Gotowe bibliografie tematyczne / Large Scale Robot Colony

Gotowa bibliografia na temat „Large Scale Robot Colony”

Autor: Grafiati
Data publikacji: 4 czerwca 2021
Data aktualizacji: 20 lutego 2023

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Artykuły w czasopismach na temat "Large Scale Robot Colony"

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Shah, Kunal, Annie Schmidt, Grant Ballard i Mac Schwager. "Large Scale Aerial Multi-Robot Coverage Path Planning". Field Robotics 2, nr 1 (10.03.2022): 1971–98. http://dx.doi.org/10.55417/fr.2022064.

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Autonomous survey and aerial photogrammetry applications require solving a path planning problem that ensures sensor coverage over a specified area. In this work, we provide a multi-robot path planning method that can obtain this coverage over an arbitrary area of interest. We extend our previous method, path optimization for population counting with overhead robotic networks (POPCORN), by a divide-and-conquer scheme, split and link tiles (SALT), which drastically decreases the time needed for route planning. These POPCORN instances can be computed in parallel and combined with SALT in a scalable manner to produce coverage paths over very large areas of interest. To demonstrate this algorithm’s capabilities, we implemented our planning algorithm with a team of drones to conduct multiple photographic aerial wildlife surveys of the Cape Crozier Adélie penguin rookery on Ross Island, Antarctica, one of the largest Adélie penguin colonies in the world. The colony, which contains over 300,000 nesting pairs and spans over 2 km, was surveyed in about 3 hours. In contrast, previous human-piloted single-drone surveys of the same colony required over 2 days to complete. We also have deployed our survey system at several islets at Mono Lake, California, to survey a California gull colony as well as at a 2000-acre ranch in Marin, California. We provide this survey path planning tool as an open-source software package named wadl.
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Guo, Junen, i Wenguang Diao. "An Improved Ant Colony Optimization Algorithm with Crossover Operator". Open Mechanical Engineering Journal 8, nr 1 (21.03.2014): 96–100. http://dx.doi.org/10.2174/1874155x01408010096.

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Ant colony algorithm has been widely applied to lots of fields, such as combinatorial optimization, function optimization, system identification, network routing, robot path planning, data mining and large-scale integrated circuit design of integrated wiring, etc. And it achieved good results. But it still has one weak point which is the slowing convergence speed. To aim at the lacks, an improved ACO is presented. This paper studies a kind of improved ant colony algorithm with crossover operator which makes crossover operator among better results at the end of each iteration. The experiment results indicate that the improved ACO is effectual.
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Shan, Tingting, i Zhaoxuan Qiu. "A Hybrid Algorithm of Ant Colony and Benders Decomposition for Large-Scale Mixed Integer Linear Programming". Computational Intelligence and Neuroscience 2022 (31.08.2022): 1–11. http://dx.doi.org/10.1155/2022/1634995.

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The mixed integer linear programming (MILP) has been widely applied in many fields such as supply chain management and robot control, while how to develop a more efficient algorithm to solve large-scale MILP is still in discussion. This study addresses a hybrid algorithm of the ant colony and Benders decomposition to improve the efficiency. We firstly introduce the design of our algorithm, in which the Benders algorithm decomposes the MILP into a master problem and a slack problem, the ant colony algorithm generates initial solutions for the master problem, and heuristic rules obtain feasible solutions for the slack problem. Then, the computational experiments are carried out to verify efficiency, with a benchmark test and some medium-large scale examples. Compared with other algorithms like CPLEX, GUROBI, and traditional ACA, our algorithm shows a better performance with a 0.3%–4.0% optimality gap, as well as a significant decrease of 54.3% and 33.6% on average in the CPU time and iterations, respectively. Our contribution is to provide a low-workload, time-saving, and high-accuracy hybrid algorithm to solve MILP problems with a large amount of variables, which can be widely used in more commercial solvers and promote the utilization of the artificial intelligence.
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Frías, Ernesto, Lucía Díaz-Vilariño, Jesús Balado i Henrique Lorenzo. "From BIM to Scan Planning and Optimization for Construction Control". Remote Sensing 11, nr 17 (21.08.2019): 1963. http://dx.doi.org/10.3390/rs11171963.

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Scan planning of buildings under construction is a key issue for an efficient assessment of work progress. This work presents an automatic method aimed to determinate the optimal scan positions and the optimal route based on the use of Building Information Models (BIM) and considering data completeness as stopping criteria. The method is considered for a Terrestrial Laser Scanner mounted on a mobile robot following a stop & go procedure. The method starts by extracting floor plans from the BIM model according to the planned construction status, and including geometry and semantics of the building elements considered for construction control. The navigable space is defined from a binary map considering a security distance to building elements. After a grid-based and a triangulation-based distribution are implemented for generating scan position candidates, a visibility analysis is carried out to determine the optimal number and position of scans. The optimal route to visit all scan positions is addressed by using a probabilistic ant colony optimization algorithm. The method has been tested in simulated and real buildings under very dissimilar conditions and structural construction elements. The two approaches for generating scan position candidates are evaluated and results show the triangulation-based distribution as the more efficient approach in terms of processing and acquisition time, especially for large-scale buildings.
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Le, Thuy-Hong-Loan, Perla Maiolino, Fulvio Mastrogiovanni i Giorgio Cannata. "Skinning a Robot: Design Methodologies for Large-Scale Robot Skin". IEEE Robotics & Automation Magazine 23, nr 4 (grudzień 2016): 150–59. http://dx.doi.org/10.1109/mra.2016.2548800.

