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PATH OPTIMIZATION FOR DYNAMIC OBSTACLE AVOIDANCE OF PIONEER ROBOT BASED ON DDPG SMART AGENT

UPB Scientific Bulletin, Series D: mechanical engineering 2023年第2期85卷 29-42页

作者： Zheng, Qingchun Peng, Zhi Zhu, Peihao Zhao, Yangyang Ma, Wenpeng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

To improve the path efficiency for dynamic obstacle avoidance algorithms of Pioneer robots, this paper proposes an approach to create deep deterministic policy gradient (DDPG) smart agents with recurrent neural networks (RNN) to optimize the path strategy. This approach is realized by training RNN with the backpropagation (BP) algorithm to train the agent. First, the SolidWorks model and obstacle avoidance model of the Pioneer robot is established. The LIDAR sensor is used to obtain environmental information. Further, deep reinforcement learning obstacle avoidance algorithm based on RNN is presented. The dynamic obstacle avoidance path of the Pioneer robot is further simulated in two different virtual robot experiment platform (V-REP) scenarios. The simulation results show that the proposed algorithm shortens the training time by 26.3% compared with the DDPG algorithm. Our proposed scheme can improve the path efficiency for dynamic obstacle avoidance of the Pioneer robot. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Reinforcement learning

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Method for Evaluating the Performance of Aircraft Collaborative Decision-Making Based on Dynamic Bayesian Network

Method for Evaluating the Performance of Aircraft Collaborat...

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2024 International Conference on Electronics and Devices, Computational Science, ICEDCS 2024

作者： Zhang, Wenbo Yu, Boxiao Tong, Jiahui Li, Jing Beijing Electro-Mechanical Engineering Institute National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China Beijing Institute of Technology School of Computer Science and Technology Beijing China

ISBN: (纸本)9798331527624

This research addresses the challenge of assessing equipment decision-making effectiveness in environments characterized by uncertainty and multiple influencing factors. We propose a novel approach involving the creation and optimization of a dynamic Bayesian network-based model tailored for equipment decision-making processes. The model facilitates a systematic evaluation of decision-making effectiveness by incorporating various factors, including equipment performance, environmental conditions, and enemy defensive capabilities. A comprehensive assessment system has been developed to simulate the penetration capabilities of different equipment through enemy defenses. Moreover, this study identifies potential errors in the effectiveness evaluation model by analyzing its performance in typical scenarios, pinpointing areas for enhancement. © 2024 IEEE.

关键词： Decision-making Dynamic Bayesian networks Equipment Simulation Uncertainty Management

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Sigma-Mixed Unscented Kalman Filter-Based Fault Detection for Traction systems in High-Speed Trains

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Chinese Journal of Electronics 2023年第5期32卷 982-991页

作者： CHENG Chao WANG Weijun MENG Xiangxi SHAO Haidong CHEN Hongtian Department of Computer Science and Technology Changchun University of Technology Department of Mathematics and Statistics Changchun University of Technology Institute of System Research China Industrial Control Systems Cyber Emergency Response Team Department of Mechanical and Vehicle Engineering Hunan University Department of Chemical and Materials Engineering University of Alberta

Fault detection(FD) for traction systems is one of the active topics in the railway and academia because it is the initial step for the running reliability and safety of high-speed trains. Heterogeneity of data and complexity of systems have brought new challenges to the traditional FD methods. For addressing these challenges, this paper designs an FD algorithm based on the improved unscented Kalman filter(UKF) with consideration of performance degradation. It is derived by incorporating a degradation process into the state-space *** network topology of traction systems is taken into consideration for improving the performance of state estimation. We first obtain the mixture distribution by the mixture of sigma points in UKF. Then, the Lévy process with jump points is introduced to construct the degradation model. Finally, the moving average interstate standard deviation(MAISD) is designed for detecting *** the proposed methods via a traction systems in a certain type of trains obtains satisfactory results.

