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Visual servoing define a new methodology for vision based control in robotics. Vision based action involve number of actions that move a robot in response of results of camera analysis. This process is important to operate and help robot to achieve a specific goal. The main purpose of visual servoing consists of considering a vision system by specific sensor dedicated to involve control servo loop...
The navigation system of a robot requires sensors to perceive its environment to get a representation. Based on this perception and the state of the robot, it needs to take an action to make a desired behavior in the environment. The actions are defined by a system that processes the obtained information. This system can be based on decision rules defined by an expert or obtained by a training or...
In general, this paper focuses on finding the best configuration for PSO and GA, using the different migration blocks, as well as the different sets of the fuzzy systems rules. To achieve this goal, two optimization algorithms were configured in parallel to be able to integrate a migration block that allow us to generate diversity within the subpopulations used in each algorithm, which are: the particle...
This paper presents application of a neural network in the task of planning a mobile robot trajectory. First part contains a review of literature focused on the mobile robots’ orientation and overview of artificial neural networks’ application in area of robotics. In these sections devices and approaches for collecting data of mobile robots environment have been specified. In addition, the principle...
Unmanned vehicles occupy more and more space in the human environment. Mobile robots, being a significant part thereof, generate high technological requirements in order to meet the requirements of the end user. The main focus of the end users both in civil, and so called “defense and security” areas in the broadly defined segments of the construction industry should be on safety and efficiency of...
Inspired by the multi-agent systems, we propose a model-based distributed control architecture for robotic manipulators. Here, each of the joints of the manipulator is controlled using a joint level controller and these controllers account for the dynamic coupling between the links by interacting among themselves. Apart from the reduced computational time due to distributed computation of the control...
In this paper Timber Wolf optimization (TWO) algorithm is proposed to solve optimal reactive power problem. Timber Wolf optimization (TWO) algorithm is modeled based on the social hierarchy and hunting habits of Timber wolf towards finding prey. Based on their fitness values social hierarchy has been replicated by classifying the population of exploration agents. Exploration procedure has been modeled...
As neuron models become more plausible, fewer computing units may be required to solve some problems; such as static pattern classification. Herein, this problem is solved by using a single spiking neuron with rate coding scheme. The spiking neuron is trained by a variant of Multi-objective Particle Swarm Optimization algorithm known as OMOPSO. There were carried out two kind of experiments: the first...
This research discusses the application of two different clustering algorithms (agglomerative and partitional) to a set of data derived from the phenomenon of the collaborative economy in the tourism industry known as Airbnb. In order to analyze this phenomenon, the algorithms are known as “hierarchical Tree” and “K-Means” were used with the objective of gaining a better understanding of the spatial...
The present study shows the scientometric analysis of the publications on the fuzzy logic controller in autonomous mobile robot navigation during the period 2000 to 2018. The data is collected using Web of Science core collection database and analyzed at various levels such as Web of Science categories, publication years, document types, funding agencies, authors, research areas, countries or region,...
This paper presents an approach to optimize a Convolutional Neural Network using the Fuzzy Gravitational Search Algorithm. The optimized parameters are the number of images per block that are used in the training phase, the number of filters and the filter size of the convolutional layer. The reason for optimizing these parameters is because they have a great impact on performance of the Convolutional...
Grammatical Evolution (GE) is a form of Genetic Programming (GP) based on Context-Free Grammar (CF Grammar). Due to the use of grammars, GE is capable of creating syntactically correct solutions. GE uses a genotype encoding and is necessary to apply a Mapping Process (MP) to obtain the phenotype representation. There exist some well-known MPs in the state-of-art like Breadth-First (BF), Depth-First...
A simple and efficient method for creating a motion trajectory is presented with an aim to achieve sufficient coverage of a given terrain. A chaotic map has been used in order that the motion trajectory should be unpredictable. The chaotic path generator which has been created, is used for implementing a robot’s movement in four and eight directions. The path generator is tested in various scenarios...
In this paper Feral Cat Swarm Optimization (FCS) Algorithm is proposed to solve optimal reactive power problem. Projected methodology has been modeled based on the activities of the feral cats. They have two main phases primarily “seeking mode”, “tracing mode”. In the proposed FCS algorithm, population of feral cats are created and arbitrarily scattered in the solution space, with every feral cat...
In the field of logistics packaging, companies have to take decisions on determining the optimal packaging solutions and expenses. The decisions often involve a choice between one-way (disposable) and reusable (returnable) packaging solutions. Even nowadays, in most cases the decisions are made based on traditions and mainly consider the material and investment costs. Although cost is an important...
The music industry has come a long way since its inception. Music producers have also adhered to modern technology to infuse life into their creations. Systems capable of separating sounds based on sources especially vocals from songs have always been a necessity which has gained attention from researchers as well. The challenge of vocal separation elevates even more in the case of the multi‐instrument...
Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).
If the antecedents of a fuzzy classification method are derived from pictures or measured data, it might have too many dimensions to handle. A classification scheme based on such data has to apply a careful selection or processing of the measured results: either a sampling, re‐ sampling is necessary. or the usage of functions, transfor‐ mations that reduce the long, high dimensional observed data...
Our goal described in this paper was to design, imple‐ ment and test a method of categorization of mentions of persons in Polish news texts. We gathered and classified the input data in order to measure the accuracy of the method. Train and test data were constructed by using lists of persons collected from YAGO knowledge base and Polish Wikipedia. During tests the efficiency of categori‐ zation depending...
This paper presents the experimental results for stress index calculation using developed by the authors information technology for non-contact remote human heart rate variability (HRV) retrieval in various conditions from video stream using common wide spread web cameras with minimal frame resolution of 640x480 pixels at average frame rate of 25 frames per second. The developed system architecture...
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