Artificial Intelligence and Robotics Commons^™

Simulation Platform Of Agv System Scheduling Algorithms In Uncertain Environment, Zhihao Shi, Haihui Shen

Journal of System Simulation

Abstract: As a complete automated guided vehicle(AGV) system scheduling algorithm, it must include conflict-handling strategy, together with common dispatching strategy and routing algorithm. However, due to the uncertainty, characteristics of such scheduling algorithm are difficult to be analyzed theoretically, and the relevant study is lacking. An AGV system simulation platform based on the discreteevent simulation technique is designed and developed, which can flexibly set the scheduling problem, choose the dispatching strategy, routing algorithm, and conflict-handling strategy for the scheduling algorithm, to run the simulation. The platform has a visual interface, from which the running status of AGVs and the performance …

Research On Motion Planning Of Hexapod Robot Based On Drl And Free Gait, Xinpeng Wang, Huiqiao Fu, Guizhou Deng, Kaiqiang Tang, Chunlin Chen, Canghao Liu

Journal of System Simulation

Abstract: To improve the passability and the motion performance of the hexapod robot in the unstructured environment, a multi-contact motion planning algorithm based on DRL and free gait planner is proposed. Firstly, the free gait planner obtains the reachable footholds under the target state and outputs the optimal gait sequence. The center of mass motion policy of the hexapod robot in the randomly generated plum blossom pile environment is obtained by using deep reinforcement learning training. To ensure the reachability between adjacent states of the robot in motion, the state transition feasibility model is used to judge the state transition …

Robust Predictive Control Of Nonplanar Fully-Actuated Uavs, Yun Ma, Yuan Wang, Meng Li, Peng Wang, Yanling Tang

Journal of System Simulation

Abstract: Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles (UAVs) are susceptible to external winds and unmodeled dynamics, the predictive control system with good robustness is designed. A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach. A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances. A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to …

Reconnaissance Mission Planning Method For Air-Ground Heterogeneous Unmanned Systems, Guohui Zhang, Ya'nan Zhang, Ang Gao, Aoyu Xu

Journal of System Simulation

Abstract: Compared with the air-based homogeneous unmanned system, the motion capabilities, resource payloads, and combat scenes in the air-ground heterogeneous unmanned system increase the number of constraint conditions and significantly increase the computational complexity of the solution model. The modeling of collaborative combat missions and the efficient solution of large-scale problems are the key issues. With the time, path cost, and reconnaissance benefit as the objective functions, considering the constraints such as the endurance of unmanned platforms, a multi-objective programming model for the reconnaissance missions of an air-ground heterogeneous unmanned system is constructed. Aiming at the urban combat environments with …

A Simplification Method Of Large-Scale Unit Commitment Model Based On Boundary Method, Yanping Xu, Mingxin Zhao, Xiaohui Qin, Keyou He, Xiaohan Wu, Pei Zhang

Journal of System Simulation

Abstract: As the scale of power grid expands, in the market environment, the variables and constraints in the security-constrained unit commitment (SCUC) model considering power grid security constraints increase significantly and the solvability of the model reduces. When the model scale is too large, even the existing commercial solvers cannot solve it. Aiming at the model rapid solving, from the perspective of reducing the number of model constraints, a linear constraint simplification method based on the boundary method is proposed. The proposed method can effectively reduce the model's size by eliminating the redundant linear constraints. The IEEE-39, WECC 179 and …

Optimal Scheduling Strategy Of Virtual Power Plant With Carbon Emission And Carbon Penalty Considering Uncertainty Of Wind Power And Photovoltaic Power, Jijun Shui, Daogang Peng, Yankan Song, Qiang Zhou

Journal of System Simulation

Abstract: To better meet the development needs of China's new power system, an optimal scheduling strategy of virtual power plant(VPP) with carbon emission and carbon penalty considering the uncertainty of wind power and photovoltaic power is proposed. The mathematical description of photovoltaic(PV), wind turbine(WT), combined heat and power(CHP) unit and energy storage system (ESS) is carried out, and a wind-solar output model considering the uncertainty is established. The scenario generation and reduction method is used to generate the typical scenario. To maximize the overall operation benefit of VPP, considering carbon emission cost and carbon penalty, an optimal scheduling model of …

Flipper Control Method For Tracked Robot Based On Deep Reinforcement Learning, Hainan Pan, Bailiang Chen, Kaihong Huang, Junkai Ren, Chuang Cheng, Huimin Lu, Hui Zhang

