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A spatio-temporal fusion deep learning network with application to lightning nowcasting 应用于闪电预报的时空融合深度学习网络
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2024-02-29 DOI: 10.3233/ica-240734
Changhai Zhou, Ling Fan, Ferrante Neri
Lightning is a rapidly evolving phenomenon, exhibiting both mesoscale and microscale characteristics. Its prediction significantly relies on timely and accurate data observation. With the implementation of new generation weather radar systems and lightning detection networks, radar reflectivity image products, and lightning observation data are becoming increasingly abundant. Research focus has shifted towards lightning nowcasting (prediction of imminent events), utilizing deep learning (DL) methods to extract lightning features from very large data sets. In this paper, we propose a novel spatio-temporal fusion deep learning lightning nowcasting network (STF-LightNet) for lightning nowcasting. The network is based on a 3-dimensional U-Net architecture with encoder-decoder blocks and adopts a structure of multiple branches as well as the main path for the encoder block. To address the challenges of feature extraction and fusion of multi-source data, multiple branches are used to extract different data features independently, and the main path fuses these features. Additionally, a spatial attention (SA) module is added to each branch and the main path to automatically identify lightning areas and enhance their features. The main path fusion is conducted in two steps: the first step fuses features from the branches, and the second fuses features from the previous and current levels of the main path using two different methodsthe weighted summation fusion method and the attention gate fusion method. To overcome the sparsity of lightning observations, we employ an inverse frequency weighted cross-entropy loss function. Finally, STF-LightNet is trained using observations from the previous half hour to predict lightning in the next hour. The outcomes illustrate that the fusion of both the multi-branch and main path structures enhances the network’s ability to effectively integrate features from diverse data sources. Attention mechanisms and fusion modules allow the network to capture more detailed features in the images.
闪电是一种快速发展的现象,同时具有中尺度和微尺度的特征。对它的预测在很大程度上依赖于及时准确的数据观测。随着新一代天气雷达系统和闪电探测网络的应用,雷达反射率图像产品和闪电观测数据日益丰富。研究重点已转向闪电预报(预测即将发生的事件),利用深度学习(DL)方法从超大数据集中提取闪电特征。在本文中,我们提出了一种用于闪电预报的新型时空融合深度学习闪电预报网络(STF-LightNet)。该网络基于具有编码器-解码器模块的三维 U-Net 架构,采用多分支结构以及编码器模块的主路径。为了应对多源数据特征提取和融合的挑战,多个分支用于独立提取不同的数据特征,而主路径则用于融合这些特征。此外,每个分支和主路径都添加了空间注意力(SA)模块,以自动识别闪电区域并增强其特征。主路径融合分两步进行:第一步融合分支的特征,第二步使用两种不同的方法(加权求和融合法和注意力门融合法)融合主路径前一级和当前一级的特征。为了克服闪电观测数据的稀疏性,我们采用了反频率加权交叉熵损失函数。最后,利用前半小时的观测数据对 STF-LightNet 进行训练,以预测下一小时的闪电。结果表明,多分支结构和主路径结构的融合增强了网络有效整合不同数据源特征的能力。注意机制和融合模块使网络能够捕捉到图像中更多的细节特征。
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引用次数: 0
An advanced multimodal driver-assistance prototype for emergency-vehicle detection 用于探测紧急车辆的先进多模式驾驶辅助原型机
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2024-02-27 DOI: 10.3233/ica-240733
Leonardo Gabrielli, Lucia Migliorelli, Michela Cantarini, Adriano Mancini, Stefano Squartini
In the automotive industry, intelligent monitoring systems for advanced human-vehicle interaction aimed at enhancing the safety of drivers and passengers represent a rapidly growing area of research. Safe driving behavior relies on the driver’s awareness of the road context, enabling them to make appropriate decisions and act consistently in anomalous circumstances. A potentially dangerous situation can arise when an emergency vehicle rapidly approaches with sirens blaring. In such cases, it is crucial for the driver to perform the correct maneuvers to prioritize the emergency vehicle. For this purpose, an Advanced Driver Assistance System (ADAS) can provide timely alerts to the driver about an approaching emergency vehicle. In this work, we present a driver-assistance prototype that leverages multimodal information from an integrated audio and video monitoring system. In the initial stage, sound analysis technologies based on computational audio processing are employed to recognize the proximity of an emergency vehicle based on the sound of its siren. When such an event occurs, an in-vehicle monitoring system is activated, analyzing the driver’s facial patterns using deep-learning-based algorithms to assess their awareness. This work illustrates the design of such a prototype, presenting the hardware technologies, the software architecture, and the deep-learning algorithms for audio and video data analysis that make the driver-assistance prototype operational in a commercial car. At this initial experimental stage, the algorithms for analyzing the audio and video data have yielded promising results. The area under the precision-recall curve for siren identification stands at 0.92, while the accuracy in evaluating driver gaze orientation reaches 0.97. In conclusion, engaging in research within this field has the potential to significantly improve road safety by increasing driver awareness and facilitating timely and well-informed reactions to crucial situations. This could substantially reduce risks and ultimately protect lives on the road.
