Intelligent robots play a crucial role in enhancing efficiency, reducing costs, and improving safety in the logistics industry. However, traditional path planning methods often struggle to adapt to dynamic environments, leading to issues such as collisions and conflicts. This study aims to address the challenges of path planning and control for logistics robots in complex environments.
The proposed method integrates information from different perception modalities to achieve more accurate path planning and obstacle avoidance control, thereby enhancing the autonomy and reliability of logistics robots. Firstly, a 3D convolutional neural network (CNN) is employed to learn the feature representation of objects in the environment for object recognition. Next, long short-term memory (LSTM) is used to model spatio-temporal features and predict the behavior and trajectory of dynamic obstacles. This enables the robot to accurately predict the future position of obstacles in complex environments, reducing collision risks. Finally, the Dijkstra algorithm is applied for path planning and control decisions to ensure the robot selects the optimal path in various scenarios.
Experimental results demonstrate the effectiveness of the proposed method in terms of path planning accuracy and obstacle avoidance performance. The method outperforms traditional approaches, showing significant improvements in both aspects.
The intelligent path planning and control scheme presented in this paper enhances the practicality of logistics robots in complex environments, thereby promoting efficiency and safety in the logistics industry.
Reinforcement learning has been widely used in robot motion planning. However, for multi-step complex tasks of dual-arm robots, the trajectory planning method based on reinforcement learning still has some problems, such as ample exploration space, long training time, and uncontrollable training process. Based on the dual-agent depth deterministic strategy gradient (DADDPG) algorithm, this study proposes a motion planning framework constrained by the human joint angle, simultaneously realizing the humanization of learning content and learning style. It quickly plans the coordinated trajectory of dual-arm for complex multi-step tasks.
The proposed framework mainly includes two parts: one is the modeling of human joint angle constraints. The joint angle is calculated from the human arm motion data measured by the inertial measurement unit (IMU) by establishing a human-robot dual-arm kinematic mapping model. Then, the joint angle range constraints are extracted from multiple groups of demonstration data and expressed as inequalities. Second, the segmented reward function is designed. The human joint angle constraint guides the exploratory learning process of the reinforcement learning method in the form of step reward. Therefore, the exploration space is reduced, the training speed is accelerated, and the learning process is controllable to a certain extent.
The effectiveness of the framework was verified in the gym simulation environment of the Baxter robot's reach-grasp-align task. The results show that in this framework, human experience knowledge has a significant impact on the guidance of learning, and this method can more quickly plan the coordinated trajectory of dual-arm for multi-step tasks.
Several studies have shown that coordination among neural ensembles is a key to understand human cognition. A well charted path is to identify coordination states associated with cognitive functions from spectral changes in the oscillations of EEG or MEG. A growing number of studies suggest that the tendency to switch between coordination states, sculpts the dynamic repertoire of the brain and can be indexed by a measure known as metastability. In this article, we characterize perturbations in the metastability of global brain network dynamics following Transcranial Magnetic Stimulation that could quantify the duration for which information processing is altered. Thus allowing researchers to understand the network effects of brain stimulation, standardize stimulation protocols and design experimental tasks. We demonstrate the effect empirically using publicly available datasets and use a digital twin (a whole brain connectome model) to understand the dynamic principles that generate such observations. We observed a significant reduction in metastability, concurrent with an increase in coherence following single-pulse TMS reflecting the existence of a window where neural coordination is altered. The reduction in complexity was validated by an additional measure based on the Lempel-Ziv complexity of microstate labeled EEG data. Interestingly, higher frequencies in the EEG signal showed faster recovery in metastability than lower frequencies. The digital twin shed light on how the phase resetting introduced by the single-pulse TMS in local cortical networks can propagate globally, giving rise to changes in metastability and coherence.
Deep learning has significantly advanced text-to-speech (TTS) systems. These neural network-based systems have enhanced speech synthesis quality and are increasingly vital in applications like human-computer interaction. However, conventional TTS models still face challenges, as the synthesized speeches often lack naturalness and expressiveness. Additionally, the slow inference speed, reflecting low efficiency, contributes to the reduced voice quality. This paper introduces SynthRhythm-TTS (SR-TTS), an optimized Transformer-based structure designed to enhance synthesized speech. SR-TTS not only improves phonological quality and naturalness but also accelerates the speech generation process, thereby increasing inference efficiency. SR-TTS contains an encoder, a rhythm coordinator, and a decoder. In particular, a pre-duration predictor within the cadence coordinator and a self-attention-based feature predictor work together to enhance the naturalness and articulatory accuracy of speech. In addition, the introduction of causal convolution enhances the consistency of the time series. The cross-linguistic capability of SR-TTS is validated by training it on both English and Chinese corpora. Human evaluation shows that SR-TTS outperforms existing techniques in terms of speech quality and naturalness of expression. This technology is particularly suitable for applications that require high-quality natural speech, such as intelligent assistants, speech synthesized podcasts, and human-computer interaction.
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