Journal of System Simulation

Abstract: Tracked robots with flippers have certain terrain adaptation capabilities. To improve the intelligent operation level of robots in complex environments, it is significant to realize the flipper autonomously control. Combining the expert experience in obstacle crossing and optimization indicators, Markov decision process(MDP) modeling of the robot's flipper control problem is carried out and a simulation training environment based on physics simulation engine Pymunk is built. A deep reinforcement learning control algorithm based on dueling double DQN(D3QN) network is proposed for controlling the flippers. With terrain information and robot state as the input and the four flippers' angle as the …

Short-Term Bus Passenger Flow Prediction Based On Convolutional Long-Short-Term Memory Network, Jing Chen, Zhaochong Zhang, Linkai Wang, Mai An, Wei Wang

Journal of System Simulation

Abstract: To address the problem that the traditional short-time passenger flow prediction method does not consider the temporal characteristics similarity between the inter-temporal passenger flows, a shorttime passenger flow prediction model k-CNN-LSTM is proposed by combining the improved k-means clustering algorithm with the CNN and the LSTM. The k-means is used to cluster the intertemporal timeseries data, the k-value is determined by using the gap-statistic, and a traffic flow matrix model is constructed. A CNN-LSTM network is used to process the short-time passenger flows with spatial and temporal characteristics. The model is tested and parameter tuned by the real dataset. …

Ground Target Recognition And Damage Assessment Of Patrol Missiles Based On Multi-Source Information Fusion, Yibo Xu, Qinghua Yu, Yanjuan Wang, Ce Guo, Shiru Feng, Huimin Lu

Journal of System Simulation

Abstract: For the multiple patrol missiles to attack the high defense capacity targets, a mobile ground target detection and damage assessment method based on multi-source information fusion is proposed. The multi-source information fusion of infrared images and RGB images is carried out by using IoU determination. A novel two-stage tightly coupled damage assessment method based on YOLO-VGGNet of patrol missiles to mobile ground targets is proposed. This method can fully use the advantage of deep semantic information extraction of CNNs and introduce the infrared damaging information simultaneously to achieve the online and real-time damage assessment of mobile ground targets. The …

Research Advances On Electric Vehicle Routing Problem Models And Algorithms, Helin Zhuang, Xiaoyun Xia, Kangshun Li, Zefeng Chen, Xianchao Zhang

Journal of System Simulation

Abstract: The development of electric vehicle provides an alternative to conventional fuel vehicles for logistics companies. Using electric vehicles has the merits of less pollution and low noise, but the characteristics of limited cruising range and limited number of charging stations are new challenges. Electric vehicle routing problems(EVRPs) have been widely used in transportation, logistics and other fields, and have received much attention. A comprehensive survey of EVRP and its many variants are presented and the respective backgrounds and applicable conditions are analyzed. The solving approaches of EVRPs are categorized, the strengths and weaknesses of each algorithm are analyzed, and …

Optimal Dispatch Of Microgrid Clusters Considering Energy Storage Life And Communication Failures, Jianfang Jiao, Anjie Wang, Guang Wang, Jiale Xie

Journal of System Simulation

Abstract: To ensure the economy and stability of microgrid operation, the power fluctuations of renewable energy source (RES) and the lifetime characteristics of battery energy storage system (BESS) should be considered. The influence of charging and discharging depth and rate on the lifetime of BESS is researched, a model of battery energy storage system for real-time optimal scheduling is established, and the alternating direction method of multipliers is adopted for the distributed optimal scheduling of microgrid clusters. The distributed optimization method does not require any global information and can protect the privacy of microgrid in the maximum extent. Simulation results …

Dynamic Spatio-Temporal Anomaly-Aware Correlation Filtering Object Tracking Algorithm, Yunfei Qiu, Xiangrui Bu, Boqiang Zhang

Journal of System Simulation

Abstract: In view of the fact that the background perception algorithm does not establish a relationship with the spatio-temporal domain characteristics of the target, and cannot accurately deal with the occlusion, deformation and other abnormal tracking, a object tracking algorithm which can adaptively perceive the spatio-temporal anomalies is proposed. In the training stage of correlation filter, the adaptive spatial regularization term is introduced to establish a relationship with the spatio-temporal characteristics of sample. The abnormal perception method is proposed according to the peak value of response map. Taking advantage of the different confidence of historical filter and the continuity of …