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Kelly, Alonzo. "Mobile Robot Localization from Large-Scale Appearance Mosaics". International Journal of Robotics Research 19, nr 11 (listopad 2000): 1104–25. http://dx.doi.org/10.1177/02783640022067896.

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Tang, Zhidong, i Chao Yun. "Key Technologies in Large-scale Rescue Robot Wrists". MATEC Web of Conferences 104 (2017): 01005. http://dx.doi.org/10.1051/matecconf/201710401005.

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Stepanenko, Y. "Modal Control of Fast Large-Scale Robot Motions". Journal of Dynamic Systems, Measurement, and Control 109, nr 2 (1.06.1987): 80–87. http://dx.doi.org/10.1115/1.3143841.

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This study concentrates on the following topics in linear state-feedback robotic control: an algorithm for the generation of linearized robot models, a control law providing a desired eigenstructure for the linearized models, and the eigenvalue sensitivity to changes of the linearized model parameters. The algorithm allows the computer generation of linearized dynamic models for any articulated mechanism with revolute or prismatic joints. It does not include numerical differentiation and is based on a compound-vector technique and Newton-Euler dynamics. The control law allows the arbitrary assignment of all eigenvalues and certain entries of the closed-loop eigenvectors. The general structure of the closed-loop modal matrix and the flexibility available in eigenvector assignment are considered. A sensitivity analysis is given for the decoupled control law resulting from a particular eigenvector assignment. An experimental vertion of the developed modal controller was implemented on a multiprocessor system based on Motorola 68020 microprocessors. Details of the implementation and results of robot motion simulation are also included.
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Chen, Kun, Jingjing Wen, Jing Wu i Ze Ji. "Automated Robot-based Large-Scale 3D Surface Imaging". Procedia Computer Science 176 (2020): 2949–58. http://dx.doi.org/10.1016/j.procs.2020.09.208.

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Litzlbauer, Julia, Martina Schifferer, David Ng, Arne Fabritius, Thomas Thestrup i Oliver Griesbeck. "Large Scale Bacterial Colony Screening of Diversified FRET Biosensors". PLOS ONE 10, nr 6 (10.06.2015): e0119860. http://dx.doi.org/10.1371/journal.pone.0119860.

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Rozprawy doktorskie na temat "Large Scale Robot Colony"

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Engwirda, Anthony, i N/A. "Self-Reliance Guidelines for Large Scale Robot Colonies". Griffith University. Griffith School of Engineering, 2007. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20070913.100750.

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A Large Scale Robot Colony (LSRC) is a complex artifact comprising of a significant population of both mobile and static robots. LSRC research is in its literary infancy and it is therefore necessary to rely upon external fields for the appropriate framework, Multi Agent Systems (MAS) and Large Scale Systems (LSS). At the intersection of MAS, LSS and LSRC exist near identical issues, problems and solutions. If attention is paid to coherence then solution portability is possible. The issue of Self-Reliability is poorly addressed by the MAS research field. Disparity between the real world and simulation is another area of concern. Despite these deficiencies, MAS and LSS are perceived as the most appropriate frameworks. MAS research focuses on three prime areas, cognitive science, management and interaction. LSRC is focused on Self-Sustainability, Self-Management and Self-Organization. While LSS research was not primarily intended for populations of mobile robots, it does address key issues of LSRC, such as effective sustainability and management. Implementation of LSRC that is based upon the optimal solution for any one or two of the three aspects will be inferior to a coherent solution based upon all three. LSRC’s are complex organizations with significant populations of both static and mobile robots. The increase in population size and the requirement to address the issue of Self-Reliance give rise to new issues. It is no longer sufficient to speak only in terms of robot intelligence, architecture, interaction or team behaviour, even though these are still valid topics. Issues such as population sustainability and management have greater significance within LSRC. As the size of a robot populations increases, minor uneconomical decisions and actions inhibit the performance of the population. Interaction must be made economical within the context of the LSRC. Sustainability of the population becomes significant as it enables stable performance and extended operational lifespan. Management becomes significant as a mechanism to direct the population so as to achieve near optimal performance. The Self-Sustainability, Self-Management and Self-Organization of LSRC are vastly more complex than in team robotics. Performance of the overall population becomes more significant than individual or team achievement. This thesis is a presentation of the Cooperative Autonomous Robot Colony (CARC) architecture. The CARC architecture is novel in that it offers a coherent baseline solution to the issue of mobile robot Self-Reliance. This research uses decomposition as a mechanism to reduce problem complexity. Self-Reliance is decomposed into Self-Sustainability, Self-Management, and Self-Organization. A solution to the issue of Self-Reliance will comprise of conflicting sub-solutions. A product of this research is a set of guidelines that manages the conflict of sub-solutions and maintains a coherent solution. In addressing the issue of Self-Reliance, it became apparent that Economies of Scale, played an important role. The effects of Economies of Scale directed the research towards LSRC’s. LSRC’s demonstrated improved efficiency and greater capability to achieve the requirements of Self-Reliance. LSRC’s implemented with the CARC architecture would extend human capability, enabling large scale operations to be performed in an economical manner, within real world and real time environments, including those of a remote and hostile nature. The theory and architecture are supported using published literature, experiments, observations and mathematical projections. Contributions of this work are focused upon the three pillars of Self-Reliance addressed by CARC: Self-Sustainability, Self-Management and Self-Organization. The chapter on Self-Sustainability explains and justifies the relevance of this issue, what it is, why it is important and how it can be achieved. Self-Sustainability enables robots to continue to operate beyond disabling events by addressing failure and routine maintenance. Mathematical projections are used to compare populations of non-sustained and sustained robots. Computer modeling experiments are used to demonstrate the feasibility of Self-Sustainability, including extended operational life, the maintenance of optimal work flow and graceful physical degradation (GPD). A detailed explanation is presented of Sustainability Functions, Colony Sites, Static Robot Roles, Static Robot Failure Options, and Polymorphism. The chapter on Self-Management explores LSS research as a mechanism to exert influence over a LSRC. An experimental reactive management strategy is demonstrated. This strategy while limited does indicate promising potential directions for future research including the Man in the Loop (MITL) strategy highly desired by NASA JPL for off world command and control of a significant robot colony (Huntsberger, et. al., 2000). Experiments on Communication evaluate both Broadcast Conveyance (BC) and Message Passing Conveyance (MPC). These experiments demonstrate the potential of Message Passing as a low cost system for LSRC communication. Analysis of Metrics indicates that a Performance Based Feedback Method (PBFM) and a Task Achievement Method (TAM) are both necessary and sufficient to monitor a LSRC. The chapter on Self-Organization describes a number of experiments, algorithms and protocols on Reasoning Robotics, a minor variant of Reactive Robotics. Reasoning Robotics utilizes an Event Driven Architecture (EDA) rather than a Stimulus Driven Architecture (SDA) common to Reactive Robotics. Enhanced robot performance is demonstrated by a combination of EDA and environmental modification enabling stigmergy. These experiments cover Intersection Navigation with contingency for Multilane Intersections, a Radio Packet Controller (RPC) algorithm, Active and Passive Beacons including a communication protocol, mobile robot navigation using Migration Decision Functions (MDF’s), including MDF positional errors. The central issue addressed by this thesis is the production of Self-Reliance guidelines for LSRC’s. Self-Reliance is perceived as a critical issue in advancing the useful and productive applications for LSRC’s. LSRC’s are complex with many issues in related fields of MAS and LSS. Decomposition of Self-Reliance into Self-Sustainability, Self-Management and Self-Organization were used to aid in problem understanding. It was found that Self-Sustainability extends the operational life of individual robots and the LSRC. Self-Management enables the exertion of human influence over the LSRC, such that the ratio of humans to robots is reduced but not eliminated. Self-Organization achieves and enhances performance through a routine and reliable LSRC environment. The product of this research was the novel CARC architecture, which consists of a set of Self-Reliance guidelines and algorithms. The Self-Reliance guidelines manage conflict between optimal solutions and provide a framework for LSRC design. This research was supported by literature, experiments, observations and mathematical projections.
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Engwirda, Anthony. "Self-Reliance Guidelines for Large Scale Robot Colonies". Thesis, Griffith University, 2007. http://hdl.handle.net/10072/368079.