在汽车行业,用于高级人车互动的智能监控系统是一个快速发展的研究领域,其目的是提高驾驶员和乘客的安全。安全驾驶行为依赖于驾驶员对道路环境的感知,使他们能够在异常情况下做出适当的决定并采取一致的行动。当一辆紧急车辆鸣着警笛快速驶来时,就可能出现潜在的危险情况。在这种情况下,驾驶员必须做出正确的操作,以确定紧急车辆的优先次序。为此,高级驾驶员辅助系统(ADAS)可以及时向驾驶员发出紧急车辆接近的警报。在这项工作中,我们展示了一个驾驶员辅助系统原型,它利用了集成音频和视频监控系统中的多模态信息。在初始阶段,我们采用了基于计算音频处理的声音分析技术,根据紧急车辆的警报声识别其接近程度。当此类事件发生时,车载监控系统就会启动,利用基于深度学习的算法分析驾驶员的面部模式,以评估他们的意识。本作品展示了这种原型的设计,介绍了用于音频和视频数据分析的硬件技术、软件架构和深度学习算法,从而使驾驶辅助原型在商用车中投入使用。在最初的实验阶段,用于分析音频和视频数据的算法取得了可喜的成果。警报器识别的精确度-记忆曲线下的面积为 0.92,而评估驾驶员注视方向的精确度达到了 0.97。总之,参与这一领域的研究有可能通过提高驾驶员的意识,促进他们在关键情况下做出及时和知情的反应,从而显著改善道路安全。这将大大降低风险,最终保护道路上的生命安全。
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引用次数: 0
Neural architecture search for radio map reconstruction with partially labeled data 利用部分标记数据进行无线电地图重建的神经架构搜索
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2024-01-26 DOI: 10.3233/ica-240732
Aleksandra Malkova, Massih-Reza Amini, Benoît Denis, Christophe Villien
In this paper, we tackle the challenging task of reconstructing Received Signal Strength (RSS) maps by harnessing location-dependent radio measurements and augmenting them with supplementary data related to the local environment. This side information includes city plans, terrain elevations, and the locations of gateways. The quantity of available supplementary data varies, necessitating the utilization of Neural Architecture Search (NAS) to tailor the neural network architecture to the specific characteristics of each setting. Our approach takes advantage of NAS’s adaptability, allowing it to automatically explore and pinpoint the optimal neural network architecture for each unique scenario. This adaptability ensures that the model is finely tuned to extract the most relevant features from the input data, thereby maximizing its ability to accurately reconstruct RSS maps. We demonstrate the effectiveness of our approach using three distinct datasets, each corresponding to a major city. Notably, we observe significant enhancements in areas near the gateways, where fluctuations in the mean received signal power are typically more pronounced. This underscores the importance of NAS-driven architectures in capturing subtle spatial variations. We also illustrate how NAS efficiently identifies the architecture of a Neural Network using both labeled and unlabeled data for Radio Map reconstruction. Our findings emphasize the potential of NAS as a potent tool for improving the precision and applicability of RSS map reconstruction techniques in urban environments.
