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Artykuły w czasopismach na temat „Large Scale Robot Colony”

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Autor: Grafiati

Data publikacji: 4 czerwca 2021

Data aktualizacji: 20 lutego 2023

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1

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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3

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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4

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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5

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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6

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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7

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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8

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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9

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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10

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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11

Cytowski, Maciej, i Zuzanna Szymanska. "Large-Scale Parallel Simulations of 3D Cell Colony Dynamics". Computing in Science & Engineering 16, nr 5 (wrzesień 2014): 86–95. http://dx.doi.org/10.1109/mcse.2014.2.

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12

Ouyang, Ai Jia, i Yong Quan Zhou. "An Improved PSO-ACO Algorithm for Solving Large-Scale TSP". Advanced Materials Research 143-144 (październik 2010): 1154–58. http://dx.doi.org/10.4028/www.scientific.net/amr.143-144.1154.

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In this paper, an improved particle swarm optimization-ant colony algorithm (PSO-ACO) is presented by inserting delete-crossover strategy into it for the shortcoming which PSO-ACO can’t solve the large-scale TSP. The experiments results show that the PSO-ACO has better performance than ant colony algorithm (ACO) on searching the shortest paths, error and robustness for the TSP.

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13

Guo, Jifeng, Chengchao Bai i Cheng Chen. "Sequence planning for human and robot cooperative assembly of large space truss structures". Aircraft Engineering and Aerospace Technology 89, nr 6 (2.10.2017): 804–8. http://dx.doi.org/10.1108/aeat-06-2014-0093.

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Purpose In the future, large space truss structures will be likely to require on-orbit assembly. One of the several proposed methods includes cooperative assembly performed by pressure-suited astronauts during extravehicular activity (EVA) and space robots. An intelligent planning method was presented to generate optimal assembly tasks. Design/methodology/approach Firstly, the inherent hierarchical nature of truss structures allows assembly sequences to be considered from strut level and structural volume element (SVE) level. Then, a serial assembly strategy in human-robot environment was applied. Furthermore, a two-level planning algorithm was presented. At the first-level planning, one ant colony algorithm for assembly sequence planning was improved to adopt assembly direction and time as heuristic information and did not consider assembly tasks. And, at the second-level planning, another novel colony algorithm for assembly task planning mainly considered results of the first-level planning, human-robot interactive information, serial assembly strategy and assembly task distributions. Findings The proposed two-level planning algorithm is very effective for solving the human and robot cooperative assembly of large space truss structures. Research limitations/implications In this paper, the case study is based on the following assumptions: each tetrahedron is assembled by two astronauts; each pentahedron is assembled by three astronauts. Practical implications A case illustrates the results of the two-level planning. From this case study, because of geometrical symmetry nature of large space truss structures, the optimal assembly sequences are not only one. Originality/value The improved ant colony algorithm can deal with the assembly sequence and task planning in human-robot environment more effectively.

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14

Bergner, Florian, Emmanuel Dean-Leon, Julio Rogelio Guadarrama-Olvera i Gordon Cheng. "Evaluation of a Large Scale Event Driven Robot Skin". IEEE Robotics and Automation Letters 4, nr 4 (październik 2019): 4247–54. http://dx.doi.org/10.1109/lra.2019.2930493.

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15

Derenick, Jason C., i John R. Spletzer. "Convex Optimization Strategies for Coordinating Large-Scale Robot Formations". IEEE Transactions on Robotics 23, nr 6 (grudzień 2007): 1252–59. http://dx.doi.org/10.1109/tro.2007.909833.

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16

Barnett, Eric, i Clément Gosselin. "Large-scale 3D printing with a cable-suspended robot". Additive Manufacturing 7 (lipiec 2015): 27–44. http://dx.doi.org/10.1016/j.addma.2015.05.001.

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17

SHIBATA, Yuki, i Kazuyuki MORIOKA. "Development of a Large-scale Mobile Robot Network Simulator". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (2022): 1P1—R04. http://dx.doi.org/10.1299/jsmermd.2022.1p1-r04.

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18

Campbell, Tessa N., i Francis Y. M. Choy. "Large-Scale Colony Screening and Insert Orientation Determination Using PCR". BioTechniques 30, nr 1 (styczeń 2001): 32–34. http://dx.doi.org/10.2144/01301bm04.

