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AI based robot safe learning and control / Xuefeng Zhou · (2020)  

Public Titre : AI based robot safe learning and control Type de document : Monographie Auteurs : Xuefeng Zhou ·, Auteur ; Shuai Li, Auteur ; et al., Auteur Editeur : Springer Nature Année de publication : 2020 Importance : 127 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-981-1555039-- Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Intelligence artificielle [Termes IGN] contrainte d'objet [Termes IGN] optimisation (mathématiques) [Termes IGN] réseau neuronal récurrent [Termes IGN] robotique [Termes IGN] sécurité [Termes IGN] système de contrôle [Termes IGN] vitesse angulaire Résumé : (éditeur) This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities. Note de contenu : 1- Adaptive Jacobian based trajectory tracking for redundant manipulators with model uncertainties in repetitive tasks 2- RNN based trajectory control for manipulators with uncertain kinematic parameters 3- RNN based adaptive compliance control for robots with model uncertainties 4- Deep RNN based obstacle avoidance control for redundant manipulators 5- Optimization-based compliant control for manipulators under dynamic obstacle constraints 6- RNN for motion-force control of redundant manipulators with optimal joint torque Numéro de notice : 28518 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE/MATHEMATIQUE Nature : Monographie DOI : sans En ligne : https://directory.doabooks.org/handle/20.500.12854/32049 Format de la ressource électronique : url Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97304

Reliable image matching via photometric and geometric constraints structured by Delaunay triangulation / San Jiang in ISPRS Journal of photogrammetry and remote sensing, vol 153 (July 2019)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 153 (July 2019) . - pp 1 - 2O Titre : Reliable image matching via photometric and geometric constraints structured by Delaunay triangulation Type de document : Article/Communication Auteurs : San Jiang, Auteur ; Wanshou Jiang, Auteur Année de publication : 2019 Article en page(s) : pp 1 - 2O Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] appariement d'images [Termes IGN] cohérence photométrique [Termes IGN] contrainte d'objet [Termes IGN] contrainte géométrique [Termes IGN] processus d'analyse hiérarchique [Termes IGN] triangulation de Delaunay [Termes IGN] valeur aberrante Résumé : (Auteur) Image matching is a basic task in the field of photogrammetry and remote sensing. By using the advantages of the Delaunay triangulation, this paper proposes a novel image matching method. First, neighboring structures of randomly distributed feature points are formed with the assistance of the Delaunay triangulation and its corresponding graph, and the image planes are simultaneously divided into patches of near-regular triangles. Second, two constraints, a photometric constraint and a geometric constraint, are implemented based on the constructed neighboring structures, which incorporate the hierarchical elimination and left-right checking strategies to deliver the influences of outliers on the decision of inliers and ensure the high precision of the final matches. The former utilizes a line descriptor as a second-order photometric constraint, and the latter adopts the spatial angular order (SAO) to achieve a geometric constraint for the calculation of dissimilarity scores between correspondences. In addition, with the constraints between triangles of the refined Delaunay triangulation and its corresponding graph, a match expansion is designed to exploit as many inliers as possible. Finally, a reliable image matching algorithm is proposed by sequentially executing the three constraints for outlier elimination and match expansion. Under comprehensive analysis and comparison with five state-of-the-art algorithms, the performance of the proposed method is verified by using both rigid and non-rigid datasets. The experimental results demonstrate that the Delaunay triangulation is sufficient to construct neighboring structures for the implementation of local photometric and geometric constraints, and the proposed method can achieve good performance in terms of the precision, recall and number of inliers, and provide reliable matches for stereo image pairs with both rigid and non-rigid transformations. Numéro de notice : A2019-260 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2019.04.006 date de publication en ligne : 01/05/2019 En ligne : https://doi.org/10.1016/j.isprsjprs.2019.04.006 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93073 [article]

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Specifying and implementing constraints in GIS-with examples from a geo-virtual reality system / J. Louwsma in Geoinformatica, vol 10 n° 4 (December 2006)

Public [article]  inGeoinformatica > vol 10 n° 4 (December 2006) . - pp 531 - 550 Titre : Specifying and implementing constraints in GIS-with examples from a geo-virtual reality system Type de document : Article/Communication Auteurs : J. Louwsma, Auteur ; Sisi Zlatanova, Auteur ; et al., Auteur Année de publication : 2006 Article en page(s) : pp 531 - 550 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Bases de données localisées [Termes IGN] contrainte d'intégrité [Termes IGN] contrainte d'objet [Termes IGN] objet géographique 3D [Termes IGN] programmation par contraintes [Termes IGN] réalité virtuelle [Termes IGN] système d'information géographique [Termes IGN] UML Résumé : (Auteur) Constraints are important elements of every modelling process, but until now they have been treated in an ad hoc manner, depending on the specific application domain and the capabilities of the tools used. In GIS and GeoVR applications, constraints are conditions which always have to be valid (true) within the model populated with real geographic object instances. This paper argues that constraints should form a systematic part of the object class definition, similar to other aspects of the definition, viz. attributes, methods and relationships. Also, the implementation of constraints in all GIS and GeoVR subsystems (at front-end, database and exchange (I/O) level) should be derived automatically from the constraints specified by the framework. The paper therefore puts forward a framework for modelling constraints comprising (1) a classification and clarification of constraints, (2) a formal description using the unified modelling language/object constraint language (UML/OCL) and (3) implementation characteristics. The components of the framework are illustrated and applied to SALIX-2, a geo-virtual reality (GeoVR) landscape modelling system. Copyright Springer Numéro de notice : A2006-550 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=28273 [article]

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Système multi-agent pour la déformation en généralisation cartographique : un problème multi niveau / Julien Gaffuri (2006)

Public contenu dans JFSMA 2006, systèmes multi-agents : articulation entre l'individuel et le collectif, 18-20 octobre 2006 / Vincent Chevrier (2006) Titre : Système multi-agent pour la déformation en généralisation cartographique : un problème multi niveau Type de document : Article/Communication Auteurs : Julien Gaffuri , Auteur Congrès : JFSMA 2006, 12es journées francophones sur les systèmes multi-agents (18 - 20 octobre 2006; Annecy, France), Auteur Editeur : Paris : Hermès - Lavoisier Année de publication : 2006 Importance : pp 99 - 112 Langues : Français (fre) Descripteur : [Termes IGN] agent (intelligence artificielle) [Termes IGN] changement [Termes IGN] contrainte d'objet [Termes IGN] déformation géométrique [Termes IGN] généralisation cartographique automatisée [Termes IGN] système multi-agents [Vedettes matières IGN] Généralisation Numéro de notice : C2006-004 Affiliation des auteurs : IGN (1940-2011) Thématique : GEOMATIQUE/INFORMATIQUE Nature : Communication Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=76253