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IEEE Symposium on Computational Intelligence and Games, CIG

作者： Chrysanthi Tziortzioti Irene Mavrommati Georgios Mylonas Andrea Vitaletti Ioannis Chatzigiannakis Hellenic Open University Patras Greece Computer Technology Institute & Press Patras Greece Dep. of Computer Control and Manag. Eng. Sapienza University of Rome Rome Italy

Raising awareness among young people and changing their behavior and habits concerning energy usage and the environment is key to achieving a sustainable planet. The goal to address the global climate problem requires informing the population on their roles in mitigation actions and adaptation of sustainable behaviors. Addressing climate change and achieve ambitious energy and climate targets requires a change in citizen behavior and consumption practices. IoT sensing and related scenario and practices, which address school children via discovery, gamification, and educational activities, are examined in this paper. Use of seawater sensors in STEM education, that has not previously been addressed, is included in these educational scenaria.

关键词： Sensors Buildings Energy consumption Meteorology Monitoring Sociology Statistics

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Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications

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IFAC-PapersOnLine 2019年第18期52卷 121-126页

作者： Matěj Kuře Jaroslav Bušek Tomáš Vyhlídal Silviu-Iulian Niculescu Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 1902/4 166 07 Praha 6 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Jugoslávských partyzánů 1580/3 160 00 Praha 6 Czech Republic Laboratoire des Signaux et Systemes Universite Paris Saclay CNRS-CentraleSupelec-Universite Paris Sud 3 rue Joliot-Curie 91192 Gif-sur- Yvette cedex France. The author is also a member of the Inria team "DISCO (Inria- CNRS-CentraleSupelec)

A case study problem of damping oscillations of a pendulum by moving a pivot in vertical direction is presented. The motivation for solving this task comes from a broader research on designing advanced control algorithms for Unmanned Aerial Vehicles (UAVs) carrying a suspended payload. First, a nonlinear model for vertical motion of a quadcopter carrying a payload is derived and simplified to a nonlinear pendulum-like model. The main result is in deriving a nonlinear time-delay control law allowing to predefine a damping factor of the oscillations. Note that the problem at hand cannot be solved by a linear controller, as the oscillatory mode is not controllable once the model is linearised. The control law is then extended from pendulum to the quadcopter model considering an outer loop to control the horizontal motion. The theoretical results are then validated by simulations.

关键词： quadcopter suspended load oscillation suppression pendulum moving pivot delayed feedback

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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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Online context-based object recognition for mobile robots

Online context-based object recognition for mobile robots

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： J.R. Ruiz-Sarmiento Martin Günther Cipriano Galindo Javier González-Jiménez Joachim Hertzberg Dept. of System Eng. and Automation University of Málaga Spain DFKI Robotics Innovation Center Osnabrück Branch 49076 Germany DFKI Robotics Innovation Center Osnabrück Branch Osnabrück Germany Institute of Computer Science Osnabrück University Osnabrück Germany

ISBN: (纸本)9781509062355

This work proposes a robotic object recognition system that takes advantage of the contextual information latent in human-like environments in an online fashion. To fully leverage context, it is needed perceptual information from (at least) a portion of the scene containing the objects of interest, which could not be entirely covered by just an one-shot sensor observation. Information from a larger portion of the scenario could still be considered by progressively registering observations, but this approach experiences difficulties under some circumstances, e.g. limited and heavily demanded computational resources, dynamic environments, etc. Instead of this, the proposed recognition system relies on an anchoring process for the fast registration and propagation of objects' features and locations beyond the current sensor frustum. In this way, the system builds a graph-based world model containing the objects in the scenario (both in the current and previously perceived shots), which is exploited by a Probabilistic Graphical Model (PGM) in order to leverage contextual information during recognition. We also propose a novel way to include the outcome of local object recognition methods in the PGM, which results in a decrease in the usually high CRF learning complexity. A demonstration of our proposal has been conducted employing a dataset captured by a mobile robot from restaurant-like settings, showing promising results.

关键词： Object recognition Robot sensing systems Solid modeling Probabilistic logic Training Computational modeling

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Multi-criteria optimisation design of shapers with piece-wise equally distributed time-delay

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IFAC-PapersOnLine 2016年第10期49卷 112-117页

作者： Pilbauer, Dan Michiels, Wim Vyhlidal, Tomas CIIRC - Czech Institute of Informatics Robotics and Cybernetics and Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium

The paper presents an optimisation based method to parametrize input shapers with time delays of piece-wise-equal distribution. The design respects the two key requirements on the shaper performance that are the prompt response time and the robustness represented by residual vibration functions, which are however conflicting criteria as a rule. Thus, the optimisation task is solved as a constrained multi-objective problem where the constraints respect the additional requirements on the shaper performance such as a non-decreasing step response or zero residual function at some frequency points. The result is a Pareto front that shows a trade-off between the two main requirements. Next to the presentation of the results in an example, a user friendly shaper-design tool is presented. © 2016

关键词： Multiobjective optimization computer control systems Constrained optimization Economic and social effects Time delay Timing circuits Distributed time delays Multi criteria optimisation Multi objective problem Pareto frontiers Residual functions Residual vibrations Signal shaper Vibration suppression

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Predicting learners' multi-question performance based on neural networks

Predicting learners' multi-question performance based on neu...