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19

Zhao, Suyao, Chengyi Li, Mengmeng Tian, Hengyuan Zhang, Zhixuan Xiao i Runjiu Hu. "Large-Scale Scheduling Model Based on Improved Ant Colony Algorithm". Mobile Information Systems 2022 (31.05.2022): 1–6. http://dx.doi.org/10.1155/2022/9116121.

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With the rapid development of the city, shared bicycle travel has also entered a stage of rapid development. In order to ensure the happiness of citizens traveling, in view of the current supply and demand resources and bicycle scheduling problems, a model of supply and demand resource forecasting and multisite and multivehicle scheduling are established. Supply and demand resource prediction uses characteristic variables based on the graph structure itself as input variables of the prediction model XGBoost (extreme gradient boosting). Combined with the actual situation, the improved ant colony algorithm is used to design a reasonable scheduling for the multisite and multivehicle routing problem (VRP). Using Xiamen City shared bicycle data for simulation training, the results show that the shared bicycle scheduling method proposed in this paper has strong robustness and rationality.

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20

H. Song, C. S. V. Chou, Y. Min, Y. "Large-Scale Economic Dispatch by Artificial Ant Colony Search Algorithms". Electric Machines & Power Systems 27, nr 7 (czerwiec 1999): 679–90. http://dx.doi.org/10.1080/073135699268948.

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Gui, Zhongcheng, Yongjun Deng, Zhongxi Sheng, Tangjie Xiao, Yonglong Li, Fan Zhang, Na Dong i Jiandong Wu. "Design and experimental verification of an intelligent wall-climbing welding robot system". Industrial Robot: An International Journal 41, nr 6 (20.10.2014): 500–507. http://dx.doi.org/10.1108/ir-08-2014-0384.

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Purpose – This paper aims to present a new intelligent wall-climbing welding robot system for large-scale steel structure manufacture, which is composed of robot body, control system and welding system. Design/methodology/approach – The authors design the robot system according to application requirements, validate the design through simulation and experiments and use the robot in actual production. Findings – Experimental results show that the robot system satisfies the demands of automatic welding of large-scale ferromagnetic structure, which contributes much to on-site manufacturing of such structures. Practical implications – The robot can work with better quality and efficiency compared with manual welding and other semi-automatic welding devices, which can much improve large-scale steel structure manufacturing. Originality/value – The robot system is a novel solution for large-scale steel structures welding. There are three major advantages: the robot body with reliable adsorption ability, large payload capability and good mobility which meet the requirements of welding; the control system with good welding seam tracking accuracy and intelligent automatic welding ability; and friendly human – computer interface which makes the robot easy to use.

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Lu, Austin, Ethaniel Moore, Arya Nallanthighall, Mankeerat S. Sidhu, Kanad Sarkar, Manan Mittal, Ryan M. Corey, Paris Smaragdis i Andrew C. Singer. "Mechatronic acoustic research system for generating real large-scale dynamic datasets". Journal of the Acoustical Society of America 152, nr 4 (październik 2022): A51. http://dx.doi.org/10.1121/10.0015511.

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To support spatial audio research, we aim to take recordings from complex acoustic environments with moving sources and microphones, however we observe a lack of research tools that can accomplish this. Past approaches recorded people engaging in various tasks, which produces rich data that unfortunately lacks repeatability. We propose using robots to recreate dynamic scenes without the inherent variability of human motion. To be useful, this Mechatronic Acoustic Research System must be remotely accessible, offer concise representations of dynamic scenes, support a variety of robot and audio devices, and synchronize robot motion. In this talk, we show how we solved these challenges. Remote experimentation is facilitated by our virtual interface, which uses a simple GUI to describe robot motion and audio playback/recording. A digital twin physical simulation is used for visualization and validation of motion paths. We propose using the Robot Operating System for multi-robot coordination so that networked robots can be incorporated with little overhead. We use MARS to run experiments where a cable-driven parallel robot moves a loudspeaker along a 3D path while being recorded from distributed Matrix Voice microphone arrays. We evaluate the measured audio to show repeatability of the system, justifying its use in research.