Fault Detection Based On Sliding Window And Multiblock Convolutional Autoencoders, Jianpeng Mou, Weili Xiong

Journal of System Simulation

Abstract: In order to further improve the fault detection performance and fully mine the timing and hidden feature information, a fault detection method based on convolutional auto encoder is proposed. On the basis of modeling the original information set, the modeling of cumulative information and rate of change information is added to enhance the mining of implicit information; The three reconstructed information sets are sampled by sliding windows, and time series feature extraction and modeling are performed based on convolutional auto encoders. Bayesian fusion of the decision results of the convolutional auto encoder is performed to obtain the statistics, and …

Improved Multi-Objective Swarm Algorithm To Optimize Wash-Out Motion And Its Simulation Experiment, Hui Wang, Le Peng

Journal of System Simulation

Abstract: Addressing the issues such as signal loss, distraction, and bad wash-out effect caused by improper parameter selection in classic wash-out algorithms, an improved multi-objective artificial bee colony algorithm is proposed to optimize the filter parameters of the classical wash-out algorithm to improve the effect. For the problems in the initialization and local optimization of traditional swarm algorithm, Circle mapping and Pareto local optimization algorithm are introduced. The human perception error model, acceleration difference model, and displacement model are established, and the model function is used as the objective function, the parameters of the classical wash-out algorithm is optimized by …

Bus Traffic Strategy Based On Immune Theory In Network Environment, Cao Li, Rui Zheng, Xiaolu Ma, Ziqiong Ding, Junyi Zhong, Sheng Zhang, Jingjing Qi

Journal of System Simulation

Abstract: In V2X network environment, the bus system can obtain dynamic global information and the bus traffic strategy is carried out based on the road scene between adjacent bus stops. The mathematical model of bus rapid traffic is constructed with the difference of green time ratio as the main parameter. A hybrid genetic operator is proposed on the basis of the combination of genetic algorithm and immune theory, the design of affinity, the selection of excellent antibodies. A bus traffic strategy based on immune theory is proposed on the basis of the improvement of adaptive crossover and mutation probability. The …

Research On Vehicle Detection Method Based On Improved Yolox-S, Xiliu Zhang, Xiaoling Zhang, Minjun He

Journal of System Simulation

Abstract: A improved vehicle detection model based on multi-scale feature fusion of YOLOX network is proposed to solve the problem of missing and false detection of small vehicle targets. Ghost-cross stage partial(CSP) based on the depth separable convolution is designed to replace part of cross stage partial in network to speed up the speed of detection. The max pooling mode of model is improved to Softpool mode, and coordinate attention mechanism is introduced to enhance the feature expression of target to be detected and to optimize the problem of target missing detection. Focal Loss is selected as the confidence loss …

Design And Application Of Hardware-In-The-Loop Simulation System For Infrared Imaging Guide Missile Test And Evaluation, Jianbin Dou, Xiaobing Wang, Hongjian Yang, Yulong Gao

Journal of System Simulation

Abstract: The characteristics of the army's conventional infrared imaging guide missile hardware-in-theloop simulation system used for test and evaluation is analyzed, and a system that can meet the test and evaluation requirement of infrared imaging guide missile is designed. The key technologies such as universal system design, rapid iterative development design of heterogeneous communication data, high radiation infrared interference dual channel coupling simulation, high-precision timing and synchronization, generation of complex battlefield environment are solved. The application of the system is verified on the typical anti-tank missile and helicopter borne missile tests. The system can be used for infrared imaging guide …

Design Of 3d Visualization Monitoring System For Oil Field Pumping Unit Based On Unity3d, Liqiang Liu, Wenlei Sun, Yi Wang, Bingkai Wang

Journal of System Simulation

Abstract: Aiming at the defects of single monitoring form, low degree of 3D visualization and poor linkage of pumping unit, the information-physical real-time mapping is introduced to develop the 3D visualization monitoring system for oil field pumping unit. The digital space of pumping unit are designed and the design architecture of virtual-real interaction layer is built. The composition and relation framework of 3D visualization system are built. Combined with the inverse kinematics, the mathematical model is built, and the overall architecture of the pumping unit 3D visualization system is designed based on the five-dimensional model and Unity3D platform. The beam …

Using Natural Language Processing To Identify Mental Health Indicators In Aviation Voluntary Safety Reports, Michael Sawyer, Katherine Berry, Amelia Kinsella, R Jordan Hinson, Edward Bynum