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A Large Scale Robot Colony (LSRC) is a complex artifact comprising of a significant population of both mobile and static robots. LSRC research is in its literary infancy and it is therefore necessary to rely upon external fields for the appropriate framework, Multi Agent Systems (MAS) and Large Scale Systems (LSS). At the intersection of MAS, LSS and LSRC exist near identical issues, problems and solutions. If attention is paid to coherence then solution portability is possible. The issue of Self-Reliability is poorly addressed by the MAS research field. Disparity between the real world and simulation is another area of concern. Despite these deficiencies, MAS and LSS are perceived as the most appropriate frameworks. MAS research focuses on three prime areas, cognitive science, management and interaction. LSRC is focused on Self-Sustainability, Self-Management and Self-Organization. While LSS research was not primarily intended for populations of mobile robots, it does address key issues of LSRC, such as effective sustainability and management. Implementation of LSRC that is based upon the optimal solution for any one or two of the three aspects will be inferior to a coherent solution based upon all three. LSRC’s are complex organizations with significant populations of both static and mobile robots. The increase in population size and the requirement to address the issue of Self-Reliance give rise to new issues. It is no longer sufficient to speak only in terms of robot intelligence, architecture, interaction or team behaviour, even though these are still valid topics. Issues such as population sustainability and management have greater significance within LSRC. As the size of a robot populations increases, minor uneconomical decisions and actions inhibit the performance of the population. Interaction must be made economical within the context of the LSRC. Sustainability of the population becomes significant as it enables stable performance and extended operational lifespan. Management becomes significant as a mechanism to direct the population so as to achieve near optimal performance. The Self-Sustainability, Self-Management and Self-Organization of LSRC are vastly more complex than in team robotics. Performance of the overall population becomes more significant than individual or team achievement. This thesis is a presentation of the Cooperative Autonomous Robot Colony (CARC) architecture. The CARC architecture is novel in that it offers a coherent baseline solution to the issue of mobile robot Self-Reliance. This research uses decomposition as a mechanism to reduce problem complexity. Self-Reliance is decomposed into Self-Sustainability, Self-Management, and Self-Organization. A solution to the issue of Self-Reliance will comprise of conflicting sub-solutions. A product of this research is a set of guidelines that manages the conflict of sub-solutions and maintains a coherent solution. In addressing the issue of Self-Reliance, it became apparent that Economies of Scale, played an important role. The effects of Economies of Scale directed the research towards LSRC’s. LSRC’s demonstrated improved efficiency and greater capability to achieve the requirements of Self-Reliance. LSRC’s implemented with the CARC architecture would extend human capability, enabling large scale operations to be performed in an economical manner, within real world and real time environments, including those of a remote and hostile nature. The theory and architecture are supported using published literature, experiments, observations and mathematical projections. Contributions of this work are focused upon the three pillars of Self-Reliance addressed by CARC: Self-Sustainability, Self-Management and Self-Organization. The chapter on Self-Sustainability explains and justifies the relevance of this issue, what it is, why it is important and how it can be achieved. Self-Sustainability enables robots to continue to operate beyond disabling events by addressing failure and routine maintenance. Mathematical projections are used to compare populations of non-sustained and sustained robots. Computer modeling experiments are used to demonstrate the feasibility of Self-Sustainability, including extended operational life, the maintenance of optimal work flow and graceful physical degradation (GPD). A detailed explanation is presented of Sustainability Functions, Colony Sites, Static Robot Roles, Static Robot Failure Options, and Polymorphism. The chapter on Self-Management explores LSS research as a mechanism to exert influence over a LSRC. An experimental reactive management strategy is demonstrated. This strategy while limited does indicate promising potential directions for future research including the Man in the Loop (MITL) strategy highly desired by NASA JPL for off world command and control of a significant robot colony (Huntsberger, et. al., 2000). Experiments on Communication evaluate both Broadcast Conveyance (BC) and Message Passing Conveyance (MPC). These experiments demonstrate the potential of Message Passing as a low cost system for LSRC communication. Analysis of Metrics indicates that a Performance Based Feedback Method (PBFM) and a Task Achievement Method (TAM) are both necessary and sufficient to monitor a LSRC. The chapter on Self-Organization describes a number of experiments, algorithms and protocols on Reasoning Robotics, a minor variant of Reactive Robotics. Reasoning Robotics utilizes an Event Driven Architecture (EDA) rather than a Stimulus Driven Architecture (SDA) common to Reactive Robotics. Enhanced robot performance is demonstrated by a combination of EDA and environmental modification enabling stigmergy. These experiments cover Intersection Navigation with contingency for Multilane Intersections, a Radio Packet Controller (RPC) algorithm, Active and Passive Beacons including a communication protocol, mobile robot navigation using Migration Decision Functions (MDF’s), including MDF positional errors. The central issue addressed by this thesis is the production of Self-Reliance guidelines for LSRC’s. Self-Reliance is perceived as a critical issue in advancing the useful and productive applications for LSRC’s. LSRC’s are complex with many issues in related fields of MAS and LSS. Decomposition of Self-Reliance into Self-Sustainability, Self-Management and Self-Organization were used to aid in problem understanding. It was found that Self-Sustainability extends the operational life of individual robots and the LSRC. Self-Management enables the exertion of human influence over the LSRC, such that the ratio of humans to robots is reduced but not eliminated. Self-Organization achieves and enhances performance through a routine and reliable LSRC environment. The product of this research was the novel CARC architecture, which consists of a set of Self-Reliance guidelines and algorithms. The Self-Reliance guidelines manage conflict between optimal solutions and provide a framework for LSRC design. This research was supported by literature, experiments, observations and mathematical projections.
Thesis (PhD Doctorate)
Doctor of Philosophy (PhD)
Griffith School of Engineering
Faculty of Engineering and Information Technology
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Feller, Eugen. "Autonomic and Energy-Efficient Management of Large-Scale Virtualized Data Centers". Phd thesis, Université Rennes 1, 2012. http://tel.archives-ouvertes.fr/tel-00785090.