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MONTA, Mitsuji, Noriko NISHIZAKI, Satoshi HAMADA i Kazuhiko NAMBA. "2A1-B11 Tomato Harvesting Robot in Large Scale Greenhouse : Outline of Harvesting Robot System". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 (2006): _2A1—B11_1—_2A1—B11_4. http://dx.doi.org/10.1299/jsmermd.2006._2a1-b11_1.

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Wu, Jiafeng, Rui Zhang i Guangxin Yang. "Design and experiment verification of a new heavy friction-stir-weld robot for large-scale complex surface structures". Industrial Robot: An International Journal 42, nr 4 (15.06.2015): 332–38. http://dx.doi.org/10.1108/ir-01-2015-0009.

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Purpose – This paper aims to present a new friction-stir-weld robot for large-scale complex surface structures, which has high stiffness and good flexibility. Design/methodology/approach – The robot system is designed according to manufacturability of large aluminum products in aeronautic and astronautic area. The kinematic model of the robot is established, and a welding trajectory planning method is also developed and verified by experiments. Findings – Experimental results show that the robot system can meet the requirements of friction stir welding (FSW) for large-scale complex surface structures. Practical implications – Compared with other heavy robotic arm and machine tool welding devices, this robot has better working quality and capability, which can greatly improve the manufacturability for large-scale complex surface structures. Originality/value – The friction-stir-weld robot system is a novel solution for welding large-scale complex surface structures. Its major advantages are the high stiffness, good flexibility and high precision of the robot body, which can meet the requirements of FSW. Besides, a welding trajectory planning method based on iterative closest point (ICP) algorithm is used for welding trajectory.

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Gallina, Paolo, Gabriele Bulian i Giovanni Mosetti. "Water bouncing robots: a first step toward large-scale water running robots". Robotica 34, nr 7 (21.10.2014): 1659–76. http://dx.doi.org/10.1017/s0263574714002495.

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SUMMARYRobots running on water have attracted the attention of researchers in the last decades as an alternative to conventional aquatic propulsion mechanisms. Up to now, a large scale robot capable of running on water has not been realized. Bouncing on water is a prerequisite for running on water. For this reason, the development of a water bouncing robot represents a necessary first step. The paper presents the model of a 2-degree-of-freedom water bouncing robot inspired by the pogo-stick, a device for jumping off the ground in a standing position. An analytical model of the impact force between “robot's foot” and water is provided for both water-entry and water-exit phases. Such a model has been integrated in a dynamic simulation of whole robot. The model represents a useful and general framework to gain an insight into the parameters that characterize the efficiency of robot.

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Zhao, Xingwei, Bo Tao, Shibo Han i Han Ding. "Accuracy analysis in mobile robot machining of large-scale workpiece". Robotics and Computer-Integrated Manufacturing 71 (październik 2021): 102153. http://dx.doi.org/10.1016/j.rcim.2021.102153.

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Akkaya, Kemal, Izzet F. Senturk i Shanthi Vemulapalli. "Handling large-scale node failures in mobile sensor/robot networks". Journal of Network and Computer Applications 36, nr 1 (styczeń 2013): 195–210. http://dx.doi.org/10.1016/j.jnca.2012.09.005.

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Ismkhan, Hassan. "Effective heuristics for ant colony optimization to handle large-scale problems". Swarm and Evolutionary Computation 32 (luty 2017): 140–49. http://dx.doi.org/10.1016/j.swevo.2016.06.006.

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Banharnsakun, Anan. "A MapReduce-based artificial bee colony for large-scale data clustering". Pattern Recognition Letters 93 (lipiec 2017): 78–84. http://dx.doi.org/10.1016/j.patrec.2016.07.027.

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Selander, E., E. C. Berglund, P. Engström, F. Berggren, J. Eklund, S. Harðardóttir, N. Lundholm, W. Grebner i M. X. Andersson. "Copepods drive large-scale trait-mediated effects in marine plankton". Science Advances 5, nr 2 (luty 2019): eaat5096. http://dx.doi.org/10.1126/sciadv.aat5096.