在本文中,我们利用与位置相关的无线电测量数据,并通过与当地环境相关的补充数据对其进行扩充,从而解决了重建接收信号强度(RSS)地图这一具有挑战性的任务。这些辅助信息包括城市规划、地形高程和网关位置。可用补充数据的数量各不相同,因此有必要利用神经架构搜索(NAS)来调整神经网络架构,以适应各种环境的具体特点。我们的方法利用了 NAS 的适应性优势,使其能够自动探索并确定每个独特场景的最佳神经网络架构。这种适应性可确保对模型进行微调,以从输入数据中提取最相关的特征,从而最大限度地提高其准确重建 RSS 地图的能力。我们使用三个不同的数据集展示了我们方法的有效性,每个数据集对应一个主要城市。值得注意的是,我们观察到网关附近区域的信号明显增强,那里的平均接收信号功率波动通常更为明显。这凸显了 NAS 驱动型架构在捕捉微妙空间变化方面的重要性。我们还说明了 NAS 如何利用标注和非标注数据有效识别神经网络架构,以重建无线电地图。我们的研究结果强调了 NAS 作为一种有效工具的潜力,它可以提高 RSS 地图重建技术在城市环境中的精度和适用性。
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引用次数: 0
Enhancing peak prediction in residential load forecasting with soft dynamic time wrapping loss functions 利用软动态时间包络损失函数加强住宅负荷预测中的峰值预测
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2024-01-25 DOI: 10.3233/ica-230731
Yuyao Chen, Christian Obrecht, Frédéric Kuznik
Short-term residential load forecasting plays a crucial role in smart grids, ensuring an optimal match between energy demands and generation. With the inherent volatility of residential load patterns, deep learning has gained attention due to its ability to capture complex nonlinear relationships within hidden layers. However, most existing studies have relied on default loss functions such as mean squared error (MSE) or mean absolute error (MAE) for neural networks. These loss functions, while effective in overall prediction accuracy, lack specialized focus on accurately predicting load peaks. This article presents a comparative analysis of soft-DTW loss function, a smoothed formulation of Dynamic Time Wrapping (DTW), compared to other commonly used loss functions, in order to assess its effectiveness in improving peak prediction accuracy. To evaluate peak performance, we introduce a novel evaluation methodology using confusion matrix and propose new errors for peak position and peak load, tailored specifically for assessing peak performance in short-term load forecasting. Our results demonstrate the superiority of soft-DTW in capturing and predicting load peaks, surpassing other commonly used loss functions. Furthermore, the combination of soft-DTW with other loss functions, such as soft-DTW + MSE, soft-DTW + MAE, and soft-DTW + TDI (Time Distortion Index), also enhances peak prediction. However, the differences between these combined soft-DTW loss functions are not substantial. These findings highlight the significance of utilizing specialized loss functions, like soft-DTW, to improve peak prediction accuracy in short-term load forecasting.
短期居民负荷预测在智能电网中起着至关重要的作用,它能确保能源需求与发电量之间的最佳匹配。由于住宅负荷模式固有的不稳定性,深度学习因其能够捕捉隐藏层中复杂的非线性关系而备受关注。然而,大多数现有研究都依赖于默认的损失函数,如神经网络的均方误差 (MSE) 或均值绝对误差 (MAE)。这些损失函数虽然在总体预测准确性方面很有效,但在准确预测负荷峰值方面缺乏专门的侧重点。本文介绍了软 DTW 损失函数(动态时间包装 (DTW) 的平滑表述)与其他常用损失函数的比较分析,以评估其在提高峰值预测精度方面的有效性。为了评估峰值性能,我们引入了一种使用混淆矩阵的新型评估方法,并提出了峰值位置和峰值负荷的新误差,专门用于评估短期负荷预测中的峰值性能。我们的研究结果表明,软 DTW 在捕捉和预测负荷峰值方面具有优越性,超过了其他常用的损失函数。此外,软-DTW 与其他损失函数(如软-DTW + MSE、软-DTW + MAE 和软-DTW + TDI(时间失真指数))的组合也增强了峰值预测能力。不过,这些组合软 DTW 损失函数之间的差异并不大。这些发现凸显了在短期负荷预测中利用专门的损失函数(如软-DTW)来提高峰值预测精度的重要性。
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引用次数: 0
Intuitionistic fuzzy divergence for evaluating the mechanical stress state of steel plates subject to bi-axial loads 评估承受双轴载荷的钢板机械应力状态的直觉模糊发散法
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2024-01-04 DOI: 10.3233/ica-230730
Mario Versaci, Giovanni Angiulli, Fabio La Foresta, Filippo Laganà, Annunziata Palumbo
The uncertainty that characterizes the external mechanical loads to which any connection plate in steel structures is subjected determines the non-uniqueness of the isochoric deformation distributions. Since the eddy currents induced on the plates produce magnetic field maps with a high fuzziness content, similar to those of the isochoric deformations, their use can be exploited to evaluate the extent of the external load that determines a specific induced current map. Starting from an approach known in the literature, according to which the map-external load association is operated through fuzzy similarity computations, in this paper, we generalize this method by reformulating it in terms of intuitionistic fuzzy logic by proposing a classification based on divergence computations. Our approach, acting adaptively on the fuzzification of the maps, results in a better classification percentage, besides significantly reducing the presence of doubtful cases due to the uncertainty of each applied load. Furthermore, a FEM software tool was developed, which turned out to be, to a certain extent, a substitute for the experimental procedure, notoriously more expensive. Even if the procedure was applied on plates subjected to bi-axial loads, it could be used for other types of loads since the classification operator processes the eddy current maps exclusively, regardless of their cause.
