Multi Robot Task Allocation For Inspection Problems With Cooperative Tasks Using Hybrid Genetic Algorithms
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Multi Robot Task Allocation For Inspection Problems With Cooperative Tasks Using Hybrid Genetic Algorithms
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Author : Liu, Chun
language : en
Publisher: kassel university press GmbH
Release Date : 2014
Multi Robot Task Allocation For Inspection Problems With Cooperative Tasks Using Hybrid Genetic Algorithms written by Liu, Chun and has been published by kassel university press GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with categories.
In this dissertation, methods for optimal multi-robot task allocation (MRTA) for industrial plant inspection are investigated. MRTA involves distributing and scheduling a set of tasks for a group of robots to minimize the total cost taking into account operational constraints. With technical progress and declining cost of robotic mobility, interest in industrial mobile robotics has grown significantly in recent years. Many efforts have been devoted to mobility-related problems such as self-localization and mapping, though only few studies deal with the optimal task allocation in multi-robot systems. Since a good task allocation provides more efficient scheduling (e.g. less cost, shorter time), the objective of this research is to develop search/optimization methods for inspection problems that involve both single- and two-robot tasks.
On The Detection And Selection Of Informative Subsequences From Large Historical Data Records For Linear System Identification
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Author : David Leonardo Arengas Rojas
language : en
Publisher: BoD – Books on Demand
Release Date : 2022-01-01
On The Detection And Selection Of Informative Subsequences From Large Historical Data Records For Linear System Identification written by David Leonardo Arengas Rojas and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-01-01 with Technology & Engineering categories.
Performing experiments for system identification of continuously operated plants might be restricted as it can impact negatively normal production. In such cases, using historical logged data can become an attractive alternative for system identification. However, operating points are rarely changed and parameter estimation methods can suffer numerical problems. Three main drawbacks of current approaches in this research area can be discussed. Firstly, detection tests are not adapted for dynamical systems. Secondly, methods to define upper interval bounds are not robust to colored noise that is more likely to be found in real applications. Thirdly, model estimation with the retrieved data is not supported and the performance of the method cannot be assessed. In the method proposed in this work, called data selection for system identification (DS4SID), previous drawbacks are addressed and robust tests are designed and implemented. The performance of DS4SID is evaluated in a simulated and laboratory multivariate processes. A process unit of the lab-scale factory “μPlant” is used as industryoriented case study. Models estimated with selected data are shown to have similar performance than estimates with the entire data set.
Close Range 3d Thermography Real Time Reconstruction Of High Fidelity 3d Thermograms
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Author : Antonio Rafael Ordóñez Müller
language : en
Publisher: kassel university press GmbH
Release Date : 2019-01-21
Close Range 3d Thermography Real Time Reconstruction Of High Fidelity 3d Thermograms written by Antonio Rafael Ordóñez Müller and has been published by kassel university press GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-01-21 with Temperature measuring instruments categories.
Infrared thermography enables the non-contact measurement of an object’s surface temperature and presents the results in form of thermal images. The analysis of these images provides valuable information about an object’s thermal state. However, the fidelity of the thermal images strongly depends on the pose of the thermographic camera with respect to the surface. 3D thermography offers the possibility to overcome this and other limitations that affect conventional 2D thermography but most 3D thermographic systems developed so far generate 3D thermograms from a single perspective or from few noncontiguous points of view and do not operate in real time. As a result, the 3D thermograms they generate do not offer much advantage over conventional thermal images. However, recent technological advances have unlocked the possibility of implementing affordable handheld 3D thermal imaging systems that can be easily maneuvered around an object and that can generate high-fidelity 3D thermograms in real time. This thesis explores various aspects involved in the real-time generation of high-fidelity 3D thermograms at close range using a handheld 3D thermal imaging system, presents the results of scanning an operating industrial furnace and discusses the problems associated with the generation of 3D thermograms of large objects with complex geometries.
Intelligent Systems
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Author : Ricardo Cerri
language : en
Publisher: Springer Nature
Release Date : 2020-10-15
Intelligent Systems written by Ricardo Cerri and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-10-15 with Computers categories.
The two-volume set LNAI 12319 and 12320 constitutes the proceedings of the 9th Brazilian Conference on Intelligent Systems, BRACIS 2020, held in Rio Grande, Brazil, in October 2020. The total of 90 papers presented in these two volumes was carefully reviewed and selected from 228 submissions. The contributions are organized in the following topical section: Part I: Evolutionary computation, metaheuristics, constrains and search, combinatorial and numerical optimization; neural networks, deep learning and computer vision; and text mining and natural language processing. Part II: Agent and multi-agent systems, planning and reinforcement learning; knowledge representation, logic and fuzzy systems; machine learning and data mining; and multidisciplinary artificial and computational intelligence and applications. Due to the Corona pandemic BRACIS 2020 was held as a virtual event.
Zur Regelungsorientierten Identifikation Nichtlinearer Systeme Mittels Lokal Affiner Takagi Sugeno Fuzzy Modelle
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Author : Alexander Schrodt
language : de
Publisher: kassel university press GmbH
Release Date : 2019-01-21
Zur Regelungsorientierten Identifikation Nichtlinearer Systeme Mittels Lokal Affiner Takagi Sugeno Fuzzy Modelle written by Alexander Schrodt and has been published by kassel university press GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-01-21 with categories.
