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Artificial Intelligence and Cognitive Science (AICS), Irish Conference on

作者： Virender Kadyan Puneet Bawa Mohd Mujtaba Akhtar Muskaan Singh Speech and Language Research Centre University of Petroleum and Energy Studies Dehradun India Chitkara University Institute of Engineering and Technology Chitkara University Punjab India Cognitive Analytics Research Lab Intelligent Systems Research Centre School of Computing Ulster University UK

Alzheimer's disease is a severe neurological disorder having a major influence on a substantial portion of the popu-lation. The prompt detection of this condition is crucial, and speech analysis may play a crucial role in facilitating efficient treatment and care. The main aim of this research has been to investigate the significance of timely identification of speech signal abnormalities associated with Alzheimer's disease in order to provide effective therapy interventions and improve disease man-agement. The study used the Mel Frequency Cepstral Coefficients (MFCC) framework, a well recognized technique for feature extraction known for its versatility across several domains. This research introduces an innovative approach that utilizes both individuals diagnosed with dementia and control participants to detect two unique types of cognitive impairment via the analysis of speech signals. The approach used in this work involves the extraction of acoustic properties from pre-processed speech data obtained from the Pitt Corpus of Dementia Bank. This is achieved by using several feature sets, which include a combination of MFCC, prosodic features, and statistical features. This study examines the attributes of optimum feature optimization in actual and noise-enhanced speech environments using machine learning techniques. The integration of MFCC,Statistical and prosodic features has shown remarkable outcomes, exhibiting a superior accuracy rate of 98.3%. This surpasses the performance of other feature combinations when using the Random Forest classifier.

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Implicit smoothed particle hydrodynamics model for simulating incompressible fluid-elastic coupling

Implicit smoothed particle hydrodynamics model for simulatin...

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作者： Wang, Xiaokun Wang, Tiancheng Wang, Jiamin Xu, Yanrui Ban, Xiaojuan Huang, Houbin Zhu, Zhihong Chang, Jian Zhang, Jian Jun School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China Beijing Key Laboratory of Knowledge Engineering for Materials Science University of Science and Technology Beijing Beijing China National Centre for Computer Animation Bournemouth University Poole United Kingdom Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China Chinese PLA General Hospital Beijing China Hainan Hospital of Chinese PLA General Hospital Hainan Sanya China

Fluid simulation has been one of the most critical topics in computer graphics for its capacity to produce visually realistic effects. The intricacy of fluid simulation manifests most with interacting dynamic elements. The coupling for such scenarios has always been challenging to manage due to the numerical instability arising from the coupling boundary between different elements. Therefore, we propose an implicit smoothed particle hydrodynamics fluid-elastic coupling approach to reduce the instability issue for fluid-fluid, fluid-elastic, and elastic-elastic coupling circumstances. By deriving the relationship between the universal pressure field with the incompressible attribute of the fluid, we apply the number density scheme to solve the pressure Poisson equation for both fluid and elastic material to avoid the density error for multi-material coupling and conserve the non-penetration condition for elastic objects interacting with fluid particles. Experiments show that our method can effectively handle the multiphase fluids simulation with elastic objects under various physical properties. © 2023 The Authors. Computer Animation and Virtual Worlds published by John Wiley & Sons Ltd.

关键词： Poisson equation

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An Improved Task Planning Method for Unmanned Swarms with Coupled Physical and Logical Constraints

An Improved Task Planning Method for Unmanned Swarms with Co...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Xiubin Chen Lei Zhang Fang Xu Weiran Yao School of Astronautics Harbin Institude of Technology Harbin China Wuhan 2nd Ship Design and Research Institute Wuhan China Marine Military Intelligence Innovation Institute CSSC Systems Engineering Research Institute Beijing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Traditional task allocation methods for unmanned swarm systems ignore the effects of actual paths, resulting in estimation accuracy reduction. This paper formulates task planning problem by incorporating physical and logical constraints, and establishes an integrated framework of task allocation and path planning. Conflict-based search method is used to address path planning with physical constraints. A genetic algorithm is employed to solve multi-traveling salesman allocation problem. A bounded suboptimal optimization, a data dictionary, and an island model are introduced to accelerate the convergence speed of the genetic algorithm. The experiments verify that compared to the decoupled task planning methods, the proposed method improves task execution efficiency and remains adaptability to various complex spatial maps.

