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Multi-operation blank localization with hybrid point cloud and feature-based representation

Procedia CIRP 2023年 120卷 756-761页

作者： Tamás Cserteg András Kovács József Váncza EPIC Centre of Excellence Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network Budapest H-1111 Hungary Doctoral School of Informatics ELTE Eötvös Loránd University Budapest H-1117 Hungary Department of Manufacturing Science and Technology Budapest University of Technology and Economics Budapest H-1111 Hungary

Sustainability objectives, including the endeavor to reduce waste, energy consumption and machining effort gave rise to the near net shape (NNS) machining concept, which requires the initial rough blank to be as close to the final machined product as possible. Nevertheless, the opportunity of savings in material, energy and effort come with a risk of manufacturing scrap even in case of a very small geometrical error of the blank. This issue is addressed by blank localization, i.e., the act of placing the final machined product in the geometry of the rough blank. Multi-operation blank localization was proposed recently to exploit tolerances in the product design to compensate potential geometrical errors of the blank. It places each feature group, machined together in the same operation, separately in the blank. When tolerances connecting different feature groups allow, these feature groups can be moved slightly according to the measured actual blank geometry. This paper proposes a novel multi-operation blank localization approach that models the rough blank as a free-form geometry, capturing all possible geometrical errors, whereas represents the final product using a feature-based model. The problem of blank localization for minimizing tolerance errors while leaving sufficient allowance is formulated and solved as a convex quadratically constrained quadratic program (QCQP). In a case study from the automotive industry, it is shown that the proposed multi-operation approach outperforms earlier methods that handle the product as a single solid geometry.

关键词： blank localization free-form machining point clouds quadratic programming optimization

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Path Planning Algorithm for Multiple UAVs Based on Artificial Potential Field

Path Planning Algorithm for Multiple UAVs Based on Artificia...

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IEEE Joint International Information technology and Artificial Intelligence Conference (ITAIC)

作者： Chongde Ren Jinchao Chen Chenglie Du Wenquan Yu School of Software Northwestern Polytechnical University Xi'an China Department of Computer Science Northwestern Polytechnical University Xi'an China Department of Land Unmanned System Research and Development North Automatic Control Technology Research Institute Taiyuan China

Due to the lower cost and higher maneuverability, unmanned aerial vehicles (UAVs) have found extensive use in both the civilian and military worlds. Path planning, as a crucial problem in the process of UAVs flight, aims to determine the optimal routes for multiple UAVs from various starting points to a single destination. However, because of the involvement of complex conditional constraints, path planning becomes a highly challenging problem. The path planning problem involving numerous UAVs is examined in this research, and a SAAPF-MADDPG algorithm based on Artificial Potential Field (APF) is suggested as a solution. First, a SA-greedy algorithm that can change the probability of random exploration by agents based on the number of steps and successful rounds to prevent UAVs from getting trapped in a local optimum. Then, we design complex reward functions based on APF to guide UAVs to destination faster. Finally, SAAPF-MADDPG is evaluated against the MADDPG, DDPG, and MATD3 methods in simulation scenarios to confirm its efficacy.

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Robust Training and Verification of Implicit Neural Networks: A Non-Euclidean Contractive Approach

arXiv

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arXiv 2022年

作者： Jafarpour, Saber Davydov, Alexander Abate, Matthew Bullo, Francesco Coogan, Samuel School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta United States Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

This paper proposes a theoretical and computational framework for training and robustness verification of implicit neural networks based upon non-Euclidean contraction theory. The basic idea is to cast the robustness analysis of a neural network as a reachability problem and use (i) the `∞-norm input-output Lipschitz constant and (ii) the tight inclusion function of the network to over-approximate its reachable sets. First, for a given implicit neural network, we use `∞-matrix measures to propose sufficient conditions for its well-posedness, design an iterative algorithm to compute its fixed points, and provide upper bounds for its `∞-norm input-output Lipschitz constant. Second, we introduce a related embedded network and show that the embedded network can be used to provide an `∞-norm box over-approximation of the reachable sets of the original network. Moreover, we use the embedded network to design an iterative algorithm for computing the upper bounds of the original system’s tight inclusion function. Third, we use the upper bounds of the Lipschitz constants and the upper bounds of the tight inclusion functions to design two algorithms for the training and robustness verification of implicit neural networks. Finally, we apply our algorithms to train implicit neural networks on the MNIST dataset and compare the robustness of our models with the models trained via existing approaches in the literature. Copyright © 2022, The Authors. All rights reserved.