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Large-scale virtualized data centers require cloud providers to implement scalable, autonomic, and energy-efficient cloud management systems. To address these challenges this thesis provides four main contributions. The first one proposes Snooze, a novel Infrastructure-as-a-Service (IaaS) cloud management system, which is designed to scale across many thousands of servers and virtual machines (VMs) while being easy to configure, highly available, and energy efficient. For scalability, Snooze performs distributed VM management based on a hierarchical architecture. To support ease of configuration and high availability Snooze implements self-configuring and self-healing features. Finally, for energy efficiency, Snooze integrates a holistic energy management approach via VM resource (i.e. CPU, memory, network) utilization monitoring, underload/overload detection and mitigation, VM consolidation (by implementing a modified version of the Sercon algorithm), and power management to transition idle servers into a power saving mode. A highly modular Snooze prototype was developed and extensively evaluated on the Grid'5000 testbed using realistic applications. Results show that: (i) distributed VM management does not impact submission time; (ii) fault tolerance mechanisms do not impact application performance and (iii) the system scales well with an increasing number of resources thus making it suitable for managing large-scale data centers. We also show that the system is able to dynamically scale the data center energy consumption with its utilization thus allowing it to conserve substantial power amounts with only limited impact on application performance. Snooze is an open-source software under the GPLv2 license. The second contribution is a novel VM placement algorithm based on the Ant Colony Optimization (ACO) meta-heuristic. ACO is interesting for VM placement due to its polynomial worst-case time complexity, close to optimal solutions and ease of parallelization. Simulation results show that while the scalability of the current algorithm implementation is limited to a smaller number of servers and VMs, the algorithm outperforms the evaluated First-Fit Decreasing greedy approach in terms of the number of required servers and computes close to optimal solutions. In order to enable scalable VM consolidation, this thesis makes two further contributions: (i) an ACO-based consolidation algorithm; (ii) a fully decentralized consolidation system based on an unstructured peer-to-peer network. The key idea is to apply consolidation only in small, randomly formed neighbourhoods of servers. We evaluated our approach by emulation on the Grid'5000 testbed using two state-of-the-art consolidation algorithms (i.e. Sercon and V-MAN) and our ACO-based consolidation algorithm. Results show our system to be scalable as well as to achieve a data center utilization close to the one obtained by executing a centralized consolidation algorithm.
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Johansson, Ronnie. "Large-Scale Information Acquisition for Data and Information Fusion". Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3890.