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Fear of predation may influence food webs more than actual predation. However, the mechanisms and magnitude of nonconsumptive predator effects are largely unknown in unicellular-dominated food webs such as marine plankton. We report a general mechanism of chemically induced predator effects in marine plankton. Copepods, the most abundant zooplankton in the oceans, imprint seawater with unique polar lipids—copepodamides—which trigger toxin production and bioluminescence in harmful dinoflagellates. We show that copepodamides also elicit defensive traits in other phytoplankton, inducing the harmful algal bloom-forming diatom Pseudo-nitzschia seriata to produce 10 times more toxins, and colony-forming diatoms to decrease colony size by half. A 1-year study in the northeast Atlantic revealed that natural copepodamide concentrations are high enough to induce harmful algal toxins and size reduction in dominant primary producers when copepods are abundant. We conclude that copepodamides will structure marine plankton toward smaller, more defended life forms on basin-wide scales.

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Liu, Guangze, Song Wang i Wenfu Xu. "Flying State Sensing and Estimation Method of Large-Scale Bionic Flapping Wing Flying Robot". Actuators 11, nr 8 (31.07.2022): 213. http://dx.doi.org/10.3390/act11080213.

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A large bionic flapping wing robot has unique advantages in flight efficiency. However, the fluctuation of fuselage centroid during flight makes it difficult for traditional state sensing and estimation methods to provide stable and accurate data. In order to provide stable and accurate positioning and attitude information for a flapping wing robot, this paper proposes a flight state sensing and estimation method integrating multiple sensors. Combined with the motion characteristics of a large flapping wing robot, the autonomous flight, including the whole process of takeoff, cruise and landing, is realized. An explicit complementary filtering algorithm is designed to fuse the data of inertial sensor and magnetometer, which solves the problem of attitude divergence. The Kalman filter algorithm is designed to estimate the spatial position and speed of a flapping wing robot by integrating inertial navigation with GPS (global positioning system) and barometer measurement data. The state sensing and estimation accuracy of the flapping wing robot are improved. Finally, the flying state sensing and estimation method is integrated with the flapping wing robot, and the flight experiments are carried out. The results verify the effectiveness of the proposed method, which can provide a guarantee for the flapping wing robot to achieve autonomous flight beyond the visual range.

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Chen, Yonggui, Ping Tang, Shuai Kong, Sunting Yan, Chenfeng Guan i Wei Tian. "Automation Solution to Wall-climbing Robot Working for Large-scale Metal Spherical Tanks". Highlights in Science, Engineering and Technology 9 (30.09.2022): 168–73. http://dx.doi.org/10.54097/hset.v9i.1741.

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The modern weld inspection by robot operation has been attractive for safe-guarding large-scale pressure equipment in chemical energy industry by avoiding hard labors in harmful and toxic environments, with lower costs and higher efficiency and especially without the need of complex scaffolding. A wall-climbing robot based on permanent magnet adsorption is introduced to perform weld inspections of large-scales metal spherical tanks. This paper expounds the mechanical structure, intelligent visual functionality and intelligent walking system of the designed robot. Its optimized walk paths are proposed. Numerous engineering tests indicate good performance of designed robot in achieving high-quality surface treatment and non-destructive testing for large-scales metal spherical tanks. The suggested scheme provides an automation solution to wall-climbing robots working for large-scale metal spherical tanks.

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Zhang, Yonggui, Gan Zhang, Xin Xu i Qianqiu Zhao. "Research on Region Division of Large Workpiece Based on Dexterous Workspace of Robot". Journal of Physics: Conference Series 2095, nr 1 (1.11.2021): 012059. http://dx.doi.org/10.1088/1742-6596/2095/1/012059.

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Abstract In order to complete the processing of large-scale workpieces, a region division of large-scale workpieces based on robot dexterous workspace is studied. The linkage coordinate system of the robot is established by D-H method, and the forward kinematics equation of the robot is obtained; Monte Carlo method is used to analyze the workspace of the robot, and MATLAB is used to program to draw the workspace and task space of the robot; Taking an example part as the object, the feature of the part is studied, and the process of determining the task space area of the workpiece in the dexterous workspace of the robot is given, and the region of the workpiece is divided based on the size of the task space and the geometric features of the workpiece.