关键词： Iterative methods

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Multimodal Large Models Are Effective Action Anticipators

arXiv

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arXiv 2025年

作者： Wang, Binglu Tian, Yao Wang, Shunzhou Yang, Le College of Information and Control Engineering Xi'an University of Architecture and Technology Xi'An710055 China The School of Astronautics Northwestern Polytechnical University Xi'An710072 China School of Electronic and Computer Engineering Shenzhen Graduate School Peking University Shenzhen518055 China Institute of Artificial Intelligence Hefei Comprehensive National Science Center China The School of Information Science and Technology University of Science and Technology of China Hefei230022 China

The task of long-term action anticipation demands solutions that can effectively model temporal dynamics over extended periods while deeply understanding the inherent semantics of actions. Traditional approaches, which primarily rely on recurrent units or Transformer layers to capture long-term dependencies, often fall short in addressing these challenges. Large Language Models (LLMs), with their robust sequential modeling capabilities and extensive commonsense knowledge, present new opportunities for long-term action anticipation. In this work, we introduce the ActionLLM framework, a novel approach that treats video sequences as successive tokens, leveraging LLMs to anticipate future actions. Our baseline model simplifies the LLM architecture by setting future tokens, incorporating an action tuning module, and reducing the textual decoder layer to a linear layer, enabling straightforward action prediction without the need for complex instructions or redundant descriptions. To further harness the commonsense reasoning of LLMs, we predict action categories for observed frames and use sequential textual clues to guide semantic understanding. In addition, we introduce a Cross-Modality Interaction Block, designed to explore the specificity within each modality and capture interactions between vision and textual modalities, thereby enhancing multimodal tuning. Extensive experiments on benchmark datasets demonstrate the superiority of the proposed ActionLLM framework, encouraging a promising direction to explore LLMs in the context of action anticipation. Code is available at https://***/2tianyao1/***. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantics

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Do We Really Need to Use Constraint Violation in Constrained Evolutionary Multi-Objective Optimization?

arXiv

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arXiv 2022年

作者： Li, Shuang Li, Ke Li, Wei Control and Simulation Center Harbin Institute of Technology China Department of Computer Science University of Exeter ExeterEX4 4QF United Kingdom

Constraint violation has been a building block to design evolutionary multi-objective optimization algorithms for solving constrained multi-objective optimization problems. However, it is not uncommon that the constraint violation is hardly approachable in real-world black-box optimization scenarios. It is unclear that whether the existing constrained evolutionary multi-objective optimization algorithms, whose environmental selection mechanism are built upon the constraint violation, can still work or not when the formulations of the constraint functions are unknown. Bearing this consideration in mind, this paper picks up four widely used constrained evolutionary multi-objective optimization algorithms as the baseline and develop the corresponding variants that replace the constraint violation by a crisp value. From our experiments on both synthetic and real-world benchmark test problems, we find that the performance of the selected algorithms have not been significantly influenced when the constraint violation is not used to guide the environmental selection. Copyright © 2022, The Authors. All rights reserved.

关键词： Benchmarking

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Shared Situational Awareness with V2X Communication and Set-membership Estimation

arXiv

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arXiv 2023年

作者： Narri, Vandana Alanwar, Amr Mårtensson, Jonas Norén, Christoffer Johansson, Karl Henrik Research and Development Scania CV AB Södertälje151 87 Sweden Division of Decision and Control Systems at School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE100 44 Sweden School of Computer Science and Engineering Constructor University Germany

The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle’s field-of-view. But when it comes to the urban scenario, the field-of-view of the ego-vehicle is likely to be affected by occlusion and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and real-time results are illustrated in this paper. Copyright © 2023, The Authors. All rights reserved.

关键词： Vehicle to Everything

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Classification of Skin Lesions from Dermatoscopic Images Using Convolutional Neural Networks

Classification of Skin Lesions from Dermatoscopic Images Usi...