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Boudreault, Yves 1959. "Design of a VLSI convolver for a robot vision system". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65342.

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Rendon, fernandez Sebastian. "Amélioration de la précision des cellules robotisées pour l’assemblage de grands ensembles en aéronautique". Electronic Thesis or Diss., Paris, HESAM, 2020. http://www.theses.fr/2020HESAE018.

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Ce travail de thèse concerne le développement de différentes méthodes et stratégies visant à améliorer la précision de l’assemblage robotisé de grands ensembles dans l’industrie aéronautique, notamment celle de l’assemblage de la trappe du train principale d’atterrissage d’un Airbus A350 XWB. Ces travaux abordent trois problématiques principales : l’amélioration du positionnement absolu d’un robot industriel, l’identification précise de la position des objets de grandes dimensions dans l’espace, et la mise en contact robotisée de ce type de pièces. Concernant l’amélioration du positionnement absolu du robot, nous avons mis en évidence la capacité de correction des méthodes basées sur capteurs. Celle-ci à travers d’un contrôle 6D de la pose d’un robot KUKA en temps réel, ainsi que son implémentation dans un contrôle hybride position/effort. Une nouvelle stratégie de calibration d’un système de mesure 3D monté sur un bras robotisé, a permis de contribuer significativement à l’amélioration de l’identification précise d’objets de grandes dimensions. Ainsi, le robot nécessite d’adopter une seule configuration articulaire pendant la procédure de calibration, tout en garantissant une précision de mesure constante dans la totalité de son volume de travail. Finalement, nous présentons une nouvelle stratégie de contrôle en admittance, pour garantir la mise en contact de multiples surfaces de pièces de grandes dimensions. Un démonstrateur à l’échelle industrielle a été développé en collaboration avec KUKA Systems Aerospace France et DAHER. Il intègre toutes les stratégies proposées dans ces travaux, et montre leur applicabilité en milieu industriel
This thesis concerns the development of different methods and strategies to improve the accuracy of robotic assembly in the aerospace industry, in particular the assembly of a Main Landing Gear Door of the Airbus A350 XWB. The research addresses three main issues: the improvement of the industrial robot's absolute accuracy, the precise identification of the position of large-scale objects, and the robotic surface-surface contact between two large-scale parts. Concerning the industrial robot's absolute accuracy, we proved the efficiency of the sensor-based correction methods through the development of a 6DoF real-time control of a KUKA robot's pose. This controller was also implemented in a hybrid position/effort control. A new calibration strategy for a 3D measurement system mounted on a robotic arm has contributed significantly to improving the accurate identification of the position of large objects. Thus, it was determined that the robot needs to adopt a single joint configuration during the calibration procedure while guaranteeing the system's constant measurement accuracy throughout its entire working volume. Finally, a new admittance control strategy is presented to guarantee the contact of multiple surfaces on large-scale parts. This controller can be adapted to any position-controller robot and avoids any overshoot of its force/torque setpoint. A full-scale prototype of the assembly cell has been developed in collaboration with KUKA Systems Aerospace France and DAHER. It integrates all the strategies proposed in this work and demonstrates that it can be applied in the industrial environment
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Yang, Shao-Wen, i 楊劭文. "Mobile Robot Localization in Large-scale Dynamic Environments". Thesis, 2011. http://ndltd.ncl.edu.tw/handle/29669359014064867006.

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Streszczenie:
博士
國立臺灣大學
資訊工程學研究所
100
Localization is the most fundamental problem to providing a mobile robot with autonomous capabilities. Whilst simultaneous localization and mapping (SLAM) and moving object tracking (MOT) have attracted immense attention in the last decade, the focus of robotics continues to shift from stationary robots in a factory automation environment to mobile robots operating in human-inhabited environments. State of the art relying on the static world assumption can fail in the real environment that is typically dynamic. Specifically, the real environment is challenging for mobile robots due to the variety of perceptual inconsistency over space and time. Development of situational awareness is particularly important so that mobile robots can adapt quickly to changes in the environment. In this thesis, we explore the problem of mobile robot localization in the real world in theory and practice, and show that localization can benefit from both stationary and dynamic entities. The performance of ego-motion estimation depends on the consistency between sensory information at successive time steps, whereas the performance of localization relies on the consistency between the sensory information and the a priori map. Inconsistencies make a robot unable to robustly determine its location in the environment. We show that mobile robot localization, as well as ego-motion estimation, and moving object detection are mutually beneficial. Most importantly, addressing the inconsistencies serves as the basis for mobile robot localization, and forms a solid bridge between SLAM and MOT. Localization, as well as moving object detection, is not only challenging but also difficult to evaluate quantitatively due to the lack of a realistic ground truth. As the key competencies for mobile robotic systems are localization and semantic context interpretation, an annotated data set, as well as an interactive annotation tool, is released to facilitate the development, evaluation and comparison of algorithms for localization, mapping, moving object detection, moving object tracking, etc. In summary, a unified stochastic framework is introduced to solve the problems of motion estimation and motion segmentation simultaneously in highly dynamic environments in real time. A dual-model localization framework that uses information from both the static scene and dynamic entities is proposed to improve the localization performance by explicitly incorporating, rather than filtering out, moving object information. In the ample experiment, a sub-meter accuracy is achieved, without the aid of GPS, which is adequate for autonomous navigation in crowded urban scenes. The empirical results suggest that the performance of localization can be improved when handling the changing environment explicitly.
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Wu, Chun-Ta, i 吳俊達. "Design and implementation of large-scale biped robot: using intelligent controller". Thesis, 2011. http://ndltd.ncl.edu.tw/handle/54354873176974225504.