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International Conference on Behavior, Economic and Social Computing (BESC)

作者： Pan Liao Yuan Sun Shiwei Ye Xin Li Guiping Su Yi Sun Sch. of Comput. & Control Eng. University of the Chinese Academy of Sciences Beijing Beijing CN Information and Society Research Division National Institute of Informatics Tokyo Japan Big Data Research Institute Hefei China School of Computer and Control Engineering University of Chinese Academy of Sciences Sciences China

ISBN: (纸本)9781538623671

As massive open online courses (MOOCs) and online intelligent tutoring systems(ITS) have become increasingly widespread, the number of learners enrolled in online courses has shown explosive growth. However, these learners are likely to have acquired knowledge from diverse educational and vocational backgrounds. Therefore, it is unwise to apply the same criteria and assessment questions to assess all learners' abilities without differentiation. Therefore, the demand for the adaptive arrangement of questions for online learners is ever critical. Deep learning is a new increasingly popular approach for handling extraordinarily complex problems such as image recognition and natural language processing. In this research, we use neural networks to forecast learners' multi-question performance on new test questions and propose a new concept called predictable property for the first time to explain the reasons why neural networks can be applied to predict learners' multi-question performance based on their previous question responses. This approach means that fewer questions need to be answered by learners although more information can be gathered about them through the use of deep-learning-based techniques. Finally, we use both artificial datasets generated by cognitive models and three real-world datasets to validate the algorithm's performance. Experiments show a promising research result when using deep learning to predict learner performance in multi-question tasks and can ultimately provide more accurate adaptive tests for learners.

关键词： Predictive models Machine learning Mathematical model Electronic mail Education Feedforward neural networks

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Integrated mechatronics design of flexure joint and controller in dual-drive gantry: a constrained H2 optimization approach

Integrated mechatronics design of flexure joint and controll...

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2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

作者： Ma, Jun Chen, Si-Lu Kamaldin, Nazir Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong Department of Electrical and Computer Engineering SIMTech-NUS Joint Lab on Precision Motion Systems National University of Singapore 117582 Singapore Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology 138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China NUS Grad. School for Inte. Sci. and Eng. and Department of Electrical Computer Engineering National University of Singapore 119077 Singapore

ISBN: (纸本)9781509059980

The dual-drive H gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a novel biaxial gantry with flexure-links is designed to allow a small rotation angle of the cross-Arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-To-point trajectories with same dynamics but different steps. From here, an H2 optimization with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal steps. Comparative experiments results obtained on the testbed are presented to verify the effectiveness of proposed method. © 2017 IEEE.

关键词： Constrained optimization

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A tactile-based fabric learning and classification architecture

A tactile-based fabric learning and classification architect...

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International Conference on Information and Automation for Sustainability (ICIAfS)

作者： A.A. Khan M. Khosravi S. Denei P. Maiolino W. Kasprzak F. Mastrogiovanni G. Cannata Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Computing Department University of London London United Kingdom Institute of Control and Computation Eng. Warsaw University of Technology Warszawa Poland

ISBN: (纸本)9781509061334

This paper proposes an architecture for tactile-based fabric learning and classification. The architecture is based on a number of SVM-based learning units, which we call fabric classification cores, specifically trained to discriminate between two fabrics. Each core is based on a specific subset of the fully available set of features, on the basis of their discriminative value, determined using the p-value. During fabric recognition, each core casts a vote. The architecture collects votes and provides an overall classification result. We tested seventeen different fabrics, and the result showed that classification errors are negligible.

关键词： Fabrics Feature extraction Sensor phenomena and characterization Tactile sensors Frequency modulation Frequency-domain analysis

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Distributed dense stereo matching for 3D reconstruction using parallel-based processing advantages 40

Distributed dense stereo matching for 3D reconstruction usin...

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40th IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2015

作者： Ralha, R. Falcao, G. Andrade, J. Antunes, M. Barreto, J.P. Nunes, U. Instituto de Telecomunicações Dept. of Electr. and Computer Eng. Univ. of Coimbra Portugal Univ. of Luxembourg Luxembourg Institute of Systems and Robotics Dept. of Electr. and Computer Eng. Univ. of Coimbra Portugal

ISBN: (纸本)9781467369978

Instead of measuring photo-similarity, SymStereo is a stereo vision algorithm that uses new cost functions to measure symmetry differences between pairs of images. In this paper we propose the acceleration of a complete signal processing pipeline for generating 3D volumes based on dense SymStereo. The outputs here generated achieve superior reconstruction quality namely for slant based scenarios, so typical in autonomous systems, that have to capture pairs of images and perform moving decisions in real-time. In particular, we analyse several parallelization strategies for the compute-intensive aggregation procedure using different parameters and evaluate a trade-off between processing time, and higher precision of the calculated depths and quality of the final reconstructed 3D volume. The developed parallel pipeline allows to process more than 4.5 volumes per second for high resolution images using commodity GPUs, which conveniently suits its application in a variety of robotics systems. © 2015 IEEE.

关键词： 3D Reconstruction High resolution images Parallel processing Stereo estimation SymStereo

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Development and control of Hybrid Hardware eng.ne Simulator

Development and Control of Hybrid Hardware Engine Simulator

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The Society of Instrument and control eng.neers Annual Conference 2015

作者： K.W.Seo Y.Kaneda M.Yamakita N.Kamamichi J.Ishikawa A.Ohata K.Furuta Department of Mechanical Control Systems Eng. Tokyo Institute of Technology Tokyo Metropolitan Industrial Technology Research Institute Department of Robotics and Mechatronics Tokyo Denki University Toyota Motor Co. Higashifuji Technical Center

In this paper a novel real-time eng.ne simulator which is combined with partial mechanical hardware system and numerical simulator. In the hardware, the actual piston-clank mechanism is used, and the thrust force is generated by a liner motor. In the numerical simulator, admission and combustion dynamics are calculated, and the motion of the piston is realized by a kind of model matching or following *** this paper, we introduce the concept of the proposed simulator system, and explain the control systems.

关键词： eng.ne Model,eng.ne Simulator,Model Following control

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