Abstract: In the automotive industry test drives are being conducted
during the development of new vehicle models or as a part of
quality assurance of series-production vehicles. The communication
on the in-vehicle network, data from external sensors, or internal
data from the electronic control units is recorded by automotive
data loggers during the test drives. The recordings are used for fault
analysis. Since the resulting data volume is tremendous, manually
analysing each recording in great detail is not feasible.
This paper proposes to use machine learning to support domainexperts
by preventing them from contemplating irrelevant data and
rather pointing them to the relevant parts in the recordings. The
underlying idea is to learn the normal behaviour from available
recordings, i.e. a training set, and then to autonomously detect
unexpected deviations and report them as anomalies.
The one-class support vector machine “support vector data description”
is utilised to calculate distances of feature vectors. SVDDSUBSEQ
is proposed as a novel approach, allowing to classify subsequences
in multivariate time series data. The approach allows to
detect unexpected faults without modelling effort as is shown with
experimental results on recordings from test drives.
Abstract: Researchers have been applying tional intelligence (AI/CI) methods to computer games. In this research field, further researchesare required to compare AI/CI
methods with respect to each game application. In th
our experimental result on the comparison of three evolutionary algorithms – evolution strategy, genetic algorithm, and their hybrid
applied to evolving controller agents for the CIG 2007 Simulated Car Racing competition. Our experimental result shows that, premature
convergence of solutions was observed in the case of ES, and GA outperformed ES in the last half of generations. Besides, a hybrid
which uses GA first and ES next evolved the best solution among the whole solutions being generated. This result shows the ability of GA in
globally searching promising areas in the early stage and the ability of ES in locally searching the focused area (fine-tuning solutions).
Abstract: Traffic Engineering (TE) is the process of controlling
how traffic flows through a network in order to facilitate efficient and
reliable network operations while simultaneously optimizing network
resource utilization and traffic performance. TE improves the
management of data traffic within a network and provides the better
utilization of network resources. Many research works considers intra
and inter Traffic Engineering separately. But in reality one influences
the other. Hence the effective network performances of both inter and
intra Autonomous Systems (AS) are not optimized properly. To
achieve a better Joint Optimization of both Intra and Inter AS TE, we
propose a joint Optimization technique by considering intra-AS
features during inter – AS TE and vice versa. This work considers the
important criterion say latency within an AS and between ASes. and
proposes a Bi-Criteria Latency optimization model. Hence an overall
network performance can be improved by considering this jointoptimization
technique in terms of Latency.
Abstract: In this article the accumulated results out of the effects
and length of the manufacture and production projects in the
university and research standard have been settled with the usefulness
definition of the process of project management for the accessibility
to the proportional pattern in the “time and action" stages. Studies
show that many problems confronted by the researchers in these
projects are connected to the non-profiting of: 1) autonomous timing
for gathering the educational theme, 2) autonomous timing for
planning and pattern, presenting before the construction, and 3)
autonomous timing for manufacture and sample presentation from the
output. The result of this study indicates the division of every
manufacture and production projects into three smaller autonomous
projects from its kind, budget and autonomous expenditure, shape
and order of the stages for the management of these kinds of projects.
In this case study real result are compared with theoretical results.
Abstract: The autonomous mobile robot was designed and implemented which was capable of navigating in the industrial environments and did a job of picking objects from variable height and delivering it to another location following a predefined trajectory. In developing country like Bangladesh industrial robotics is not very prevalent yet, due to the high installation cost. The objective of this project was to develop an autonomous mobile robot for industrial application using the available resources in the local market at lower manufacturing cost. The mechanical system of the robot was comprised of locomotion, gripping and elevation system. Grippers were designed to grip objects of a predefined shape. Cartesian elevation system was designed for vertical movement of the gripper. PIC18F452 microcontroller was the brain of the control system. The prototype autonomous robot was fabricated for relatively lower load than the industry and the performance was tested in a virtual industrial environment created within the laboratory to realize the effectiveness.