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Rausch, Ilja, Yara Khaluf i Pieter Simoens. "Scale-Free Features in Collective Robot Foraging". Applied Sciences 9, nr 13 (30.06.2019): 2667. http://dx.doi.org/10.3390/app9132667.

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In many complex systems observed in nature, properties such as scalability, adaptivity, or rapid information exchange are often accompanied by the presence of features that are scale-free, i.e., that have no characteristic scale. Following this observation, we investigate the existence of scale-free features in artificial collective systems using simulated robot swarms. We implement a large-scale swarm performing the complex task of collective foraging, and demonstrate that several space and time features of the simulated swarm—such as number of communication links or time spent in resting state—spontaneously approach the scale-free property with moderate to strong statistical plausibility. Furthermore, we report strong correlations between the latter observation and swarm performance in terms of the number of retrieved items.

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Wang, Hong-Jun, Yong Fu, Zhuo-Qun Zhao i You-Jun Yue. "An Improved Ant Colony Algorithm of Robot Path Planning for Obstacle Avoidance". Journal of Robotics 2019 (9.06.2019): 1–8. http://dx.doi.org/10.1155/2019/6097591.

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The obstacle avoidance in path planning, a hot topic in mobile robot control, has been extensively investigated. The existing ant colony algorithms, however, remain as drawbacks including failing to cope with narrow aisles in working areas, large amount of calculation, etc. To address above technical issues, an improved ant colony algorithm is proposed for path planning. In this paper, a new weighted adjacency matrix is presented to determine the walking direction and the narrow aisles therefore are avoided by redesigning the walking rules. Also, the best ant and the worst ant are introduced for the adjustment of pheromone to facilitate the searching process. The proposed algorithm guarantees that robots are able to find a satisfying path in the presence of narrow aisles. The simulation results show the effectiveness of the proposed algorithm.

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Zhang, Hui, Xieyuanli Chen, Huimin Lu i Junhao Xiao. "Distributed and collaborative monocular simultaneous localization and mapping for multi-robot systems in large-scale environments". International Journal of Advanced Robotic Systems 15, nr 3 (1.05.2018): 172988141878017. http://dx.doi.org/10.1177/1729881418780178.

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In this article, we propose a distributed and collaborative monocular simultaneous localization and mapping system for the multi-robot system in large-scale environments, where monocular vision is the only exteroceptive sensor. Each robot estimates its pose and reconstructs the environment simultaneously using the same monocular simultaneous localization and mapping algorithm. Meanwhile, they share the results of their incremental maps by streaming keyframes through the robot operating system messages and the wireless network. Subsequently, each robot in the group can obtain the global map with high efficiency. To build the collaborative simultaneous localization and mapping architecture, two novel approaches are proposed. One is a robust relocalization method based on active loop closure, and the other is a vision-based multi-robot relative pose estimating and map merging method. The former is used to solve the problem of tracking failures when robots carry out long-term monocular simultaneous localization and mapping in large-scale environments, while the latter uses the appearance-based place recognition method to determine multi-robot relative poses and build the large-scale global map by merging each robot’s local map. Both KITTI data set and our own data set acquired by a handheld camera are used to evaluate the proposed system. Experimental results show that the proposed distributed multi-robot collaborative monocular simultaneous localization and mapping system can be used in both indoor small-scale and outdoor large-scale environments.

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Wang, Zhi Guo. "A New Solution Method for Large-Scale System Optimization Operation". Key Engineering Materials 467-469 (luty 2011): 603–7. http://dx.doi.org/10.4028/www.scientific.net/kem.467-469.603.

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Aiming at shortcomings in global searching capacity and diversity of Pareto set existing in the traditional MOPSO and in order to enhance the diversity of pareto solutions, quasi-pareto solutions are constructed by sub-ant-colony algorithm which adopts its own and other sub-ant-colony heuristic information and quasi-pareto solutions obtained by every ant are used for control judegement. A crowding distance sorting based multi-objective particle swarm optimization algorithm is proposed. The constructed farther-group ants with the quasi-pareto solutions which act as space nodes constitute traveling salesman problem, hence, leading to the enhancement of the uniform distribution of pareto solutions. With the elitism strategy, the evolution of the external population is achieved based on individuals’ crowding distance sorting by descending order, to delete the redundant individuals in the crowding area. The update of the global optimum is performed by selecting an individual with a relatively bigger crowding distance, to lead the particles to evolve to the disperse region. Effectiveness of the algorithm with two and three objectives is proved by the optimization of three standard test problems. Comparison results illustrate that it outperformed NSGA-II and SPEA2 in the convergence and diversity characteristics of pareto optimal front.

