scholarly journals Multirobot Heterogeneous Control Considering Secondary Objectives

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4367
Author(s):  
Acosta ◽  
Rivera ◽  
Andaluz ◽  
Garrido
Keyword(s):  
Linear Algebra ◽  
Computational Cost ◽  
Experimental Results ◽  
Robotic Systems ◽  
Robotic Group ◽  
Secondary Tasks ◽  
Heterogeneous Robots ◽  
High Scalability ◽  
The Stability ◽  
Low Computational Cost

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with different configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposal.

scholarly journals Control-Scheduling Codesign for NCS based Fuzzy Systems

2018 ◽  
Vol 13 (2) ◽  
pp. 251-267 ◽  
Author(s):  
Paul Erick Mendez-Monroy ◽  
Israel Sanchez Dominguez ◽  
Ali Bassam ◽  
Oscar May Tzuc
Keyword(s):  
Embedded System ◽  
Fuzzy Controller ◽  
Hybrid Control ◽  
Computational Cost ◽  
Sampling Period ◽  
Networked Control System ◽  
Fuzzy Scheduling ◽  
The Stability ◽  
Scheduler Design ◽  
Low Computational Cost

In the present paper, a fuzzy codesign approach is proposed to deal with the controller and scheduler design for a networked control system which is physically distributed with a shared communication network. The proposed fuzzy controller is applied to generate the control with different sampling-actuation periods, the configuration supposes a strict actuation period disappears the jitter. The proposed fuzzy scheduling is designed to select the sampling-actuation period. So, the fuzzy codesign reduces the rate of transmission when the system is stable through the scheduler while the controller adjusts the control signal. The fuzzy codesign guarantees the stability of all the system if the network uncertainties do not exceed an upper bound and is a low computational cost method implemented with an embedded system. An unstable, nonlinear system is used to evaluate the proposed approach and compared to a hybrid control, the results show greater robustness to multiple lost packets and time delays much larger than the sampling period. (This paper is an extension of [20]. Reprinted (partial) and extended, with permission based on License Number 4275590998661 IEEE, from "Electrical Engineering, Computing Science and Automatic Control, 2017 14th International Conference on")

CONSTRUCTING SURFACE FEATURES THROUGH DEFORMATION

2010 ◽  
Vol 10 (01) ◽  
pp. 41-56
Author(s):  
XIAOPING WANG ◽  
SHENGLAN LIU ◽  
LIYAN ZHANG
Keyword(s):  
Computer Graphics ◽  
Computer Aided Design ◽  
Mechanical Design ◽  
Computational Cost ◽  
Experimental Results ◽  
Mathematical Approach ◽  
Computer Aided ◽  
Aided Design ◽  
Low Computational Cost ◽  
Frequent Problem

A frequent problem in computer aided mechanical design is the construction of arbitrarily-shaped ribs and beads on surfaces, to increase their rigidity or for aesthetic reasons. We improve upon a previous mathematical approach for defining such ribs and beads, based on using so-called extension functions to define a deformation matrix, which is then applied to the underlying shape. Our improvements offer important practical advantages: firstly, by use of cosine extension functions, we get a greater control over, and flexibility of, rib shape, including the possibility of repeating ribs; secondly, we can directly control the spine curves. We give experimental results to demonstrate that the method is simple and intuitive, has low computational cost, and is potentially useful for computer aided design, computer graphics and other applications.

scholarly journals Three-Dimensional Unified Motion Control of a Robotic Standing Wheelchair for Rehabilitation Purposes

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 3057
Author(s):  
Jessica S. Ortiz ◽  
Guillermo Palacios-Navarro ◽  
Víctor H. Andaluz ◽  
Luis F. Recalde
Keyword(s):  
Computational Cost ◽  
Three Dimensional ◽  
Robustness Analysis ◽  
Sampling Period ◽  
Secondary Tasks ◽  
Stable Algorithm ◽  
Technological Advances ◽  
Control Scheme ◽  
Motion Problem ◽  
The Stability

Technological advances in recent years have shown interest in the development of robots in the medical field. The integration of robotic systems in areas of assistance and rehabilitation improves the user’s quality of life. In this context, this article presents a proposal for the unified control of a robotic standing wheelchair. Considering primary and secondary tasks as control objectives, the system performs tasks autonomously and the change of position and orientation can be performed at any time. The development of the control scheme was divided in two parts: (i) kinematic controller to solve the desired motion problem; and (ii) dynamic compensation of the standing wheelchair–human system. The design of the two controllers considers the theory of linear algebra, proposing a low computational cost and an asymptotically stable algorithm, without disturbances. The stability and robustness analysis of the system is performed by analyzing the evolution of the control errors in each sampling period. Finally, real experiments of the performance of the developed controller are performed using a built and instrumented standing wheelchair.

scholarly journals The visual attention saliency map for movie retrospection

Open Physics ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 188-192 ◽  
Author(s):  
Anna Rogalska ◽  
Piotr Napieralski
Keyword(s):  
Computer Science ◽  
Cognitive Neuroscience ◽  
Motion Pictures ◽  
Computational Cost ◽  
Visual Saliency ◽  
Saliency Map ◽  
Robotic Systems ◽  
Scientific Disciplines ◽  
Salient Regions ◽  
Low Computational Cost

Abstract The visual saliency map is becoming important and challenging for many scientific disciplines (robotic systems, psychophysics, cognitive neuroscience and computer science). Map created by the model indicates possible salient regions by taking into consideration face presence and motion which is essential in motion pictures. By combining we can obtain credible saliency map with a low computational cost.

