further confirmed that PL-TD3 has improved the effectiveness and robustness of path planning for mobile robot in dynamic environments.

关键词： Long short-term memory (LSTM ) Path planning in dynamic environment Prioritized experience replay (PER) Reinforcement learning Twin delayed deep deterministic policy gradient (TD3) algorithm

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Supply Chain Sustainability in Disruption: SC Intelligence, Customer Knowledge Transfer, and the Mediating Role of IS/IT

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IEEE Engineering Management Review 2025年

作者： Ratna, Silvia Saide, Saide Rater, Salya Svyazhanovna, Baizakova Saule Herzavina, Herzavina Faculty of Information Technology Department of Informatics Engineering and Department of Information Systems Banjarmasin Indonesia State Islamic University of Sultan Syarif Kasim Riau Universitas Islam Negeri Sultan Syarif Kasim Riau-UIN SUSKA Riau Department of Information Systems Faculty of Science and Technology Indonesia PRO Knowledge Indonesia Pekanbaru Indonesia Universitas Pahlawan Tuanku Tambusai Indonesia Lembaga Enreach UIN Suska Riau Indonesia Politeknik Aceh Selatan Department of Informatics Engineering Aceh Indonesia Information Communication Technologies Robotics in Arkalyk Pedagogical Institute Master of Natural Sciences Educational Program for the Informatics Computer Science Kazakhstan Universitas Pahlawan Tuanku Tambusai Department of Informatics Engineering Indonesia National Taiwan University of Science and Technology Taiwan

Knowledge resource and information system/technology (IS/IT) capability have been considered to improve firm performance, however there is still a gap regarding the sustainability of supply chain to face and recover from disruption (e.g., COVID-19). Questionnaire-based surveys was adopted and received feedback from sixty (160) Indonesian companies or about 28.07% of response rate. © 1973-2011 IEEE.

关键词： customer knowledge transfer disruption information system/technology (IS/IT) responding knowledge management resource-based view (RBV) Supply chain (SC) sustainability supply chain knowledge transfer

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Model-based diagnosis of complex systems: Structuring and temporal reasoning

引用

IFAC Proceedings Volumes 1991年第10期24卷 41-45页

作者： T. Hübner Institute for Real Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Karlsruhe Germany

Model-based diagnosis of industrial applications (i.e., complex systems) has to face a lot of problems inherent in complexity. Most applications involve thousands of components and are dynamic. The approach outlined in this paper is based on semantic nets representing causal and temporal knowledge to be used for fault diagnosis. A view and a hierarchy-concept serve for structured modelling and focused diagnosis. An efficient diagnostic inference mechanism is based on a pre-computation phase, where diagnostic knowledge is restructured to grant efficient access operations during a diagnostic session phase.

关键词： Failure detection artificial intelligence expert systems modeling causal reasoning temporal reasoning structuring model-based

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Programming by demonstration: A machine learning approach to support skill acquision for robots 3rd

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3rd International Conference on Artificial Intelligence and Symbolic Mathematical Computation, AISMC 1996

作者： Dillmann, R. Friedrich, H. University of Karlsruhe Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)3540617329

Programming by Demonstration (PbD) is a programming method that allows to add new functionalities to a system by simply showing the desired task or skill in form of few examples. In the domain of robotics this paradigm offers the potential to reduce the complexity of robot task programming and to make programming more "natural". In case of programming an assembly task PbD allows with the help of a video or a laser camera and a data glove the automatic generation the necessary robot program for the assembly task. In addition, the demonstration of the task with few different assembly situations and strategies may achieve a generalized assembly function for all possible variants of the class. In order to realize such a PbD system at least two major problems have to be solved. First, the sensor data trace of a demonstration has to be interpreted and transformed into a high-level situation-action representation. This task is not yet well understood nor solved in general. Second, if a generalization is required, induction algorithms must be applied to the sensor data trace, to find the most general user-intended robot function from only few examples. In this paper mainly the second problem is focused. The described experimental PbD environment consists of an industrial robot, a 6D space mouse used as input device, and some sensors. Various data can be recorded during a demonstration for further processing in the PbD system implemented on a workstation. The objective is to exploit the possibilities of integrating learning and clustering algorithms for automated robot programming. In particular it is investigated how human interaction with the PbD system as well as user-initiated dialogs can support inductive learning to acquire generalized assembly programs and skills. © Springer-Vedag Berlin Heidelberg 1996.

关键词： Demonstrations

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