Hauptziel der vorliegenden Arbeit ist es, ein einfaches und praxisorientiertes iteratives Verfahren zu entwickeln, mit welchem regelungsorientierte Modelle für nichtlineare Systeme aus Messdaten identifiziert werden können. Dazu werden Takagi-Sugeno-Fuzzy-Modelle mit lokal linearen/affinen Modellen verwendet. Ein besonderes Augenmerk liegt auf dem sogenannten Driftterm, der bei der Linearisierung eines Modells außerhalb einer Ruhelage auftritt. Dieser wird häufig beim Reglerentwurf aus Takagi-Sugeno-Modellen nicht berücksichtigt. Es wird daher ein einfaches approximatives Verfahren zur Kompensation dieses Terms vorgeschlagen und eine vollständige Methode zum Entwurf eines Fuzzy-Takagi-Sugeno-Reglers mit Driftkompensation eingeführt. Des weiteren wird ein iteratives Identifikationsschema vorgestellt, mit welchem Modelle zur Reglerauslegung im geschlossenen Regelkreis identifiziert werden.
In drei Fallstudien werden unterschiedliche Effekte bei Verwendung der vorgestellten Methoden beleuchtet. Die einzelnen Fallstudien gehen dabei auf die Aspekte Stabilisierbarkeit bei Vernachlässigung/Berücksichtigung des Driftterms, die Modelländerung über die Iterationen sowie Anwendbarkeit auf reale Systeme unter Verwendung eines modifizierten Zustandsbeobachters ein. Das Ergebnis dieser Studien ist, dass sich bei Verwendung der vorgestellten Methoden die Regelgüte verbessern lässt, wenn ein Regler aus Messdaten erzeugt wird, welche im geschlossenen Regelkreis gewonnen wurden.
Dynamische Analyse Gro Er Verkoppelter Systeme Mit Methoden Der Komplexen Netzwerke Am Beispiel Des Inverse Response Verhaltens
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Author : Andreas Geiger
language : de
Publisher: kassel university press GmbH
Release Date : 2015
Dynamische Analyse Gro Er Verkoppelter Systeme Mit Methoden Der Komplexen Netzwerke Am Beispiel Des Inverse Response Verhaltens written by Andreas Geiger and has been published by kassel university press GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
Cooperative Robots And Sensor Networks 2015
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Author : Anis Koubâa
language : en
Publisher: Springer
Release Date : 2015-05-18
Cooperative Robots And Sensor Networks 2015 written by Anis Koubâa and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-05-18 with Technology & Engineering categories.
This book compiles some of the latest research in cooperation between robots and sensor networks. Structured in twelve chapters, this book addresses fundamental, theoretical, implementation and experimentation issues. The chapters are organized into four parts namely multi-robots systems, data fusion and localization, security and dependability, and mobility.
Computer Control Abstracts
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Author :
language : en
Publisher:
Release Date : 1996
Computer Control Abstracts written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Automatic control categories.
Adaptation In Natural And Artificial Systems
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Author : John H. Holland
language : en
Publisher: MIT Press
Release Date : 1992-04-29
Adaptation In Natural And Artificial Systems written by John H. Holland and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992-04-29 with Psychology categories.
Genetic algorithms are playing an increasingly important role in studies of complex adaptive systems, ranging from adaptive agents in economic theory to the use of machine learning techniques in the design of complex devices such as aircraft turbines and integrated circuits. Adaptation in Natural and Artificial Systems is the book that initiated this field of study, presenting the theoretical foundations and exploring applications. In its most familiar form, adaptation is a biological process, whereby organisms evolve by rearranging genetic material to survive in environments confronting them. In this now classic work, Holland presents a mathematical model that allows for the nonlinearity of such complex interactions. He demonstrates the model's universality by applying it to economics, physiological psychology, game theory, and artificial intelligence and then outlines the way in which this approach modifies the traditional views of mathematical genetics. Initially applying his concepts to simply defined artificial systems with limited numbers of parameters, Holland goes on to explore their use in the study of a wide range of complex, naturally occuring processes, concentrating on systems having multiple factors that interact in nonlinear ways. Along the way he accounts for major effects of coadaptation and coevolution: the emergence of building blocks, or schemata, that are recombined and passed on to succeeding generations to provide, innovations and improvements.
Intelligent Computational Optimization In Engineering
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Author : Mario Köppen
language : en
Publisher: Springer
Release Date : 2011-07-15
Intelligent Computational Optimization In Engineering written by Mario Köppen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-07-15 with Technology & Engineering categories.
We often come across computational optimization virtually in all branches of engineering and industry. Many engineering problems involve heuristic search and optimization, and, once discretized, may become combinatorial in nature, which gives rise to certain difficulties in terms of solution procedure. Some of these problems have enormous search spaces, are NP-hard and hence require heuristic solution techniques. Another difficulty is the lack of ability of classical solution techniques to determine appropriate optima of non-convex problems. Under these conditions, recent advances in computational optimization techniques have been shown to be advantageous and successful compared to classical approaches. This Volume presents some of the latest developments with a focus on the design of algorithms for computational optimization and their applications in practice. Through the chapters of this book, researchers and practitioners share their experience and newest methodologies with regard to intelligent optimization and provide various case studies of the application of intelligent optimization techniques in real-world applications.This book can serve as an excellent reference for researchers and graduate students in computer science, various engineering disciplines and the industry.