钢结构连接板所承受的外部机械载荷的不确定性决定了等时变形分布的非唯一性。由于钢板上感应出的涡流会产生与等时变形类似的高模糊度磁场图,因此可以利用这些磁场图来评估决定特定感应电流图的外部负载程度。根据文献中已知的方法,图谱与外部负载的关联是通过模糊相似性计算来实现的,而在本文中,我们通过提出基于发散计算的分类,用直觉模糊逻辑对该方法进行了重新表述,从而对该方法进行了推广。我们的方法对地图的模糊化进行了自适应处理,从而提高了分类率,并显著减少了由于每个施加载荷的不确定性而产生的可疑情况。此外,我们还开发了一种有限元软件工具,它在一定程度上可以替代实验程序,而实验程序的成本是出了名的高。即使该程序适用于承受双轴载荷的板材,它也可用于其他类型的载荷,因为分类运算器只处理涡流图,而不考虑其原因。
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引用次数: 0
Gap imputation in related multivariate time series through recurrent neural network-based denoising autoencoder1 通过基于递归神经网络的去噪自编码器对相关多元时间序列进行差距估算1
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2023-12-21 DOI: 10.3233/ica-230728
Serafín Alonso, Antonio Morán, Daniel Pérez, Miguel A. Prada, Juan J. Fuertes, Manuel Domínguez

Abstract

Technological advances in industry have made it possible to install many connected sensors, generating a great amount of observations at high rate. The advent of Industry 4.0 requires analysis capabilities of heterogeneous data in form of related multivariate time series. However, missing data can degrade processing and lead to bias and misunderstandings or even wrong decision-making. In this paper, a recurrent neural network-based denoising autoencoder is proposed for gap imputation in related multivariate time series, i.e., series that exhibit spatio-temporal correlations. The denoising autoencoder (DAE) is able to reproduce input missing data by learning to remove intentionally added gaps, while the recurrent neural network (RNN) captures temporal patterns and relationships among variables. For that reason, different unidirectional (simple RNN, GRU, LSTM) and bidirectional (BiSRNN, BiGRU, BiLSTM) architectures are compared with each other and to state-of-the-art methods using three different datasets in the experiments. The implementation with BiGRU layers outperforms the others, effectively filling gaps with a low reconstruction error. The use of this approach is appropriate for complex scenarios where several variables contain long gaps. However, extreme scenarios with very short gaps in one variable or no available data should be avoided.

摘要工业领域的技术进步使得安装大量联网传感器成为可能,从而产生了大量高速观测数据。工业 4.0 的到来要求对相关多变量时间序列形式的异构数据具备分析能力。然而,数据缺失会降低处理能力,导致偏差和误解,甚至错误决策。本文提出了一种基于递归神经网络的去噪自动编码器,用于相关多变量时间序列(即表现出时空相关性的序列)中的缺失估算。去噪自编码器(DAE)能够通过学习消除有意添加的间隙来重现输入的缺失数据,而递归神经网络(RNN)则能捕捉时间模式和变量之间的关系。为此,我们在实验中使用三个不同的数据集,对不同的单向(简单 RNN、GRU、LSTM)和双向(BiSRNN、BiGRU、BiLSTM)架构进行了比较,并将其与最先进的方法进行了比较。使用 BiGRU 层的实现方法优于其他方法,它能以较低的重建误差有效填补空白。这种方法适用于多个变量包含长间隙的复杂场景。但是,应避免出现某个变量间隙很短或没有可用数据的极端情况。
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引用次数: 0
Highly compressed image representation for classification and content retrieval 用于分类和内容检索的高压缩图像表示法
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2023-12-21 DOI: 10.3233/ica-230729
Stanisław Łażewski, Bogusław Cyganek

Abstract

In this paper, we propose a new method of representing images using highly compressed features for classification and image content retrieval – called PCA-ResFeats. They are obtained by fusing high- and low-level features from the outputs of ResNet-50 residual blocks and applying to them principal component analysis, which leads to a significant reduction in dimensionality. Further on, by applying a floating-point compression, we are able to reduce the memory required to store a single image by up to 1,200 times compared to jpg images and 220 times compared to features obtained by simple output fusion of ResNet-50. As a result, the representation of a single image from the dataset can be as low as 35 bytes on average. In comparison with the classification results on features from fusion of the last ResNet-50 residual block, we achieve a comparable accuracy (no worse than five percentage points), while preserving two orders of magnitude data compression. We also tested our method in the content-based image retrieval task, achieving better results than other known methods using sparse features. Moreover, our method enables the creation of concise summaries of image content, which can find numerous applications in databases.

