Modeling And Simulation Of Pipeline Cable Inspection Robot Based On Omnidirectional Wheel,
2024
Department of Automation, North China Electric Power University, Baoding 071003, China
Modeling And Simulation Of Pipeline Cable Inspection Robot Based On Omnidirectional Wheel, Chao Yuan, Yao Zhang, Yadong Zhao, Dawei Xu, Jing Yuan, Yongjie Zhai
Journal of System Simulation
Abstract: Aiming at the problem that the inner space of underground pipeline cable is narrow and closed, which cannot be inspected by humans, and the existing pipeline robot cannot adapt to the special environment of pipeline cable, a miniaturized, compact pipeline cable inspection robot is designed. This robot is capable of operating within the underground pipeline where cables have already been laid to inspect the inner wall of the pipeline and the working condition of the cables. According to the requirements of the working conditions, the whole three-dimensional model of the robot has been established. The mapping relationship between the …
Multi-Step Information Aided Q-Learning Path Planning Algorithm,
2024
Control and Simulation Center, Harbin Institute of Technology, Harbin 150001, China
Multi-Step Information Aided Q-Learning Path Planning Algorithm, Yuelong Wang, Songyan Wang, Tao Chao
Journal of System Simulation
Abstract: To improve the path planning capability of mobile robots in a static environment and solve the problem of slow convergence of the traditional Q-learning algorithm in path planning, this paper proposes a multi-step information-aided Q-learning improvement algorithm. Using the multi-step information of greedy action in ε -greedy strategy and length of the historical optimal path to update the eligibility traces, which makes the effective eligibility traces work continuously in the iteration of the algorithm and solves the loop traps that may fall into with the preserved multi-step information; using the local multiflower pollination algorithm to initialize the Q-value table …
Visual Robot Obstacle Avoidance Planning And Simulation Using Mapped Point Clouds,
2024
College of Engineering, South China Agricultural University, Guangzhou 510000, China
Visual Robot Obstacle Avoidance Planning And Simulation Using Mapped Point Clouds, Hanlin Huo, Xiangjun Zou, Yan Chen, Xinzhao Zhou, Mingyou Chen, Chengen Li, Yaoqiang Pan, Yunchao Tang
Journal of System Simulation
Abstract: In response to the large and complex data volume and high redundancy of visual point cloud obstacle recognition in complex unstructured orchard environments, which severely impacts the real-time performance and efficiency of harvesting operations, a point cloud compression algorithm is proposed based on point cloud segmentation to enhance the efficiency of point cloud obstacle recognition and environmental adaptability. An Informed RRT* based approach is used combined with an inverse projection algorithm, mapping-based informed RRT*(M-Informed RRT*) to solve the harvesting path problem. By constructing a highly real-time and robust integrated robot system for sampling, perception, and obstacle avoidance, efficient obstacle …
The Synchronous Grasping Method Of Virtual-Real Assembly Robot Based On Digital Twin,
2024
School of Electronic Information, Xi'an Polytechnic University, Xi'an 710048, China
The Synchronous Grasping Method Of Virtual-Real Assembly Robot Based On Digital Twin, Jian Xu, Gaofeng Liu, Yijian Zhao, Zili Zheng, Huanying Yan
Journal of System Simulation
Abstract: A method based on digital twin for assembly robot virtual-real synchronization and grasping is proposed to address the issues of poor intelligent grasping accuracy and difficult data processing in assembly tasks for industrial robots. Based on the digital twin, a digital twin assembly robot virtual-real synchronization and grasping architecture is designed. The OPC UA information model is built by classifying multi-source heterogeneous data, and the OPC UA communication protocol is used as a bridge for data communication of the assembly robot, achieving virtual-real synchronization. The convolutional neural network is further trained using the virtual robot to improve the grasping …
Dirt/Μ: Automated Extraction Of Root Hair Traits Using Combinatorial Optimization,
2024
University of Georgia
Dirt/Μ: Automated Extraction Of Root Hair Traits Using Combinatorial Optimization, Peter Pietrzyk, Neen Phan-Udom, Chartinun Chutoe, Lise Pingault, Ankita Roy, Marc Libault, Patompong Johns Saengwilai, Alexander Bucksch
Department of Entomology: Faculty Publications
As with phenotyping of any microscopic appendages, such as cilia or antennae, phenotyping of root hairs has been a challenge due to their complex intersecting arrangements in two-dimensional images and the technical limitations of automated measurements. Digital Imaging of Root Traits at Microscale (DIRT/μ) is a newly developed algorithm that addresses this issue by computationally resolving intersections and extracting individual root hairs from two-dimensional microscopy images. This solution enables automatic and precise trait measurements of individual root hairs. DIRT/μ rigorously defines a set of rules to resolve intersecting root hairs and minimizes a newly designed cost function to combinatorically identify …