关键词： Dictionaries Search methods Estimation Path planning Data models Planning Resource management Optimization Genetic algorithms Convergence

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research on ship Target Recognition Based on Maritime Radar Images

Research on Ship Target Recognition Based on Maritime Radar ...

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International Conference on Transportation Information and Safety (ICTIS)

作者： Yi Li Lei Xie Tao Guo Changkui Ou Xinyuan Hu School of Transportation and Logistics Engineering State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology WuHan China State Key Laboratory of Maritime Technology and Safety Intelligent Transportation Systems Research Centre Wuhan University of Technology WuHan China

This paper proposes a solution for co-channel interference and sea clutter in radar images. Firstly, noise reduction is achieved using median filtering. To address sea clutter interference, inter-frame differencing is combined with the K-distribution model and maximum likelihood estimation is used to estimate model parameters. A thresholding approach based on the estimated model is then applied to balance sea clutter suppression while preserving target signals. Additionally, inter-frame differencing is used to separate target signals from noise signals. ship target recognition and tracking are also performed in the images. The results show improved image quality and enhanced ship recognition and tracking effectiveness after denoising.

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese Robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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Data-Driven Docking control of Autonomous Double-Ended Ferries Based on Iterative Learning-Based Model Predictive control

SSRN

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SSRN 2022年

作者： Li, Shijie Xu, Chengqi Liu, Jialun Han, Bing School of Transportation and Logistics Engineering Wuhan University of Technology Wuhan430063 China Intelligent Transportation Systems Research Center Wuhan University of Technology Wuhan430063 China National Engineering Research Center for Water Transport Safety Wuhan430063 China Academician Workstation of China COSCO Shipping Corporation Limited Shanghai200135 China Shanghai Ship and Shipping Research Institute Shanghai200135 China

In large cities with harbors or rivers, ferry services have been an important part of public transport. Automatic docking of the ferry is a challenging task due to its over-actuated nature which is coupled with the nonlinear characteristics of the hydrodynamics associated with ferry motion. To facilitate the transition towards increased autonomy in ferries, this paper proposes an iterative learning-based data-driven model predictive control (MPC) strategy for the automatic docking of over-actuated double-ended ferries with unknown dynamics. It combines system identification techniques with MPC and integrated with an iterative learning control (ILC) framework. Based on the data collected from real ferry docking operations or reliable simulations, the proposed controller learns from stored data in previous iterations and improves its closed-loop tracking performance and modeling accuracy. To generate suitable excitation control input signals for gathering information about the nonlinearities of ferry dynamics and create initial data set, an optimal excitation signal design method is proposed. The thrust allocation problem of the over-actuated ferry is formulated as nonlinear optimization problem, in which actuator saturation constraints are considered. © 2022, The Authors. All rights reserved.

关键词： Model predictive control

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Fuzzy separation potential function based flocking control of multiple AUVs

Fuzzy separation potential function based flocking control o...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Basant Kumar Sahu Madan M. Gupta Bidyadhar Subudhi University of Saskatchewan Saskatoon SK CA Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan Saskatoon SAS Canada Centre for Industrial Electronics and Robotics National Institute of Technology Rourkela Odisha India

ISBN: (纸本)9781479903467

In this paper, we present a flocking control algorithm for a group of autonomous underwater vehicles (AUVs) using the leader-follower concept. Leader vehicle have global knowledge of desired trajectory and other AUVs are chosen as followers which are mounted with sensors to estimate the positions of neighbor AUVs. The follower vehicles have no knowledge of desired path. There is a flocking center is estimated to keep all AUVs connected in group. This flocking center is a virtual point whose position can be calculated by applying consensus algorithm. The controller for the leader and follower AUVs are designed using fuzzy variable based artificial potential functions. The efficacy and accuracy of the developed controller is verified through simulation studies considering four AUVs flocking in a group.

关键词： Symmetric matrices Vehicles Lead Trajectory Vectors Integrated circuits Algorithm design and analysis

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Dependence of dynamic preisach distribution function on magnetizing frequencies

Dependence of dynamic preisach distribution function on magn...

