Search results for "ARM"
showing 10 items of 19046 documents
Reviewing the role of ecosystems services in the sustainability of the urban environment: A multi-country analysis
2020
The urban environment is characterised by many pressures caused by population growth, transport (and its related emissions), and the damage to green areas. Yet, there is a variety of ecosystem services available in urban areas, which may be deployed to ameliorate the current problems and foster their sustainability. This paper reviews the role of ecosystem services as tools for sustainability, based on an urban setting. It also describes a series of multi-country case studies, where an assessment of their functions using a set of benefits valuation approaches such as health benefits, economic benefits, social benefits and benefits to climate resilience, are provided, along with an appraisal…
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
Ant Colony Optimisation-Based Classification Using Two-Dimensional Polygons
2016
The application of Ant Colony Optimization to the field of classification has mostly been limited to hybrid approaches which attempt at boosting the performance of existing classifiers (such as Decision Trees and Support Vector Machines (SVM)) — often through guided feature reductions or parameter optimizations.
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Relay feedback systems - established approaches and new perspectives for application
2019
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Health Indicator for Low-Speed Axial Bearings Using Variational Autoencoders
2020
This paper proposes a method for calculating a health indicator (HI) for low-speed axial rolling element bearing (REB) health assessment by utilizing the latent representation obtained by variational inference using Variational Autoencoders (VAEs), trained on each speed reference in the dataset. Further, versatility is added by conditioning on the speed, extending the VAE to a conditional VAE (CVAE), thereby incorporating all speeds in a single model. Within the framework, the coefficients of autoregressive (AR) models are used as features. The dimensionality reduction inherent in the proposed method lowers the need of expert knowledge to design good condition indicators. Moreover, the sugg…
On stability of linear dynamic systems with hysteresis feedback
2020
The stability of linear dynamic systems with hysteresis in feedback is considered. While the absolute stability for memoryless nonlinearities (known as Lure's problem) can be proved by the well-known circle criterion, the multivalued rate-independent hysteresis poses significant challenges for feedback systems, especially for proof of convergence to an equilibrium state correspondingly set. The dissipative behavior of clockwise input-output hysteresis is considered with two boundary cases of energy losses at reversal cycles. For upper boundary cases of maximal (parallelogram shape) hysteresis loop, an equivalent transformation of the closed-loop system is provided. This allows for the appli…
Adjusted bat algorithm for tuning of support vector machine parameters
2016
Support vector machines are powerful and often used technique of supervised learning applied to classification. Quality of the constructed classifier can be improved by appropriate selection of the learning parameters. These parameters are often tuned using grid search with relatively large step. This optimization process can be done computationally more efficiently and more precisely using stochastic search metaheuristics. In this paper we propose adjusted bat algorithm for support vector machines parameter optimization and show that compared to the grid search it leads to a better classifier. We tested our approach on standard set of benchmark data sets from UCI machine learning repositor…
Do terrorism, organized crime (drug production), and state weakness affect contemporary armed conflicts? An empirical analysis
2015
ABSTRACTIn 2014, the UN Security Council emphasized the dangers of terrorism, criminal activity (especially drug production and trafficking), and state weakness in conflict areas. However, neither policy debates nor scholarly analyses have focussed on the potential impact of these elements on conflict dynamics and characteristics, and the investigated partial relationships have led to inconclusive results. This article explores the presence in armed conflicts of terrorist groups among fighting parties, major drug production (indicating the presence of activities typical of criminal organizations), and state failure in the period 1990–2011. Focussing on intrastate conflicts, this article hig…