Pulsey: Stellar Pulsation Models In Python,
2024
CUNY Graduate Center
Pulsey: Stellar Pulsation Models In Python, Andrew Ayala
Dissertations, Theses, and Capstone Projects
The era of the Kepler/K2 and TESS space-telescope missions has inundated the astrophysics community with photometric data for millions of stars with continuous observation and very high cadence. This data confirms that nearly every observed stellar source exhibits an oscillating luminosity, with stellar pulsation being the driving mechanism behind a large fraction of the cause. The result has been an explosion in the field of asteroseismology, where the recorded luminosity variations, or "light curves", of pulsating stars to probe their interior structures. By modeling observed light curves, we can constrain values of the physical stellar parameters producing them. The brightness …
Certified Quantization Strategy Synthesis For Neural Networks,
2024
Singapore Management University
Certified Quantization Strategy Synthesis For Neural Networks, Yedi Zhang, Guangke Chen, Jun Sun, Jun Sun
Research Collection School Of Computing and Information Systems
Quantization plays an important role in deploying neural networks on embedded, real-time systems with limited computing and storage resources (e.g., edge devices). It significantly reduces the model storage cost and improves inference efficiency by using fewer bits to represent the parameters. However, it was recently shown that critical properties may be broken after quantization, such as robustness and backdoor-freeness. In this work, we introduce the first method for synthesizing quantization strategies that verifiably maintain desired properties after quantization, leveraging a key insight that quantization leads to a data distribution shift in each layer. We propose to compute the preimage for …
Adavis: Adaptive And Explainable Visualization Recommendation For Tabular Data,
2024
Singapore Management University
Adavis: Adaptive And Explainable Visualization Recommendation For Tabular Data, Songheng Zhang, Haotian Li, Huamin Qu, Yong Wang
Research Collection School Of Computing and Information Systems
Automated visualization recommendation facilitates the rapid creation of effective visualizations, which is especially beneficial for users with limited time and limited knowledge of data visualization. There is an increasing trend in leveraging machine learning (ML) techniques to achieve an end-to-end visualization recommendation. However, existing ML-based approaches implicitly assume that there is only one appropriate visualization for a specific dataset, which is often not true for real applications. Also, they often work like a black box, and are difficult for users to understand the reasons for recommending specific visualizations. To fill the research gap, we propose AdaVis, an adaptive and explainable …
Robust Image Classification System Via Cloud Computing, Aligned Multimodal Embeddings, Centroids And Neighbours,
2024
Singapore Management University
Robust Image Classification System Via Cloud Computing, Aligned Multimodal Embeddings, Centroids And Neighbours, Wei Lun Koh, Boon Yong Koh, Bing Tian Dai
Research Collection School Of Computing and Information Systems
We propose a framework for a cloud-based application of an image classification system that is highly accessible, maintains data confidentiality, and robust to incorrect training labels. The end-to-end system is implemented using Amazon Web Services (AWS), with a detailed guide provided for replication, enhancing the ways which researchers can collaborate with a community of users for mutual benefits. A front-end web application allows users across the world to securely log in, contribute labelled training images conveniently via a drag-and-drop approach, and use that same application to query an up-to-date model that has knowledge of images from the community of users. …
Monocular Bev Perception Of Road Scenes Via Front-To-Top View Projection,
2024
Fuzhou University
Monocular Bev Perception Of Road Scenes Via Front-To-Top View Projection, Wenxi Liu, Qi Li, Weixiang Yang, Jiaxin Cai, Yuanhong Yu, Yuexin Ma, Shengfeng He, Jia Pan
Research Collection School Of Computing and Information Systems
HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation separately, which often causes distortion and missing content. To push the limits of the technology, we present a novel framework that reconstructs a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. We propose a front-to-top view projection (FTVP) module, which takes the constraint of cycle consistency between views into account and makes full use of their correlation to strengthen …
Certifying Stability In Runge-Kutta Schemes: Algebraic Conditions And Semidefinite Programming,
2024
New Jersey Institute of Technology
Certifying Stability In Runge-Kutta Schemes: Algebraic Conditions And Semidefinite Programming, Austin Juhl