Abstract: This paper describes the development of an
autonomous robot for painting the interior walls of buildings. The
robot consists of a painting arm with an end effector roller that scans
the walls vertically and a mobile platform to give horizontal feed to
paint the whole area of the wall. The painting arm has a planar twolink
mechanism with two joints. Joints are driven from a stepping
motor through a ball screw-nut mechanism. Four ultrasonic sensors
are attached to the mobile platform and used to maintain a certain
distance from the facing wall and to avoid collision with side walls.
When settled on adjusted distance from the wall, the controller starts
the painting process autonomously. Simplicity, relatively low weight
and short painting time were considered in our design. Different
modules constituting the robot have been separately tested then
integrated. Experiments have shown successfulness of the robot in its
intended tasks.
Abstract: This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.
Abstract: An adaptive neural network controller for
autonomous underwater vehicles (AUVs) is presented in this paper.
The AUV model is highly nonlinear because of many factors, such as
hydrodynamic drag, damping, and lift forces, Coriolis and centripetal
forces, gravity and buoyancy forces, as well as forces from thruster.
In this regards, a nonlinear neural network is used to approximate the
nonlinear uncertainties of AUV dynamics, thus overcoming some
limitations of conventional controllers and ensure good performance.
The uniform ultimate boundedness of AUV tracking errors and the
stability of the proposed control system are guaranteed based on
Lyapunov theory. Numerical simulation studies for motion control of
an AUV are performed to demonstrate the effectiveness of the
proposed controller.
Abstract: The rapidly increasing costs of power line extensions
and fossil fuel, combined with the desire to reduce carbon dioxide
emissions pushed the development of hybrid power system suited for
remote locations, the purpose in mind being that of autonomous local
power systems. The paper presents the suggested solution for a “high
penetration" hybrid power system, it being determined by the
location of the settlement and its “zero policy" on carbon dioxide
emissions. The paper focuses on the technical solution and the power
flow management algorithm of the system, taking into consideration
local conditions of development.
Abstract: Omni directional mobile robots have been popularly
employed in several applications especially in soccer player robots
considered in Robocup competitions. However, Omni directional
navigation system, Omni-vision system and solenoid kicking
mechanism in such mobile robots have not ever been combined. This
situation brings the idea of a robot with no head direction into
existence, a comprehensive Omni directional mobile robot. Such a
robot can respond more quickly and it would be capable for more
sophisticated behaviors with multi-sensor data fusion algorithm for
global localization base on the data fusion. This paper has tried to
focus on the research improvements in the mechanical, electrical and
software design of the robots of team ADRO Iran. The main
improvements are the world model, the new strategy framework,
mechanical structure, Omni-vision sensor for object detection, robot
path planning, active ball handling mechanism and the new kicker
design, , and other subjects related to mobile robot
Abstract: A cognitive collaborative reinforcement learning
algorithm (CCRL) that incorporates an advisor into the learning
process is developed to improve supervised learning. An autonomous
learner is enabled with a self awareness cognitive skill to decide
when to solicit instructions from the advisor. The learner can also
assess the value of advice, and accept or reject it. The method is
evaluated for robotic motion planning using simulation. Tests are
conducted for advisors with skill levels from expert to novice. The
CCRL algorithm and a combined method integrating its logic with
Clouse-s Introspection Approach, outperformed a base-line fully
autonomous learner, and demonstrated robust performance when
dealing with various advisor skill levels, learning to accept advice
received from an expert, while rejecting that of less skilled
collaborators. Although the CCRL algorithm is based on RL, it fits
other machine learning methods, since advisor-s actions are only
added to the outer layer.
Abstract: It is important for an autonomous mobile robot to know
where it is in any time in an indoor environment. In this paper, we
design a relative self-localization algorithm. The algorithm compare
the interest point in two images and compute the relative displacement
and orientation to determent the posture. Firstly, we use the SURF
algorithm to extract the interest points of the ceiling. Second, in order
to reduce amount of calculation, a replacement SURF is used to extract
orientation and description of the interest points. At last, according to
the transformation of the interest points in two images, the relative
self-localization of the mobile robot will be estimated greatly.