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Streszczenie:
碩士
中原大學
電機工程研究所
99
In this thesis, we design and implement a large-scale biped robot. The robot has ten degrees of freedom. Traditional large-scale biped robot is very expensive, thus we attempt to design a low cost biped robot in order to cut down the threshold in studying large-scale biped robot. The robot's static walking is planned by forward kinematics and COG (center of gravity). The stability of a biped robot depends on its COG if COG of a biped robot falls in the certain region. Furthermore, to make the system walking more smooth and stable, we used Mamdani type fuzzy logic controller to robot tracking control and anti-swing control. Due to ten motors act in the same time, we design multi-chip parallel processing control structure. Finally, the experimental results of propose large-scale biped robot demonstrates the good performance of the whole control system.
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Chu, Chien-Liang, i 朱建亮. "Network-based Robot Design and Realization of Large-Scale Direct Monocular SLAM". Thesis, 2015. http://ndltd.ncl.edu.tw/handle/03936106722306096676.

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碩士
國立臺灣科技大學
機械工程系
103
In this thesis we designed and constructed a two-wheel robot vehicle capable of wireless communication with onboard IP camera and motion sensors, the vehicle joins real-time image, measurements from robot’s sensors and robot control command into a local area network, thus achieving cloud controlling with good generalization and expandability between platforms. As the robot industry turning into a developed market, the complexity of application scenarios and the variety of surrounding factors increases, to enable the robot to perform localization and mapping in various environments, this thesis uses an algorithm to construct 3-D environment model via a single camera, allowing the robot to update its position and build a 3-D point cloud model of the environment while traveling indoor. This thesis carries out LSD-SLAM ( Large-Scale Direct Monocular SLAM ) on our self-built vehicle, this method can simultaneously reconstruct camera gesture and 3-D model of the environment, reducing possible error in feature extraction method through Semi-Dense Visual Odometry and Pose Graph Optimization, after combining our proposed scale factor correction and coordinate transposition method the estimation results can be presented in real world scale for actual applications after fitting procedure, to further increase computing efficiency we use parallel GPU computation architecture to speed up 3-D environment reconstruction, and reduce both computational complexity and scale shifting by map stitching method, since we adopt a consumer IP camera for image acquisition, we sufficiently reduce the cost of the robot and the size of the image module, giving developers more flexibility with vehicle design.
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Shih, Jhih-Syuan, i 施志軒. "A Study on 3D Large-Scale Scenes Reconstruction Algorithms Using a SLAM Robot". Thesis, 2013. http://ndltd.ncl.edu.tw/handle/3566k4.

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碩士
國立臺灣大學
生物產業機電工程學研究所
101
3D 虛擬場景已被廣泛應用於許多場合，如虛擬實境與地理資訊系統等應用。本研究致力於發展一套低成本、能自動重建大尺度場景之自主式移動機器人。為達到此目的機器人必須搭載自行開發之環境資訊收集裝置 (environment information collector, EIC) 來收集環境三維空間資訊與影像資訊。並且採用以擴展式卡曼濾波器為基礎的同步定位與地圖建構技術 (simultaneous localization and mapping, SLAM) 來估測機器人自身位置並連結各場景間之關係。將所收集到的深度與影像資訊分別存放於深度影像與環場影像中，在透過兩張影像間之輪廓對應降低傳統雷射與影像間對應的繁雜手續，加快色彩點雲場景的重建。多場景間的接合是利用疊代最接近點演算法 (iterative closest points, ICP) 來完成，但為了避免地形起伏所造成的影響，故考慮機器人六個方向自由度的姿態來進行場景接合。在完成場景接合後仍需透過三角網格處理建立模型表面，並運用材質貼圖來產生高品質的場景模型。本系統提出改良後的 ICP 演算法來提升場景接合之成功率與降低運算時間，平均單步執行時間為7.9秒。場景與場景之平均距離為10.6 公尺，且接合誤差小於8%。若在接合時偵測到封閉迴路，將利用 ELCH (explicit loop closing heuristic) 演算法來加以修正。
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Książki na temat "Large Scale Robot Colony"

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Elibol, Armagan. Efficient Topology Estimation for Large Scale Optical Mapping. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.

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Efficient Topology Estimation For Large Scale Optical Mapping. Springer, 2012.

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Garcia, Rafael, Armagan Elibol i Nuno Gracias. Efficient Topology Estimation for Large Scale Optical Mapping. Springer, 2014.

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P, Giesy Daniel, Langley Research Center i United States. National Aeronautics and Space Administration., red. Algorithms for efficient computation of transfer functions for large order flexible systems. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1998.

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Części książek na temat "Large Scale Robot Colony"

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Fidanova, Stefka, Krassimir Atanassov i Pencho Marinov. "Intuitionistic Fuzzy Estimation of the Ant Colony Optimization Starting Points". W Large-Scale Scientific Computing, 222–29. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-29843-1_25.

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Fidanova, Stefka. "Probabilistic Model of Ant Colony Optimization for Multiple Knapsack Problem". W Large-Scale Scientific Computing, 545–52. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-78827-0_62.