Dissertations
Numerical stability is a critical property for a time-integration scheme. In the context of Runge-Kutta methods applied to stiff differential equations, A-stability is one of the most basic and practically important notions of stability. Dating back to the work of Dahlquist, it has been known that A-stability is equivalent to the Runge-Kutta stability function satisfying a particular convex feasibility problem. Specifically, up to a transformation, the stability function lies in the convex cone of positive functions. In recent years, sum-of-squares optimization and semidefinite programming have become valuable tools in developing rigorous certificates of stability in dynamical systems. Therefore, it is …
Numerical Techniques For Improving Simulations Of Tropical Cyclones,
2024
New Jersey Institute of Technology
Numerical Techniques For Improving Simulations Of Tropical Cyclones, Yassine Tissaoui
Dissertations
The increasing frequency and intensity of tropical cyclones (TCs) due to climate change pose significant challenges for forecasting and mitigating their impacts. Despite advancements, accurately predicting TC rapid intensification (RI) remains a challenge. Large eddy simulation (LES) allows for explicitly resolving the large eddies involved in TC turbulence, thus providing an avenue for studying the mechanisms behind their intensification and RI. LES of a full tropical cyclone is very computationally expensive and its accuracy will depend on both explicit and implicit dissipation within an atmospheric model. This dissertation presents two novel numerical methodologies with the potential to improve the efficiency …
Parallax-Tolerant Image Stitching With Geometric Structure Protection For Unmanned Ship Visual Perception,
2024
Key Lab. of Marine Simulation and Control, Dalian Maritime University, Dalian 116026, China
Parallax-Tolerant Image Stitching With Geometric Structure Protection For Unmanned Ship Visual Perception, Zhilin Yang, Yong Yin, Rukai Zhang, Qianfeng Jing, Sen Jiang, Wenfeng Zhu
Journal of System Simulation
Abstract: In order to address the artifacts caused by misalignment in maritime image stitch with low texture and large parallax, a geometric structure parallax-tolerant image stitch algorithm based on point-line feature registration and optimal seam fusion is proposed. Line segment features are introduced into the traditional homography transformation based on point features, and potential coplanar local line segments are merged into global line segments to provide accurate alignment conditions for seam line fusion. In the image fusion stage, the energy function of seam cutting method is designed by using the color difference and gradient difference of tanh measure and introducing …
An Improved Cat Swarm Optimization For Heterogeneous Multiple Mobile Robots,
2024
Engineering Training and Innovation Education Center, Shanghai Polytechnic University, Shanghai 201209, China
An Improved Cat Swarm Optimization For Heterogeneous Multiple Mobile Robots, Liang Kang, Yi Du, Lihua Yin
Journal of System Simulation
Abstract: At present, it is difficult to achieve the real homogeneity of the members of the multiple mobile robots. The existing swarm intelligence algorithm is also difficult to accommodate the heterogeneity of the team. Focusing on the heterogeneous cooperation of multiple mobile robots, the concept of mother and child robots is proposed. In order to realize the application of swarm intelligence algorithm in heterogeneous multiple mobile robots, the basic cat swarm algorithm is improved. The subdomain and neighborhood of cat swarm are defined, and eight improvements of cat swarm algorithm are proposed, including priority of search direction, extended trajectory tracking …
Research On Path Optimization Algorithm In Dynamic Routing Environment,
2024
College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, China
Research On Path Optimization Algorithm In Dynamic Routing Environment, Xin Xie, Xiaobing Hu, Hang Zhou
Journal of System Simulation
Abstract: In a real dynamic routing environment, static path optimization (SPO) and traditional dynamic path optimization (DPO) tend to encounter issues such as detours, reversals and high computational complexity due to frequent real-time optimization calculation. To address these problems, a novel restart co-evolutionary path optimization (RCEPO) method based on the ripple-spreading algorithm (RSA) is proposed. This method integrates the path optimization process with the dynamic changes of the routing network environment to enhance the effectiveness of path optimization. Moreover, the path reoptimization calculation is performed only when the dynamic changes in the routing environment exceed the predicted range, thereby reducing …
High-Resolution Image Reconstruction Of Ect Region Of Interest Based On Finite Element Simulation,
2024
Department of Automation, North China Electric Power University, Baoding 071003, China; Baoding Key Laboratory of State Detection and Optimization Regulation for Integrated Energy System, Baoding 071003, China