关键词： Degradation Network topology Fault detection Rail transportation State-space methods Safety Kalman filters

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Competitive and Cooperative-Based Strength Pareto Evolutionary Algorithm for Green Distributed Heterogeneous Flow Shop Scheduling

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Intelligent Automation & Soft Computing 2023年第8期37卷 2077-2101页

作者： Kuihua Huang Rui Li Wenyin Gong Weiwei Bian Rui Wang College of System Engineering National University of Defense TechnologyChangsha410073China School of Computer Science China University of GeosciencesWuhan430074China Equipment General Technology Laboratory Beijing Mechanical Equipment Research InstituteBeijing100854China

This work aims to resolve the distributed heterogeneous permutation flow shop scheduling problem(DHPFSP)with minimizing makespan and total energy consumption(TEC).To solve this NP-hard problem,this work proposed a competitive and cooperative-based strength Pareto evolutionary algorithm(CCSPEA)which contains the following features:1)An initialization based on three heuristic rules is developed to generate a population with great diversity and convergence.2)A comprehensive metric combining convergence and diversity metrics is used to better represent the heuristic information of a solution.3)A competitive selection is designed which divides the population into a winner and a loser swarms based on the comprehensive metric.4)A cooperative evolutionary schema is proposed for winner and loser swarms to accelerate the convergence of global search.5)Five local search strategies based on problem knowledge are designed to improve convergence.6)Aproblem-based energy-saving strategy is presented to reduce ***,to evaluate the performance of CCSPEA,it is compared to four state-of-art and run on 22 instances based on the Taillard *** numerical experiment results demonstrate that 1)the proposed comprehensive metric can efficiently represent the heuristic information of each solution to help the later step divide the population.2)The global search based on the competitive and cooperative schema can accelerate loser solutions convergence and further improve the winner’s exploration.3)The problembased initialization,local search,and energy-saving strategies can efficiently reduce the makespan and TEC.4)The proposed CCSPEA is superior to the state-of-art for solving DHPFSP.

关键词： Distributed heterogeneous flow shop scheduling green scheduling SPEA2 competitive and cooperative

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Improving Thyroid Disorder Diagnosis via Ensemble Stacking and Bidirectional Feature Selection

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computers, Materials & Continua 2024年第3期78卷 4225-4241页

作者： Muhammad Armghan Latif Zohaib Mushtaq Saad Arif Sara Rehman Muhammad Farrukh Qureshi Nagwan Abdel Samee Maali Alabdulhafith Yeong Hyeon Gu Mohammed A.Al-masni Department of Computer and Information System Cleveland State UniversityOhio44115USA Department of Electrical Electronics and Computer SystemsCollege of Engineering and TechnologyUniversity of SargodhaSargodha40100Pakistan Department of Mechanical Engineering College of EngineeringKing Faisal UniversityAl-Ahsa31982Saudi Arabia Department of Biomedical Engineering Riphah International UniversityIslamabad44000Pakistan Department of Electrical Engineering Riphah International UniversityIslamabad44000Pakistan Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Artificial Intelligence College of Software and Convergence TechnologySejong UniversitySeoul05006Korea

Thyroid disorders represent a significant global health challenge with hypothyroidism and hyperthyroidism as two common conditions arising from dysfunction in the thyroid *** and timely diagnosis of these disorders is crucial for effective treatment and patient *** research introduces a comprehensive approach to improve the accuracy of thyroid disorder diagnosis through the integration of ensemble stacking and advanced feature selection *** forward feature selection,sequential backward feature elimination,and bidirectional feature elimination are investigated in this *** ensemble learning,random forest,adaptive boosting,and bagging classifiers are *** effectiveness of these techniques is evaluated using two different datasets obtained from the University of California Irvine-Machine Learning Repository,both of which undergo preprocessing steps,including outlier removal,addressing missing data,data cleansing,and feature *** experimentation demonstrates the remarkable success of proposed ensemble stacking and bidirectional feature elimination achieving 100%and 99.86%accuracy in identifying hyperthyroidism and hypothyroidism,*** enhancing detection accuracy,the ensemble stacking model also demonstrated a streamlined computational complexity which is pivotal for practical medical *** significantly outperformed existing studies with similar objectives underscoring the viability and effectiveness of the proposed *** research offers an innovative perspective and sets the platform for improved thyroid disorder diagnosis with broader implications for healthcare and patient well-being.