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Fidanova, Stefka, i Olympia Roeva. "Influence of Ant Colony Optimization Parameters on the Algorithm Performance". W Large-Scale Scientific Computing, 358–65. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-73441-5_38.

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Fidanova, Stefka, i Krassimir Atanassov. "Generalized Nets as Tools for Modeling of the Ant Colony Optimization Algorithms". W Large-Scale Scientific Computing, 326–33. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-12535-5_38.

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Moisil, Ioana, Iulian Pah, Dana Simian i Corina Simian. "Ant Colony Models for a Virtual Educational Environment Based on a Multi-Agent System". W Large-Scale Scientific Computing, 577–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-78827-0_66.

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Moisil, Ioana, i Alexandru-Liviu Olteanu. "Some Aspects Regarding the Application of the Ant Colony Meta-heuristic to Scheduling Problems". W Large-Scale Scientific Computing, 343–51. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-12535-5_40.

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Fidanova, Stefka, Pencho Marinov i Marcin Paprzycki. "Influence of the Number of Ants on Multi-objective Ant Colony Optimization Algorithm for Wireless Sensor Network Layout". W Large-Scale Scientific Computing, 232–39. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-43880-0_25.

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Shuva, Shahnewaz, Patrick Buchfink, Oliver Röhrle i Bernard Haasdonk. "Reduced Basis Methods for Efficient Simulation of a Rigid Robot Hand Interacting with Soft Tissue". W Large-Scale Scientific Computing, 402–9. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-97549-4_46.

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Kalempa, Vivian Cremer, Marco Antonio Simões Teixeira, André Schneider de Oliveira i João Alberto Fabro. "Agile Experimentation of Robot Swarms in Large Scale". W Studies in Computational Intelligence, 77–123. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-45956-7_4.

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Shell, Dylan A., i Maja J. Matarić. "Ergodic Dynamics for Large-Scale Distributed Robot Systems". W Lecture Notes in Computer Science, 254–66. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/11839132_21.

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Streszczenia konferencji na temat "Large Scale Robot Colony"

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Singhania, Rajshekhar, Chinmay Sawkar i Manoj K. Tiwari. "Optimal Sensor Deployment to Diagnose Large-Scale Manufacturing Systems Using a Convergence-Trajectory Controlled Ant Colony System Algorithm". W ASME 2021 16th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/msec2021-62056.

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Abstract In this article, the problem of optimal sensor deployment in large-scale manufacturing systems for effective process monitoring is solved using a variant of the ant colony system (ACS) algorithm to obtain an optimal number of sensors, their types, and locations for monitoring various possible faults. For this purpose, first, we define the need for optimizing sensor deployment in large-scale manufacturing processes because of the increasing application of Wireless Sensor Networks (WSNs) as an architectural framework for Machine-to-Machine (M2M) communications and Cyber-Physical Systems (CPS). Then a multi-objective formulation of optimal sensor deployment in a Single Station Multi-Step Manufacturing Process concerning sensor costs, system reliability, and stability is briefly explained. As noted earlier by several authors, the sensor deployment problem is a set covering problem. It is known that metaheuristics like genetic algorithms, variants of ant colony algorithms, etc. are not efficient in finding a near-optimal solution in less computational budget to the large-scale set covering problems. For this purpose, a Convergence Trajectory Controlled ant colony system is developed and applied on a case study of an automated assembly robot. For an effective demonstration of the convergence power of the developed algorithm, we also apply our algorithm on some large-scale benchmark datasets of the set covering problem and compare the results obtained with the ant colony system algorithm. The results obtained show that the developed algorithm can give a near-optimal solution in less computational budget than the ACS algorithm.
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Yu Zhang, Shuhua Liu, Jie Liu i Chenmu Yu. "Notice of Violation of IEEE Publication Principles - Large-scale multi-robot task allocation based on Ant Colony Algorithm". W 2008 Chinese Control and Decision Conference (CCDC). IEEE, 2008. http://dx.doi.org/10.1109/ccdc.2008.4597703.

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Liu, Xiao-Fang, Bo-Cheng Lin, Zhi-Hui Zhan, Sang-Woon Jeon i Jun Zhang. "An Efficient Ant Colony System for Multi-Robot Task Allocation with Large-scale Cooperative Tasks and Precedence Constraints". W 2021 IEEE Symposium Series on Computational Intelligence (SSCI). IEEE, 2021. http://dx.doi.org/10.1109/ssci50451.2021.9659912.

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Menezes, Amor A., i Pierre T. Kabamba. "Resilient Self-Reproducing Systems". W ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2284.

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This paper is motivated by the need to minimize the payload mass required to establish an extraterrestrial robotic colony. One approach for this minimization is to deploy a colony consisting of individual robots capable of self-reproducing. An important consideration once such a colony is established is its resiliency to large-scale environment or state variations. Previous approaches to learning and adaptation in self-reconfigurable robots have utilized reinforcement learning, cellular automata, and distributed control schemes to achieve robust handling of failure modes at the modular level. This work considers self-reconfigurability at the system level, where each constituent robot is endowed with a self-reproductive capacity. Rather than focus on individual dynamics, the hypothesis is that resiliency in a collective may be achieved if: 1) individual robots are free to explore all options in their decision space, including self-reproduction, and 2) they dwell preferentially on the most favorable options. Through simulations, we demonstrate that a colony operating in accordance with this hypothesis is able to adapt to changes in the external environment, respond rapidly to applied disturbances and disruptions to the internal system states, and operate in the presence of uncertainty.
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Li, Xiaojiang, Jiapin Liao i Min Cai. "Ant colony algorithm for large scale TSP". W 2011 International Conference on Electrical and Control Engineering (ICECE). IEEE, 2011. http://dx.doi.org/10.1109/iceceng.2011.6057105.