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Asadi, Saeid, Vahid Azimirad, Ali Eslami i Saeid Karimian Eghbal. "Immune–wavelet optimization for path planning of large-scale robots". Robotica 32, nr 1 (19.07.2013): 77–95. http://dx.doi.org/10.1017/s0263574713000635.

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SUMMARYIn this paper an optimal path planning method based on a new evolutionary algorithm is presented for higher order robotic systems. It is a combination of immune system and wavelet mutation. By increasing the system's dimensions, the complexity of algorithm grows linearly. The obtained results have been compared with other optimal path producing algorithms, and its excellence in terms of optimality has been proved. Strengths of this method are simplicity in large-scale path planning, being free of most of the common deadlocks in usual method, and ability to obtain more optimized results than other similar methods. The effectiveness of this approach on simulation case studies for a three-link planar robot and 5 degrees of freedom mobile manipulators as well as an experiment for a mobile robot called K-joniour is shown.

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Wu, Changzhong, Fan Ge, Guangchao Shang, Liang Wu, Hengshuai Guo, Mingpeng Zhao i Guitao Wang. "Research on SLAM of Large-scale Space Point Cloud Topological Robot". Journal of Physics: Conference Series 1748 (styczeń 2021): 022007. http://dx.doi.org/10.1088/1742-6596/1748/2/022007.

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Fernández, Juan A., i Javier González. "TASK-DRIVEN, MULTIPLE ABSTRACTION FOR MODELING MOBILE ROBOT LARGE-SCALE SPACE". IFAC Proceedings Volumes 35, nr 1 (2002): 341–46. http://dx.doi.org/10.3182/20020721-6-es-1901.00869.

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Alikhani, Alireza, Saeed Behzadipour, Aria Alasty i S. Ali Sadough Vanini. "Design of a large-scale cable-driven robot with translational motion". Robotics and Computer-Integrated Manufacturing 27, nr 2 (kwiecień 2011): 357–66. http://dx.doi.org/10.1016/j.rcim.2010.07.019.

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Charalampous, Konstantinos, Ioannis Kostavelis i Antonios Gasteratos. "Robot navigation in large-scale social maps: An action recognition approach". Expert Systems with Applications 66 (grudzień 2016): 261–73. http://dx.doi.org/10.1016/j.eswa.2016.09.026.

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Liu, Lantao, i Dylan A. Shell. "Large-scale multi-robot task allocation via dynamic partitioning and distribution". Autonomous Robots 33, nr 3 (19.06.2012): 291–307. http://dx.doi.org/10.1007/s10514-012-9303-2.

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SHIRAHAMA, Akira, i Toru WATANABE. "302 Proposal of tensegric structure arm aiming at large-scale robot". Proceedings of the Dynamics & Design Conference 2012 (2012): _302–1_—_302–7_. http://dx.doi.org/10.1299/jsmedmc.2012._302-1_.

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Cytowski, Maciej, i Zuzanna Szymanska. "Large-Scale Parallel Simulations of 3D Cell Colony Dynamics: The Cellular Environment". Computing in Science & Engineering 17, nr 5 (wrzesień 2015): 44–48. http://dx.doi.org/10.1109/mcse.2015.66.

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Akay, Bahriye, i Dervis Karaboga. "Artificial bee colony algorithm for large-scale problems and engineering design optimization". Journal of Intelligent Manufacturing 23, nr 4 (31.03.2010): 1001–14. http://dx.doi.org/10.1007/s10845-010-0393-4.

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Fan, Yang, Hu Changming, Feng Zhanying, Liu Min i Wang Xumin. "Research on Connector Assembly System and Control Strategy for Large-scale Panel". Journal of Physics: Conference Series 2281, nr 1 (1.06.2022): 012010. http://dx.doi.org/10.1088/1742-6596/2281/1/012010.