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作者： Lu, M. Leonard, P.J. Marketos, P. Meydan, T. Moses, A.J. Key Laboratory of Opto-Electronic Technology and Intelligent Control Lanzhou Jiaotong University Ministry of Education Lanzhou 730070 China Group of Bio-Electromagnetics and Plasma Physics Department of Signals and Systems Chalmers University of Technology SE-412 96 Gothenburg Sweden Department of Electronic and Electrical Engineering University of Bath Bath BA2 7AY United Kingdom Wolfson Centre for Magnetics Technology Cardiff University Cardiff CF24-OYF United Kingdom

The Preisach distribution function in electrical steel at different magnetizing frequencies has been studied by the combination of the experimental measurements in an Epstein frame and the numerical identification by the method of centered cycles. The dynamic Preisach distribution function is mostly distributed in the discretized elements along the α= - β axis and the neighboring axis of the α = β axis in the Preisach plane. The least-squares method has been employed to determine the dependence of the values of the distribution function in those specific elements on the magnetizing frequency. The simulated results show that the method in this paper provides another way of calculating the dynamic hysteresis loops. © 2006 IEEE.

关键词： Functions

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Thermodynamical Material Networks for Modeling, Planning, and control of Circular Material Flows

arXiv

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arXiv 2021年

作者： Zocco, Federico Sopasakis, Pantelis Smyth, Beatrice Haddad, Wassim M. The Centre for Intelligent Autonomous Manufacturing Systems School of Electronics Electrical Engineering and Computer Science Queen's University Belfast United Kingdom The Research Centre in Sustainable Energy School of Mechanical and Aerospace Engineering Queen's University Northern Ireland Belfast United Kingdom The School of Aerospace Engineering Georgia Institute of Technology AtlantaGA United States

Waste production, carbon dioxide atmospheric accumulation, and dependence on finite natural resources are expressions of the unsustainability of the current industrial networks that supply fuels, energy, and manufacturing products. In particular, circular manufacturing supply chains and carbon control networks are urgently needed. To model and design these and, in general, any material networks, we propose to generalize the approach used for traditional networks such as water and thermal power systems by using compartmental dynamical thermodynamics and graph theory. The key idea is that the thermodynamic compartments and their connections can be added, removed or modified as needed to achieve a circular material flow. The design methodology is explained and its application is illustrated through examples. In addition, we provide a physics-based definition of circularity and, by implementing a nonlinear compartmental control, we strengthen the connection between "Industry 4.0" and "Sustainability". The paper source code is publicly available. Copyright © 2021, The Authors. All rights reserved.

关键词： Thermodynamics

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Mathematical Modelling of a Four-Fingered Metamorphic Anthropomorphic Hand on Precision Grasp

Mathematical Modelling of a Four-Fingered Metamorphic Anthro...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Tun Wang Yen-Hua Lin Jian S. Dai Department of Mechanical and Electrical Engineering Centre of Advanced Oil and Gas Equipment China University of Petroleum (Beijing) Beijing China Department of Engineering Centre for Robotics Research King's College London London UK Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

For a metamorphic robotic hand with a foldable palm, its finger operation planes change with palm configurations. Although this reconfigurable design can enhance the grasp flexibility, manipulation workspace and application adaptability, the hand's grasp stability cannot be guaranteed when the palm reconfigures. Especially for the four-fingered metamorphic hand performing precision grasps in anthropomorphic postures, improper control of the palm configurations can result in unsuccessful grasps, which may even lead to hand damage. This paper first displays the workspace of the four-fingered anthropomorphic hand for generating precision grasp gestures. Based on it, force-closure/-balance analyses are performed, deriving the effective precision grasp workspace for typical anthropomorphic postures classified by built mathematical definition. Grasp levels are further discussed by introducing an evaluation method which considers the minimum friction coefficient (MFC) as the quality metric. The proposed scheme gives a way to depict the grasp performance of every robotic hand configuration, without considering specific objects that are to be grasped. Dynamic changes in postures' grasp performance with palm configurations are exhibited in the end.

关键词： Measurement Friction Mathematical models Stability analysis Robots Petroleum

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