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Lu, Xiang-lin, i Yun-xian Hou. "Ant Colony Optimization for Facility Location for Large-Scale Emergencies". W 2009 International Conference on Management and Service Science (MASS). IEEE, 2009. http://dx.doi.org/10.1109/icmss.2009.5302451.

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Fister, Iztok, Iztok Jr Fister i Janez BresViljem Zumer. "Memetic artificial bee colony algorithm for large-scale global optimization". W 2012 IEEE Congress on Evolutionary Computation (CEC). IEEE, 2012. http://dx.doi.org/10.1109/cec.2012.6252938.

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Manger, Daniel. "Large-Scale Tattoo Image Retrieval". W 2012 Canadian Conference on Computer and Robot Vision (CRV). IEEE, 2012. http://dx.doi.org/10.1109/crv.2012.67.

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Liang, Yu, Yu Liu i Liang Zhang. "An improved artificial bee colony (ABC) algorithm for large scale optimization". W 2013 2nd International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA). IEEE, 2013. http://dx.doi.org/10.1109/imsna.2013.6743359.

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He, Dongxiao, Jie Liu, Dayou Liu, Di Jin i Zhengxue Jia. "Ant colony optimization for community detection in large-scale complex networks". W 2011 Seventh International Conference on Natural Computation (ICNC). IEEE, 2011. http://dx.doi.org/10.1109/icnc.2011.6022234.

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Raporty organizacyjne na temat "Large Scale Robot Colony"

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Jones, Chris, i Maja J. Mataric. Adaptive Division of Labor in Large-Scale Minimalist Multi-Robot Systems. Fort Belvoir, VA: Defense Technical Information Center, styczeń 2003. http://dx.doi.org/10.21236/ada459488.

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Ibdah, Mwafaq, Dorothea Tholl i Philipp W. Simon. How temperature stress changes carrot flavor: Elucidating the genetic determinants of undesired taste in carrots. United States Department of Agriculture, styczeń 2014. http://dx.doi.org/10.32747/2014.7598171.bard.

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Global climate change and warming temperatures represent the greatest future challenge for global food production and quality. In this project, we will define the genetic factors of climate-associated taste deficiencies in carrot. Carrot is considered one of the leading horticultural crops in the world in terms of its nutritional value, health benefits, and unique flavor based on its high content of carotenoids and volatile aroma compounds. In recent years, carrot genotypes of different color with improved nutraceutical attributes have been developed. When exposed to high growth temperatures, carrots develop an undesired harsh and bitter taste caused by the accumulation of terpene metabolites. This taste deficiency represents a quality defect to carrot breeders and large- scale growers and needs to be minimized for successful marketing of carrot crops. Surprisingly, the genetic determinants of bitter and harsh flavor in carrot and their response to temperature stress are not well characterized. We started to elucidate these factors in different carrot cultivars by investigating the biosynthesis of volatile terpenes, which represent the predominant flavor compounds in carrots. Also, up to date we identified and characterized two terpenesynthase enzymes, one of which produces (E)-β- caryophyllene, a major terpene component in carrot root. Both TPSs may contribute to the observed variation in volatile terpene formation.
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Rinkevich, Baruch, i Cynthia Hunter. Inland mariculture of reef corals amenable for the ornamental trade. United States Department of Agriculture, styczeń 2006. http://dx.doi.org/10.32747/2006.7695880.bard.

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The worldwide market for ornamental saltwater invertebrates supplies the needs of millions of aquarium hobbyists, public exhibitions (i.e., zoos) universities and research institutions. With respect to reef building corals, it is estimated that more than half a million coral colonies/year from a total 93 genera, were exported globally during the period of 1985-1997. International value of retail sale of live coral trade alone is estimated as $78 million in 1997 (not including the illegally, widely smuggled material). The continuous, large-scale collection of marine organisms is responsible, in many places, for the destruction of coral reefs. The expected expansion of the trade further threatens these fragile habitats. While no true captive-bred corals are commercially available, our long-term goal is to develop ex situ inland farming of coral colonies that will circumvent the need for in situ collections and will provide domesticated specimens for the trade and for research. We simultaneously studied two model branching coral species, Stylophora pistillata (Pocilloporidae; in Israel) and Porites (Poritidae; in the US). The proposal included three specific aims: (a) To develop protocols for nubbins (small fragments, down to the size of a single polyp) usage in coral farming;(b) To address the significance of colony pattern formation to the coral trade; and (c) To develop the protocols of using nubbins in physiological and ecotoxicological assays (using oil dispersants, the expression of the stress protein HSP-70, household detergents, etc.). Ten scientific publications (published manuscripts, accepted for publications, submitted to scientific journals, in preparation), revealing results that were related to all three specific aims, originated from this BARD proposal. As a result of the work supported by the BARD, we have now, in hand, original and improved protocols for coral maintenance ex situ, proven expertise on manipulating coral colonies’ pattern formation and biological knowledge on island mariculture of reef corals (from Hawaii and from the Red Sea) amenable for the ornamental trade (for public and private aquaria use, for experimentation). At least one Israeli company (Red Sea Corals, Ltd., KibbutzSaar) is using our methodologies for further developing this new mariculture sector. We are now in the process of introducing the rationale and methodologies to Hawaiian private entities to expand dissemination of the research outcomes.
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