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International Conference on control Systems and computer Science (CSCS)

作者： Maria Oniga Alina-Elena Sultana Dan Popescu Daniel-Marian Merezeanu Loretta Ichim Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania Faculty of Electronics Telecommunications and Information Technology University Politehnica of Bucharest Bucharest Romania “St. S. Nicolau” Institute of Virology Bucharest Romania

Skin cancer is one of the most common types of cancer, and it is caused by a variety of dermatological conditions. Identifying abnormalities from skin images is an important pre-diagnostic step to assist physicians in determining the patient’s condition. Thus, to aid dermatologists in the diagnosis process, we proposed five CNN-based classification approaches namely ResNet-101, DenseNet-121, GoogLeNet, VGG16, and MobileNetV2 architectures on which the transfer learning process was applied. The HAM10000-N database consisting of 7,120 images, which was obtained from the original HAM10000 dataset through an augmentation process, was used to train the proposed methods. Moreover, the images from the HAM10000-N were pre-processed by removing hair with the DullRazor algorithm. To evaluate and compare the performance of all networks five metrics were calculated: accuracy, precision, recall, and Fl-score. The best results for the seven-class classification of the HAM10000-N dataset were obtained for DenseNet-121 architecture with 87% accuracy, 0.871 precision, 0.87 recall and 0.872 F1-score.

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A Multi-Layer Long Short-Term Memory Neural Network on Battery State-of-Health Estimation with Transfer Learning

A Multi-Layer Long Short-Term Memory Neural Network on Batte...

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IEEE International Conference on Industrial Electronics for Sustainable Energy Systems (IESES)

作者： Jilun Tian Jiusi Zhang Yuchen Jiang Hao Luo Congsheng Huang Mo-yuen Chow Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Electrical Engineering National Taipei University of Technology Taipei Taiwan R.O.C. Department of Electrical and Computer Engineering North Carolina State University Raleigh NC U.S.A.

Due to the important part of batteries in industrial systems, its safety analysis has causes widespread attention from researchers, and its effective maintenance decision-making is needed. Data-driven state-of-health (SOH) estimation can provide useful information by monitoring historical data during the aging process, but it can be failed in the cross-domain scenarios due to the different data distributions. To tackle this issue, we propose a long short-term memory (LSTM) neural network with an additional fully connected dense as a basic predictor, and apply the pretrain and fine-tuning training algorithm to realize the high-performance prediction. By validated in two real-world datasets, we find that blindly expanding the training set may have a negative impact on model accuracy, and the proposed TL-LSTM can achieve a great performance under the cross-domain tasks.

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Character Recognition of Vedic Sanskrit using Deep Learning Algorithms

Character Recognition of Vedic Sanskrit using Deep Learning ...

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International Conference on Computing, Communication, and Intelligent Systems (ICCCIS)

作者： Mrinal Pandey Rashmikiran Pandey Alexey Nazarov Department of Radio Engineering and Cybernetics Moscow Institute of Physics and Technology Moscow Russia Federal Research Center Computer Science and Control Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9781665462013

One of the applications of deep learning is deciphering the unscripted text over the walls and pillars of historical monuments is the major source of information extraction. This information gives us an idea about the art and the culture of that respective era. In this paper we proposed a model for digital recognition of textual characters written in Sanskrit language using the 4-fold Convolutional Neural Network (CNN) architecture. At the first stage we remove the noise and subsequently segmentation of characters from the input image is performed, later we convert the image into binary image format by the help of image processing techniques. The research is performed over the Devanagari script which was developed during 1 st to the 4 th century CE and is common to many languages from the Indian subcontinent.

关键词： Training Deep learning Support vector machines Computational modeling Natural languages Graphics processing units Information retrieval

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Approximate Dynamic Programming for Platoon Coordination under Hours-of-Service Regulations

Approximate Dynamic Programming for Platoon Coordination und...

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IEEE Conference on Decision and control

作者： Ting Bai Alexander Johansson Karl Henrik Johansson Jonas Mårtensson Integrated Transport Research Lab and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Stockholm Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Truck drivers are required to stop and rest with a certain regularity according to the driving and rest time regulations, also called Hours-of-Service (HoS) regulations. This paper studies the problem of optimally forming platoons when considering realistic HoS regulations. In our problem, trucks have fixed routes in a transportation network and can wait at hubs along their routes to form platoons with others while fulfilling the driving and rest time constraints. We propose a distributed decision-making scheme where each truck controls its waiting times at hubs based on the predicted schedules of others. The decoupling of trucks’ decision-makings contributes to an approximate dynamic programming approach for platoon coordination under HoS regulations. Finally, we perform a simulation over the Swedish road network with one thousand trucks to evaluate the achieved platooning benefits under the HoS regulations in the European Union (EU). The simulation results show that, on average, trucks drive in platoons for 37% of their routes if each truck is allowed to be delayed for 5 % of its total travel time. If trucks are not allowed to be delayed, they drive in platoons for 12 % of their routes.

关键词： Schedules Simulation Roads Decision making Europe Regulation Dynamic programming

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