摘要 在本文中,我们提出了一种使用高度压缩特征表示图像的新方法,用于分类和图像内容检索--称为 PCA-ResFeats。这些特征是通过融合 ResNet-50 残差块输出中的高层和低层特征并对其进行主成分分析而得到的,从而显著降低了维度。此外,通过应用浮点压缩,我们能够将存储单张图像所需的内存减少到 jpg 图像的 1,200 倍,比 ResNet-50 的简单输出融合特征减少 220 倍。因此,数据集中单张图像的平均表示量可低至 35 字节。与通过融合最后一个 ResNet-50 剩余块获得的特征进行分类的结果相比,我们获得了相当高的准确率(不低于五个百分点),同时保持了两个数量级的数据压缩。我们还在基于内容的图像检索任务中测试了我们的方法,结果优于其他使用稀疏特征的已知方法。此外,我们的方法还能创建图像内容的简明摘要,这在数据库中应用广泛。
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引用次数: 0
Vehicle side-slip angle estimation under snowy conditions using machine learning 利用机器学习估算雪地条件下的车辆侧滑角
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2023-12-21 DOI: 10.3233/ica-230727
Georg Novotny, Yuzhou Liu, Walter Morales-Alvarez, Wilfried Wöber, Cristina Olaverri-Monreal
Adverse weather conditions, such as snow-covered roads, represent a challenge for autonomous vehicle research. This is particularly challenging as it might cause misalignment between the longitudinal axis of the vehicle and the actual direction of travel. In this paper, we extend previous work in the field of autonomous vehicles on snow-covered roads and present a novel approach for side-slip angle estimation that combines perception with a hybrid artificial neural network pushing the prediction horizon beyond existing approaches. We exploited the feature extraction capabilities of convolutional neural networks and the dynamic time series relationship learning capabilities of gated recurrent units and combined them with a motion model to estimate the side-slip angle. Subsequently, we evaluated the model using the 3DCoAutoSim simulation platform, where we designed a suitable simulation environment with snowfall, friction, and car tracks in snow. The results revealed that our approach outperforms the baseline model for prediction horizons ⩾ 2 seconds. This extended prediction horizon has practical implications, by providing drivers and autonomous systems with more time to make informed decisions, thereby enhancing road safety.
恶劣的天气条件,如积雪覆盖的道路,是自动驾驶汽车研究面临的一项挑战。这尤其具有挑战性,因为它可能导致车辆纵轴与实际行驶方向不一致。在本文中,我们扩展了之前在积雪路面上自动驾驶车辆领域的工作,提出了一种新的侧滑角估计方法,该方法将感知与混合人工神经网络相结合,使预测范围超越了现有方法。我们利用卷积神经网络的特征提取能力和门控递归单元的动态时间序列关系学习能力,并将其与运动模型相结合来估计侧滑角。随后,我们利用 3DCoAutoSim 仿真平台对模型进行了评估,在该平台上,我们设计了一个具有降雪、摩擦力和雪地中汽车行驶轨迹的合适仿真环境。结果表明,在预测范围⩾ 2 秒时,我们的方法优于基准模型。这种扩展的预测范围具有实际意义,可为驾驶员和自动驾驶系统提供更多时间做出明智决策,从而提高道路安全性。
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引用次数: 0
Enhancing smart home appliance recognition with wavelet and scalogram analysis using data augmentation 利用数据增强技术,通过小波和扫描图分析提高智能家电识别能力
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2023-12-15 DOI: 10.3233/ica-230726
José L. Salazar-González, José María Luna-Romera, Manuel Carranza-García, Juan A. Álvarez-García, Luis M. Soria-Morillo

Abstract

The development of smart homes, equipped with devices connected to the Internet of Things (IoT), has opened up new possibilities to monitor and control energy consumption. In this context, non-intrusive load monitoring (NILM) techniques have emerged as a promising solution for the disaggregation of total energy consumption into the consumption of individual appliances. The classification of electrical appliances in a smart home remains a challenging task for machine learning algorithms. In the present study, we propose comparing and evaluating the performance of two different algorithms, namely Multi-Label K-Nearest Neighbors (MLkNN) and Convolutional Neural Networks (CNN), for NILM in two different scenarios: without and with data augmentation (DAUG). Our results show how the classification results can be better interpreted by generating a scalogram image from the power consumption signal data and processing it with CNNs. The results indicate that the CNN model with the proposed data augmentation performed significantly higher, obtaining a mean F1-score of 0.484 (an improvement of +0.234), better than the other methods. Additionally, after performing the Friedman statistical test, it indicates that it is significantly different from the other methods compared. Our proposed system can potentially reduce energy waste and promote more sustainable energy use in homes and buildings by providing personalized feedback and energy savings tips.