scholarly journals Computing Expectiles Using k-Nearest Neighbours Approach

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 645
Author(s):  
Muhammad Farooq ◽  
Sehrish Sarfraz ◽  
Christophe Chesneau ◽  
Mahmood Ul Hassan ◽  
Muhammad Ali Raza ◽  
...  
Keyword(s):  
Computational Cost ◽  
Real Life ◽  
Distance Measures ◽  
Computational Time ◽  
High Dimensional ◽  
Test Error ◽  
Nearest Neighbours ◽  
Comparable Performance ◽  
Asymmetric Least Squares ◽  
Low Computational Cost

Expectiles have gained considerable attention in recent years due to wide applications in many areas. In this study, the k-nearest neighbours approach, together with the asymmetric least squares loss function, called ex-kNN, is proposed for computing expectiles. Firstly, the effect of various distance measures on ex-kNN in terms of test error and computational time is evaluated. It is found that Canberra, Lorentzian, and Soergel distance measures lead to minimum test error, whereas Euclidean, Canberra, and Average of (L1,L∞) lead to a low computational cost. Secondly, the performance of ex-kNN is compared with existing packages er-boost and ex-svm for computing expectiles that are based on nine real life examples. Depending on the nature of data, the ex-kNN showed two to 10 times better performance than er-boost and comparable performance with ex-svm regarding test error. Computationally, the ex-kNN is found two to five times faster than ex-svm and much faster than er-boost, particularly, in the case of high dimensional data.

scholarly journals Directional TGV-Based Image Restoration under Poisson Noise

2021 ◽  
Vol 7 (6) ◽  
pp. 99
Author(s):  
Daniela di Serafino ◽  
Germana Landi ◽  
Marco Viola
Keyword(s):  
Computed Tomography ◽  
Image Restoration ◽  
Gaussian Noise ◽  
Computational Cost ◽  
Data Fitting ◽  
Poisson Noise ◽  
Glass Fibres ◽  
Leibler Divergence ◽  
Generalized Variation ◽  
Low Computational Cost

We are interested in the restoration of noisy and blurry images where the texture mainly follows a single direction (i.e., directional images). Problems of this type arise, for example, in microscopy or computed tomography for carbon or glass fibres. In order to deal with these problems, the Directional Total Generalized Variation (DTGV) was developed by Kongskov et al. in 2017 and 2019, in the case of impulse and Gaussian noise. In this article we focus on images corrupted by Poisson noise, extending the DTGV regularization to image restoration models where the data fitting term is the generalized Kullback–Leibler divergence. We also propose a technique for the identification of the main texture direction, which improves upon the techniques used in the aforementioned work about DTGV. We solve the problem by an ADMM algorithm with proven convergence and subproblems that can be solved exactly at a low computational cost. Numerical results on both phantom and real images demonstrate the effectiveness of our approach.

scholarly journals An optimal and low computational cost fractional Newton-type method for solving nonlinear equations

2021 ◽  
pp. 107650
Author(s):  
Giro Candelario ◽  
Alicia Cordero ◽  
Juan R. Torregrosa ◽  
María P. Vassileva
Keyword(s):  
Nonlinear Equations ◽  
Computational Cost ◽  
Type Method ◽  
Low Computational Cost

Low-Computational Cost Estimation Algorithm for Adaptive Optics Systems*

2011 ◽  
Vol 44 (1) ◽  
pp. 5573-5578
Author(s):  
M. Abbas Turki ◽  
D. Esqueda Merino ◽  
K. Kasper ◽  
C. Durieu
Keyword(s):  
Adaptive Optics ◽  
Cost Estimation ◽  
Computational Cost ◽  
Estimation Algorithm ◽  
Low Computational Cost

scholarly journals Status Estimation and In-Process Connection of Kanbans Using BLE Beacons and LPWA Network to Implement Intra-Traceability for the Kanban System

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5038
Author(s):  
Kosuke Shima ◽  
Masahiro Yamaguchi ◽  
Takumi Yoshida ◽  
Takanobu Otsuka
Keyword(s):  
Inventory Management ◽  
Low Cost ◽  
Computational Cost ◽  
Low Energy ◽  
Manufacturing Strategy ◽  
Implementation Cost ◽  
Measurement Systems ◽  
Process Route ◽  
Kanban System ◽  
Low Computational Cost

IoT-based measurement systems for manufacturing have been widely implemented. As components that can be implemented at low cost, BLE beacons have been used in several systems developed in previous research. In this work, we focus on the Kanban system, which is a measure used in manufacturing strategy. The Kanban system emphasizes inventory management and is used to produce only required amounts. In the Kanban system, the Kanban cards are rotated through the factory along with the products, and when the products change to a different process route, the Kanban card is removed from the products and the products are assigned to another Kanban. For this reason, a single Kanban cannot trace products from plan to completion. In this work, we propose a system that uses a Bluetooth low energy (BLE) beacon to connect Kanbans in different routes but assigned to the same products. The proposed method estimates the beacon status of whether the Kanban is inside or outside a postbox, which can then be computed by a micro controller at low computational cost. In addition, the system connects the Kanbans using the beacons as paired connection targets. In an experiment, we confirmed that the system connected 70% of the beacons accurately. We also confirmed that the system could connect the Kanbans at a small implementation cost.

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