High-Resolution Image Reconstruction Of Ect Region Of Interest Based On Finite Element Simulation, Lifeng Zhang, Da Chen
Journal of System Simulation
Abstract: High-resolution image reconstruction of interest region is one of the research hotspots of electrical capacitance tomography (ECT) technology. The ECT model with uniform electrode distribution only has a high sensitivity coefficient at the boundary position of the reconstructed field and is not suitable for imaging regions of interest. In order to improve the sensitivity distribution in the region of interest and improve image resolution, a high-resolution image reconstruction method of ECT region of interest based on finite element simulation is proposed, and the electrode distribution is optimized according to the conformal transformation theory. Simulation experiments are conducted, and the …
Fusion Of Improved A* And Dynamic Window Approach For Mobile Robot Path Planning,
2024
Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China
Fusion Of Improved A* And Dynamic Window Approach For Mobile Robot Path Planning, Rongshen Lai, Lei Dou, Zhiyong Wu, Shuai Sun
Journal of System Simulation
Abstract: The traditional A* algorithm is computationally simple and has short planning paths, but it still suffers from redundancy of inflection points, low search efficiency and zigzagging planning paths. Aiming at the above problems, a fusion algorithm combining the improved A* algorithm and the improved dynamic window approach is proposed for the path planning of mobile robots. For the problem of redundant inflection points, the key nodes are extracted to effectively remove the useless inflection points; for the problem of low search efficiency, a dynamic weighting factor is introduced into the heuristic function of the evaluation function, which changes the …
A Highly Robust Target Tracking Algorithm Merging Cnn And Transformer,
2024
School of Mechatronic Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China
A Highly Robust Target Tracking Algorithm Merging Cnn And Transformer, Peijin Liu, Xuefeng Fu, Haofeng Sun, Lin He, Shujie Liu
Journal of System Simulation
Abstract: To address the performance degradation of target tracking algorithms caused by target object deformation, scale variation, fast motion, and occlusion, a highly robust target tracking algorithm that Merging a CNN and Transformer is proposed based on siamese network architecture. In the feature extraction stage, standard convolutions are employed to extract shallow local feature information, while a convolution-like Transformer module is designed in the deep network to model global information. The pixel values in the Transformer are computed using a sliding window significantly reducing computational complexity. In the feature aggregation stage, a multi-head cross-attention module is utilized to construct a …
Hybrid Evolutionary Multi-Objective Optimization Algorithm For Vehicle Routing Problem With Simultaneous Delivery And Pickup,
2024
Henan University of Technology, Zhengzhou 450001, China
Hybrid Evolutionary Multi-Objective Optimization Algorithm For Vehicle Routing Problem With Simultaneous Delivery And Pickup, Wenqiang Zhang, Xiaomeng Wang, Xiaoxiao Zhang, Guohui Zhang
Journal of System Simulation
Abstract: In order to provide reasonable and effective decision support for logistics enterprises in vehicle distribution route planning, a hybrid evolutionary multi-objective optimization algorithm combining a multi-region mixed-sampling strategy for global search and a local search based on individual route sequence differences is proposed for the problem. A reasonable mathematical model is constructed and the global search strategy is used to make the population individuals to converge quickly to the Pareto front from multiple directions, and the local search strategy is employed to guide the poorly performing individuals in the population to evolve towards the direction of better performing individuals, …
Gpu Parallel Acceleration Framework For Heuristic Optimization Algorithm,
2024
School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China
Gpu Parallel Acceleration Framework For Heuristic Optimization Algorithm, Dongjie Wang, Sixin Wen, Wanzhi Meng, Di Wu
Journal of System Simulation
Abstract: Heuristic optimization algorithm are a type of algorithm that uses large-scale populations for iterative calculations and are widely used to solve all kinds of complex optimization problems. However, such algorithm have the disadvantages of large calculation and long time consumption. To solve this problem, heuristic optimization algorithms are parallelized using GPU and compute unified device architecture (CUDA) to substantially improve computational efficiency. A GPU parallel framework for heuristic optimization algorithm is proposed, which designs an information interaction framework and algorithm parallel optimization strategy with a parallel logical structure, and solves the problem of the dissimilarity of the logical structure …