National Training Aircraft Symposium (NTAS)

Voluntary Safety Reporting Programs (VSRPs) are a critical tool in the aviation industry for monitoring safety issues observed by the frontline workforce. While VSRPs primarily focus on operational safety, report narratives often describe factors such as fatigue, workload, culture, staffing, and health, directly or indirectly impacting mental health. These reports can provide individual and organizational insights into aviation personnel's physical and psychological well-being. This poster introduces the AVIation Analytic Neural network for Safety events (AVIAN-S) model as a potential tool to extract and monitor these insights. AVIAN-S is a novel machine-learning model that leverages natural language processing (NLP) to analyze …

Sustainability Considerations Of Generative A.I., Thomas Pantazes

Sustainability Research & Practice Seminar Presentations

Dr. Thomas Pantazes of the WCU Teaching and Learning Center shares Sustainability Considerations of Generative A.I.

Adopting Ai In Faculty Teaching Methodologies, Karima Lanfranco, Kristen Migliano, Ellen Ramsey, David G. Wolf

Faculty and Staff Publications & Presentations

No abstract provided.

Chatgpt Can Offer Satisfactory Responses To Common Patient Questions Regarding Elbow Ulnar Collateral Ligament Reconstruction, William Johns, Alec Kellish, Dominic Farronato, Michael G. Ciccotti, Sommer Hammoud

Rothman Institute Papers

PURPOSE: To determine whether ChatGPT effectively responds to 10 commonly asked questions concerning ulnar collateral ligament (UCL) reconstruction.

METHODS: A comprehensive list of 90 UCL reconstruction questions was initially created, with a final set of 10 "most commonly asked" questions ultimately selected. Questions were presented to ChatGPT and its response was documented. Responses were evaluated independently by 3 authors using an evidence-based methodology, resulting in a grading system categorized as follows: (1) excellent response not requiring clarification; (2) satisfactory requiring minimal clarification; (3) satisfactory requiring moderate clarification; and (4) unsatisfactory requiring substantial clarification.

RESULTS: Six of 10 ten responses were …

Kodai: Framework Towards Data Augmentation Of Large Language Models In Machine Learning, Rick Rejeleene

Theses and Dissertations

Machine Learning is rapidly advancing at an incredible pace due to an increase in computational size, and availability of data. Data is the cornerstone of machine learning algorithms. Information quality has a profound impact on the performance of machine learning systems. Supervised, Unsupervised, and Reinforcement learning are three major ways of performing machine learning. Self-supervised learning, part of unsupervised learning, has made breakthroughs in engineering and research by using Large Language Models (LLM). LLM are a type of neural network, used for language understanding and generation. Recently, LLM has taken a distinct lead by demonstrating state-of-the-art capabilities in natural language …

Emergent Ai, Jillian A. Bick

CAFE Symposium 2024

For many years, artificial intelligence (AI) was considered to be limited in its abilities due to being confined to a pre-defined set of data. Currently, however, AI models have grown in complexity and size, leading to some previously impossible behaviors. These behaviors, known as "emergent AI behaviors," are unpredictable and not pre-programmed. Their existence suggests that AI is expanding in adaptability and may one day rival human intelligence. Media often portrays AI as having emotions and having the ability to operate autonomously, but what behaviors are AI really capable of?

Cybernetics: How It Compares To Science-Fiction And Future Possibilities, Anindo Majumder

CAFE Symposium 2024

Cybernetics is a branch of science that studies how information is communicated in machines and electronic equipment compared to how information is communicated in the brain and nervous system. It also relates to the theory of automatic control and physiology, particularly the physiology of the nervous system. Usage of cybernetics is very popular in various science-fiction medium. This naturally leads one to be curious if its depictions might turn into reality one day. This research paper delves into the growth of cybernetics since its inception, current applications of cybernetics, and what the future might hold.

A Comparative Study Of Responses To Retina Questions From Either Experts, Expert-Edited Large Language Models, Or Expert-Edited Large Language Models Alone, Prashant D. Tailor, Lauren A. Dalvin, John J. Chen, Raymond Iezzi, Timothy W. Olsen, Brittni A. Scruggs, Andrew J. Barkmeier, Sophie J. Bakri, Edwin H. Ryan, Peter H. Tang, D. Wilkin Parke, Peter Belin, Jayanth Sridhar, David Xu, Ajay E. Kuriyan, Yoshihiro Yonekawa, Matthew R. Starr

Wills Eye Hospital Papers

OBJECTIVE: To assess the quality, empathy, and safety of expert edited large language model (LLM), human expert created, and LLM responses to common retina patient questions.

