The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be ...
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The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.
Security issues are increasingly obvious. An automated real-time online alarm system to ensure the safety of property and personality while considering numerous smart Terminal Equipments (TE) becomes a major challenge...
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A simple model for the contrast-detection autofocusing problem is considered. The variance of the image is examined as a focus function. We prove that the standard convergence rate of the variance estimate (empirical ...
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A simple model for the contrast-detection autofocusing problem is considered. The variance of the image is examined as a focus function. We prove that the standard convergence rate of the variance estimate (empirical focus function) of order O(T -1 ), where T is a (relative) sensor size, allows direct application of the golden-section search algorithm to the empirical focus function.
The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is sh...
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The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is shown that the criteria are specific forms of a general equation. The form of the equation depends on a single coefficient. In the paper the meaning of this coefficient is discussed. The constructions of the objects arrangements are presented which are bound with other values of the coefficient.
We show a method to detect accurate 3D position of people from multiple views, regardless of the geometry of the ground. In our new method we search for intersections of 3D primitives (cones) to find positions of feet...
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ISBN:
(纸本)9789898565471
We show a method to detect accurate 3D position of people from multiple views, regardless of the geometry of the ground. In our new method we search for intersections of 3D primitives (cones) to find positions of feet. The cones are computed by back-projecting ellipses covering feet in input images. Instead of computing complex intersection body, we use approximation to speed up intersection computing. We found that feet positions are determined accurately, and the height map of the ground can be reconstructed with small error. We compared our method to other multiview-detectors - using somewhat different test methodology -, and achieved comparable results, with the benefit of handling arbitrary ground. We also present accurately reconstructed height map of non-planar ground. Our algorithm is fast and most of steps are parallelizable, making it possibly available for smart camera systems.
In the paper hybrid control for Polish cardio-surgical robot RobIn Heart 3 has been presented. Classical position-force control with modification introduced by Fisher and Mujtaba has been simulated with dynamics model...
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ISBN:
(纸本)9781467355094
In the paper hybrid control for Polish cardio-surgical robot RobIn Heart 3 has been presented. Classical position-force control with modification introduced by Fisher and Mujtaba has been simulated with dynamics model of this robot. It has been conducted extensive simulation study, which should give an answer to the question, if selected motion patterns, so-called "motion primitives", could be prepared to support human reactions. Such patterns could give surgeon possibility to make a process of cutting or needling more precisely and with precise force of pressure. Simulation research has confirmed correctness of assumed control solution. It is a point of departure to practical implementation of such control scheme in robot RobIn Heart.
Repetitive processes make a series of sweeps, or passes, through a set of dynamics defined over the finite pass length. Once a pass is complete the process resets to the starting location ready for the start of the ne...
Repetitive processes make a series of sweeps, or passes, through a set of dynamics defined over the finite pass length. Once a pass is complete the process resets to the starting location ready for the start of the next one. On any pass, the output, or pass profile, generated on the previous one acts as a forcing function on, and therefore contributes to, the dynamics of the new pass profile. These processes are a class of 2D systems where the novel control problem is that the sequence of pass profiles generated can contain oscillations that increase in amplitude from pass-to-pass. These oscillations cannot be removed by standard control action and therefore a 2D systems control theory for them has been under development over the pass two decades. This paper demonstrates that, unlike much of the control theory for other 2D systems, repetitive processes have applications that have led to experimental verification of control laws.
Transportation plays a crucial role in both production and service industry. In modern times, the importance of supplying the goods on time to warehouses, production units and finally to the customers is not lost on l...
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Transportation plays a crucial role in both production and service industry. In modern times, the importance of supplying the goods on time to warehouses, production units and finally to the customers is not lost on logistic companies. Vehicle Routing Problems (VRP) models evolved to be more advanced, which led to the growth of computational complexity. Optimizing transportation routes for companies means performing complex computations and doing so in the shortest possible amounts of time. Graphics Processing Units (GPUs) provide massive computation when the needed operations are properly parallelized. nVidia GPUs are equipped with Compute Unified Device Architecture (CUDA), so applying parallel algorithms is not lim- ited to complex workstations or specialized computers. This work emphasizes the value of using parallel Tabu Search (TS) algorithm over sequential TS algorithm and its application to multicriteria discrete optimization of Distance-constrained VRP.
This paper investigates the convergence of an iterative distributed model predictive control (DMPC) scheme for linear systems interconnected by dynamics and costs. The DMPC scheme is based on a Jacobi-type iteration a...
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ISBN:
(纸本)9781467357159
This paper investigates the convergence of an iterative distributed model predictive control (DMPC) scheme for linear systems interconnected by dynamics and costs. The DMPC scheme is based on a Jacobi-type iteration and exchange of primal variables. Previous results show that, in the limit, the scheme converges to the Pareto optimal solution but no results on the convergence rate are given. We will first establish a bound on the convergence rate and show that weights used in the scheme and strength of coupling between subsystems have a strong influence on this bound. Subsequently, two approaches to determine the weights are compared. Random numerical examples are used to compare the theoretical bound on the convergence rate with the actual convergence of the scheme.
An important part of the modern computer networks design is to develop novel technologies, architectures and control mechanisms for network devices enabling power saving by adapting network capacities to current traff...
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An important part of the modern computer networks design is to develop novel technologies, architectures and control mechanisms for network devices enabling power saving by adapting network capacities to current traffic loads and user demands. We describe centralize and hierarchical control frameworks for reducing power consumption in backbone computer networks. The implementation of these frameworks provides the local control mechanisms that are implemented in the network devices level and network-wide control strategies implemented in the central control level. In this paper, we focus on network-wide algorithms for calculating the power status of network devices and the energy-aware MPLS routing for recommended network configuration. We enumerate several possible formulations of a network energy saving optimization problem with continuous and discrete variables. We discuss the limitations of these approaches and problems with their application to power control in real networks. We propose the relaxation of the complete binary problem formulation assuming full routing and energy state of all devices calculation, and the algorithm to solve it. Our formulation is based on a heuristic approach that leads to a continuous optimization. The evaluation of the optimization scheme through simulation is presented in the final part of the paper.
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