关键词： Ensemble learning random forests boosting dimensionality reduction machine learning smart healthcare computer aided diagnosis

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Triboelectric nanogenerator based on silanecoupled LTA/PDMS for physiological monitoring and biomechanical energy harvesting

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Microsystems & Nanoengineering 2024年第5期10卷 393-405页

作者： Muhammad Umair Khan Deepa Dumbre Yawar Abbas Moh'd Rezeq Anas Alazzam Nahla Alamoodi Maryam Khaleel Baker Mohammad Department of Computer and Information Engineering Khalifa University.Abu DhabiUAE System on Chip Lab Khalifa UniversityAbu DhabiUAE Department of Chemical Engineering Khalifa UniversityAbu DhabiUAE Department of Physics Khalifa UniversityAbu DhabiUAE Department of Mechanical Engineering Khalifa UniversityAbu DhabiUAE Center for Catalysis and Separations Khalifa UniversityAbu DhabiUAE Research and Innovation Center on CO_(2)and H_(2) Abu DhabiUAE

Energy harvesting from ambient sources present in the environment is essential to replace traditional energy *** strategies can diversify the energy sources,reduce maintenance,lower costs,and provide near-perpetual operation of the *** this work,a triboelectric nanogenerator(TENG)based on silane-coupled Linde type A/polydimethylsiloxane(LTA/PDMS)is developed for harsh environmental *** silane-coupled LTA/PDMS-based TENG can produce a high output power density of 42.6μW/cm^(2) at a load resistance of 10 MQ and operates at an open-circuit voltage of 120 V and a short-circuit current of 15μA under a damping frequency of 14 ***,the device shows ultra-robust and stable cyclic repeatability for more than 30 k *** fabricated TENG is used for the physiological monitoring and charging of commercial capacitors to drive low-power electronic ***,these results suggest that the silane-coupled LTA/PDMS approach can be used to fabricate ultra-robust TENGs for harsh environmental conditions and also provides an effective path toward wearable self-powered microelectronic deVices.

关键词： PDMS energy harvesting

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A motion-level-aware denoising framework for x-ray fluoroscopic images

A motion-level-aware denoising framework for x-ray fluorosco...

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Medical Imaging 2023: Physics of Medical Imaging

作者： Jo, Geonhui Jang, Minhee Jeon, Sun-Young Kim, Wonjin Choi, Jang-Hwan Department of Computer Science and Engineering Ewha Womans University Seoul03760 Korea Republic of Division of Mechanical and Biomedical Engineering Graduate Program in System Health Science and Engineering Ewha Womans University Seoul03760 Korea Republic of

ISBN: (纸本)9781510660311

Fluoroscopy in a low-dose tube output is used to reduce the damage associated with radiation exposure. However, lowering the radiation dose inevitably increases random noise in x-ray images, resulting in poor diagnostic image quality, which requires noise reduction for accurate diagnosis. Also, in the case of non-static objects, the image is blurred due to motion. The most-used denoiser with a recursive filter (RF) preserves details well when applied to temporal data, but it is vulnerable to motion blur. Existing convolutional neural network (CNN)-based algorithms with single-frame input cannot use the temporary context, and others with multi-frame input are good for motion detection but poor for detail preservation. Therefore, we propose a motion-level-aware denoising framework to combine the results of RF- and CNN-based algorithms depending on the pixel-wise magnitude of motion to complement each other. The data we use are fluoroscopy images taken in continuous time, and we aim at many-to-one so that one frame is denoised by considering sequential frames. Also, since both RF- and CNN-based algorithms used in our architecture are many-to-one methods, they can consider spatiotemporal information. In the multi-frame input, the difference in intensity of each pixel between frames is calculated to obtain a moving map. Depending on the factor value from the moving map, the final image is obtained by reflecting the outputs of the RF- and CNN-based algorithms. If the factor value is high, the pixel intensity of the final image is like the CNN-based output, which is good for motion detection, and vice versa, it more reflects the intensity of RF output, which is excellent in perceptual quality. Therefore, it prevents motion blur and does not over-smooth microdetails, such as bones and muscles. The results show that combining the two outputs together records higher peak signal-to-noise ratio (PSNR) and has better perceptual quality for diagnosis than using only one method. F

关键词： Deep learning

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Proposal of a novel peeling of nano-particle (PNP) process for localized material removal on a hard material surface by controllable magnetic fields 22

Proposal of a novel peeling of nano-particle (PNP) process f...