Abstract: In this paper, some problem formulations of dynamic object parameters recovery described by non-autonomous system of ordinary differential equations with multipoint unshared edge conditions are investigated. Depending on the number of additional conditions the problem is reduced to an algebraic equations system or to a problem of quadratic programming. With this purpose the paper offers a new scheme of the edge conditions transfer method called by conditions shift. The method permits to get rid from differential links and multipoint unshared initially-edge conditions. The advantage of the proposed approach is concluded by capabilities of reduction of a parametric identification problem to essential simple problems of the solution of an algebraic system or quadratic programming.
Abstract: Recently, there have been considerable efforts towards the convergence between P2P and Grid computing in order to reach a solution that takes the best of both worlds by exploiting the advantages that each offers. Augmenting the peer-to-peer model to the services of the Grid promises to eliminate bottlenecks and ensure greater scalability, availability, and fault-tolerance. The Grid Information Service (GIS) directly influences quality of service for grid platforms. Most of the proposed solutions for decentralizing the GIS are based on completely flat overlays. The main contributions for this paper are: the investigation of a novel resource discovery framework for Grid implementations based on a hierarchy of structured peer-to-peer overlay networks, and introducing a discovery algorithm utilizing the proposed framework. Validation of the framework-s performance is done via simulation. Experimental results show that the proposed organization has the advantage of being scalable while providing fault-isolation, effective bandwidth utilization, and hierarchical access control. In addition, it will lead to a reliable, guaranteed sub-linear search which returns results within a bounded interval of time and with a smaller amount of generated traffic within each domain.
Abstract: CIM is the standard formalism for modeling management
information developed by the Distributed Management Task
Force (DMTF) in the context of its WBEM proposal, designed to
provide a conceptual view of the managed environment. In this
paper, we propose the inclusion of formal knowledge representation
techniques, based on Description Logics (DLs) and the Web Ontology
Language (OWL), in CIM-based conceptual modeling, and then we
examine the benefits of such a decision. The proposal is specified as a
CIM metamodel level mapping to a highly expressive subset of DLs
capable of capturing all the semantics of the models. The paper shows
how the proposed mapping can be used for automatic reasoning
about the management information models, as a design aid, by means
of new-generation CASE tools, thanks to the use of state-of-the-art
automatic reasoning systems that support the proposed logic and use
algorithms that are sound and complete with respect to the semantics.
Such a CASE tool framework has been developed by the authors and
its architecture is also introduced. The proposed formalization is not
only useful at design time, but also at run time through the use of
rational autonomous agents, in response to a need recently recognized
by the DMTF.
Abstract: This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.
Abstract: In this paper, we propose the pre-processor based on
the Evidence Supporting Measure of Similarity (ESMS) filter and also
propose the unified fusion approach (UFA) based on the general
fusion machine coupled with ESMS filter, which improve the
correctness and precision of information fusion in any fields of
application. Here we mainly apply the new approach to Simultaneous
Localization And Mapping (SLAM) of Pioneer II mobile robots. A
simulation experiment was performed, where an autonomous virtual
mobile robot with sonar sensors evolves in a virtual world map with
obstacles. By comparing the result of building map according to the
general fusion machine (here DSmT-based fusing machine and
PCR5-based conflict redistributor considereded) coupling with ESMS
filter and without ESMS filter, it shows the benefit of the selection of
the sources as a prerequisite for improvement of the information
fusion, and also testifies the superiority of the UFA in dealing with
SLAM.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations.
Abstract: This paper explains a project based learning method where autonomous mini-robots are developed for research, education and entertainment purposes. In case of remote systems wireless sensors are developed in critical areas, which would collect data at specific time intervals, send the data to the central wireless node based on certain preferred information would make decisions to turn on or off a switch or control unit. Such information transfers hardly sums up to a few bytes and hence low data rates would suffice for such implementations. As a robot is a multidisciplinary platform, the interfacing issues involved are discussed in this paper. The paper is mainly focused on power supply, grounding and decoupling issues.
Abstract: To improve HSE standards, oil and gas industries are
interested in using remotely controlled and autonomous robots instead
of human workers on offshore platforms. In addition to earlier reason
this strategy would increase potential revenue, efficient usage of
work experts and even would allow operations in more remote areas.
This article is the presentation of a custom climbing robot, called
Walloid, designed for offshore platform topside automation. This 4
arms climbing robot with grippers is an ongoing project at University
of Oslo.