DESIGN: Randomized, masked multicenter study.

PARTICIPANTS: Twenty-one common retina patient questions were randomly assigned among 13 retina specialists.

METHODS: Each expert created a response (Expert) and then edited a LLM (ChatGPT-4)-generated response to that question (Expert + artificial intelligence [AI]), timing themselves for both tasks. Five LLMs (ChatGPT-3.5, ChatGPT-4, Claude 2, Bing, and Bard) also generated responses to each question. The original question along with anonymized and randomized Expert + AI, Expert, and LLM …

Conic Challenge: Pushing The Frontiers Of Nuclear Detection, Segmentation, Classification And Counting, Simon Graham, Quoc Dang Vu, Mostafa Jahanifar, Martin Weigert, Uwe Schmidt, Wenhua Zhang, Jun Zhang, Sen Yang, Jinxi Xiang, Xiyue Wang, Josef Lorenz Rumberger, Elias Baumann, Peter Hirsch, Lihao Liu, Chenyang Hong, Angelica I. Aviles-Rivero, Ayushi Jain, Heeyoung Ahn, Yiyu Hong, Hussam Azzuni, Min Xu

Computer Vision Faculty Publications

Nuclear detection, segmentation and morphometric profiling are essential in helping us further understand the relationship between histology and patient outcome. To drive innovation in this area, we setup a community-wide challenge using the largest available dataset of its kind to assess nuclear segmentation and cellular composition. Our challenge, named CoNIC, stimulated the development of reproducible algorithms for cellular recognition with real-time result inspection on public leaderboards. We conducted an extensive post-challenge analysis based on the top-performing models using 1,658 whole-slide images of colon tissue. With around 700 million detected nuclei per model, associated features were used for dysplasia grading and …

Using Natural Language Processing And Patient Journey Clustering For Temporal Phenotyping Of Antimicrobial Therapies For Cat Bite Abscesses, Brian Hur, Karin M. Verspoor, Timothy Baldwin, Laura Y. Hardefeldt, Caitlin Pfeiffer, Caroline Mansfield, Riati Scarborough, James R. Gilkerson

Natural Language Processing Faculty Publications

Background: Temporal phenotyping of patient journeys, which capture the common sequence patterns of interventions in the treatment of a specific condition, is useful to support understanding of antimicrobial usage in veterinary patients. Identifying and describing these phenotypes can inform antimicrobial stewardship programs designed to fight antimicrobial resistance, a major health crisis affecting both humans and animals, in which veterinarians have an important role to play. Objective: This research proposes a framework for extracting temporal phenotypes of patient journeys from clinical practice data through the application of natural language processing (NLP) and unsupervised machine learning (ML) techniques, using cat bite abscesses …

Deep Learning-Based Human Action Understanding In Videos, Elahe Vahdani

Dissertations, Theses, and Capstone Projects

The understanding of human actions in videos holds immense potential for technological advancement and societal betterment. This thesis explores fundamental aspects of this field, including action recognition in trimmed clips and action localization in untrimmed videos. Trimmed videos contain only one action instance, with moments before or after the action excluded from the video. However, the majority of videos captured in unconstrained environments, often referred to as untrimmed videos, are naturally unsegmented. Untrimmed videos are typically lengthy and may encompass multiple action instances, along with the moments preceding or following each action, as well as transitions between actions. In the …

Glop: Learning Global Partition And Local Construction For Solving Large-Scale Routing Problems In Real-Time, Haoran Ye, Jiarui Wang, Helan Liang, Zhiguang Cao, Yong Li, Fanzhang Li

Research Collection School Of Computing and Information Systems

The recent end-to-end neural solvers have shown promise for small-scale routing problems but suffered from limited real-time scaling-up performance. This paper proposes GLOP (Global and Local Optimization Policies), a unified hierarchical framework that efficiently scales toward large-scale routing problems. GLOP partitions large routing problems into Travelling Salesman Problems (TSPs) and TSPs into Shortest Hamiltonian Path Problems. For the first time, we hybridize non-autoregressive neural heuristics for coarse-grained problem partitions and autoregressive neural heuristics for fine-grained route constructions, leveraging the scalability of the former and the meticulousness of the latter. Experimental results show that GLOP achieves competitive and state-of-the-art real-time performance …