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22nd International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2022

作者： Permpatdechakul, Thitipat Khajornrungruang, Panart Suzuki, Keisuke Kutomi, Shotaro Graduate School of Computer Science and System Engineering Mechanical Information Science and Technology Course Kyushu Institute of Technology Fukuoka Japan Department of Intelligent and Control Systems Avanced Mechanical Division Kyushu Institute of Technology Fukuoka Japan School of Computer Science and System Engineering Advanced Mechanical Course Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9781998999118

This article proposes a novel Peeling of Nano-Particle (PNP) process to locally remove material on a hard material surface using controllable magnetic fields. Fe3O4 particles in the size range of 50-100 nm in aqueous solution (pH value 11 adjusted by KOH) were magnetically controlled to adhere and remove from a 4H-SiC surface by two electromagnetic coils, which were sandwiched between the substrate. The particle controlling phenomenon on the surface was experimentally observed and verified by our developed apparatus applying an evanescent field. According to the results, particles could be controlled to approach and remove from the substrate surface with 12mT of magnetic field at the selective area on the substrate surface to realise the proposed PNP process. © European Society for Precision engineering and Nanotechnology, Conference Proceedings - 22nd International Conference and Exhibition, EUSPEN 2022. All rights reserved.

关键词： Magnetic fields

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Robotic Slag Removal system with Position Compensation and Defect Detection based on YOLO Algorithm

Robotic Slag Removal System with Position Compensation and D...

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2023 International Conference on Advanced Robotics and Intelligent systems, ARIS 2023

作者： Shih, Chih-Hsuan Wu, Chih-Yi National Taiwan University Department of Computer Science and Information Engineering Taipei10617 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Laboratories Hsinchu31040 Taiwan

ISBN: (纸本)9798350302714

Robotic arms play a crucial role in factory automation, offering immense versatility, precision, and the capability for autonomous operation, thereby eliminating the need for manual labor. In this study, we have developed a robotic slag removal system with automatic position compensation and defect detection capabilities, which is capable of locating the features of workpieces, perform deslagging, and detect defects using the YOLO (You Only Look Once) algorithm. The experimental workpiece in this study is a knee femoral implant. Firstly, a position compensation method is employed to precisely locate the clamping hole of the workpiece. The robot trajectory is then automatically generated by the software for the deburring of the clamping hole slag. Subsequently, the system utilizes the detected defect locations to generate a re-deslagging path, ensuring that all remnants are thoroughly cleaned. © 2023 IEEE.

关键词： Robotics

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Design and Evaluation of a Low-profile Haptic Interface Based on Surface Electrical Nerve Stimulation 1

Design and Evaluation of a Low-profile Haptic Interface Base...

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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Jakes, Rachel S. Mesias, Luis Santos, Veronica J. Fu, Michael J. Tyler, Dustin J. Cwru Dept. of Biomedical Engineering United States Dept. of Mechanical and Aerospace Engineering United States United States Cwru Dept. of Electrical Computer and Systems Engineering United States The MetroHealth System Dept. of Physical Medicine & Rehabilitation United States Advanced Platform Technology Center Dept. of Va Northeast Ohio Healthcare System United States

ISBN: (纸本)9798331528249

Haptic feedback in telepresence applications is vital for remote task performance and object manipulation. To maximize telepresence capabilities, haptic systems need to be integrated with immersive telepresence interfaces such as virtual reality, which offer benefits such as improved spatial awareness and operator mobility. Compatibility with the mobility of these systems and their built-in optical hand tracking require low-profile wearable interfaces. Further, for full functional benefits, haptic systems must be able to elicit spatially congruent sensation without impeding operator movement and physical object interactions. In this paper, we describe the design of a lightweight, compact, and adaptable surface electrical nerve stimulation-based haptic interface. We demonstrate its capacity to consistently generate spatially congruent sensation on the all five fingertips without occlusion, as well as its compatibility with headset-based optical hand tracking. © 2024 IEEE.

关键词： Haptic interfaces

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