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Abstract There are technical requirements for the assembly of thousands of separate flange joints on the radar panel. The use of traditional manual assembly has problems such as high labor intensity, low assembly efficiency, and difficulty in uniform assembly quality. Therefore, in response to the above problems, combined with the requirements of high precision of joint assembly position and attitude, and intelligent management and control of the operation process, a set of joint component assembly system based on dual vision positioning, robot + ground rail + multi-axis module drive multi-gripper and electric batch accurate assembly is proposed. The system uses a dual-vision precise guidance control robot + ground rail as the main actuator, and an end effector composed of a multi-gripper assembly module and a lock. Using PLC as the main control center, equipped with robot, host computer, vision and other sub-systems, In this way, a large-scale, high-precision, and high-reliability joint assembly for military products is realized.

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Salamat, Babak, i Gerhard Elsbacher. "Steering a Swarm of Large-Scale Underactuated Mechanical Systems Using a Generalized Coordinates Transformation". Aerospace 9, nr 11 (9.11.2022): 702. http://dx.doi.org/10.3390/aerospace9110702.

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Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized approach. Previous works are often restricted to the assumption of fully actuated robots. Here we propose an approach for underactuated robots that allows for energy-efficient control of the robot system. We consider a simple task of gathering the robots (minimizing positional variance) and steering them towards a goal point within a bounded area without obstacles. We make two main contributions. First, we present a generalized coordinate transformation for underactuated robots, whose physical properties should be considered. We choose Euler-Lagrange systems that describe a large class of robot systems. Second, we propose an optimal control mechanism with the prime objective of energy efficiency. We show the feasibility of our approach in robot simulations.

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Ernebjerg, Morten, i Roy Kishony. "Distinct Growth Strategies of Soil Bacteria as Revealed by Large-Scale Colony Tracking". Applied and Environmental Microbiology 78, nr 5 (22.12.2011): 1345–52. http://dx.doi.org/10.1128/aem.06585-11.

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ABSTRACTOur understanding of microbial ecology has been significantly furthered in recent years by advances in sequencing techniques, but comprehensive surveys of the phenotypic characteristics of environmental bacteria remain rare. Such phenotypic data are crucial for understanding the microbial strategies for growth and the diversity of microbial ecosystems. Here, we describe a high-throughput measurement of the growth of thousands of bacterial colonies using an array of flat-bed scanners coupled with automated image analysis. We used this system to investigate the growth properties of members of a microbial community from untreated soil. The system provides high-quality measurements of the number of CFU, colony growth rates, and appearance times, allowing us to directly study the distribution of these properties in mixed environmental samples. We find that soil bacteria display a wide range of growth strategies which can be grouped into several clusters that cannot be reduced to any of the classical dichotomous divisions of soil bacteria, e.g., into copiotophs and oligotrophs. We also find that, at early times, cells are most likely to form colonies when other, nearby colonies are present but not too dense. This maximization of culturability at intermediate plating densities suggests that the previously observed tendency for high density to lead to fewer colonies is partly offset by the induction of colony formation caused by interactions between microbes. These results suggest new types of growth classification of soil bacteria and potential effects of species interactions on colony growth.

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Regehr, Heidi M., Michael S. Rodway i William A. Montevecchi. "Antipredator benefits of nest-site selection in Black-legged Kittiwakes". Canadian Journal of Zoology 76, nr 5 (1.05.1998): 910–15. http://dx.doi.org/10.1139/z98-016.

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We investigated the relationship between nest-site characteristics and breeding performance of Black-legged Kittiwakes (Rissa tridactyla) on Great Island, Newfoundland, during 2 years of extreme predation pressure. The nest-site feature most consistently associated with egg and chick survival was rock overhang above the nest. The presence of rock projections beside nests was positively correlated with success in 1993, and rock protrusions below the nest were not associated with breeding success in either year. Central position in the colony was positively correlated and nest density negatively correlated with success in 1992. Consistent differences in chick production among colony regions reflected differences in large-scale cliff structure and predator accessibility. This study implicates large- and fine-scale aspects of nest-site selection by Black-legged Kittiwakes, with large-scale cliff structure being the most important.

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