摘要 智能家居的发展,配备了连接到物联网(IoT)的设备,为监测和控制能源消耗提供了新的可能性。在此背景下,非侵入式负载监控(NILM)技术成为将总能耗分解为单个电器能耗的一种有前途的解决方案。对于机器学习算法来说,智能家居中的电器分类仍然是一项具有挑战性的任务。在本研究中,我们建议比较和评估两种不同算法的性能,即多标签 K-最近邻(MLkNN)和卷积神经网络(CNN),在两种不同的场景下用于 NILM:无数据增强(DAUG)和有数据增强(DAUG)。我们的研究结果表明,通过从功耗信号数据中生成扫描图像并使用 CNN 进行处理,可以更好地解释分类结果。结果表明,采用了拟议数据增强技术的 CNN 模型性能明显提高,平均 F1 分数为 0.484(提高了 +0.234),优于其他方法。此外,在进行弗里德曼统计检验后,结果表明它与其他比较方法有显著差异。我们提出的系统可以通过提供个性化反馈和节能提示,减少能源浪费,促进家庭和建筑更可持续地使用能源。
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引用次数: 0
Deep deterministic policy gradient with constraints for gait optimisation of biped robots 带约束条件的深度确定性策略梯度,用于优化双足机器人的步态
IF 6.5 2区 计算机科学 Q1 Computer Science Pub Date : 2023-12-15 DOI: 10.3233/ica-230724
Xingyang Liu, Haina Rong, Ferrante Neri, Peng Yue, Gexiang Zhang
In this paper, we propose a novel Reinforcement Learning (RL) algorithm for robotic motion control, that is, a constrained Deep Deterministic Policy Gradient (DDPG) deviation learning strategy to assist biped robots in walking safely and accurately. The previous research on this topic highlighted the limitations in the controller’s ability to accurately track foot placement on discrete terrains and the lack of consideration for safety concerns. In this study, we address these challenges by focusing on ensuring the overall system’s safety. To begin with, we tackle the inverse kinematics problem by introducing constraints to the damping least squares method. This enhancement not only addresses singularity issues but also guarantees safe ranges for joint angles, thus ensuring the stability and reliability of the system. Based on this, we propose the adoption of the constrained DDPG method to correct controller deviations. In constrained DDPG, we incorporate a constraint layer into the Actor network, incorporating joint deviations as state inputs. By conducting offline training within the range of safe angles, it serves as a deviation corrector. Lastly, we validate the effectiveness of our proposed approach by conducting dynamic simulations using the CRANE biped robot. Through comprehensive assessments, including singularity analysis, constraint effectiveness evaluation, and walking experiments on discrete terrains, we demonstrate the superiority and practicality of our approach in enhancing walking performance while ensuring safety. Overall, our research contributes to the advancement of biped robot locomotion by addressing gait optimisation from multiple perspectives, including singularity handling, safety constraints, and deviation learning.
在本文中,我们提出了一种用于机器人运动控制的新型强化学习(RL)算法,即有约束的深度确定性策略梯度(DDPG)偏差学习策略,以帮助双足机器人安全、准确地行走。以往关于这一主题的研究强调了控制器在离散地形上精确跟踪脚部位置能力的局限性,以及缺乏对安全问题的考虑。在本研究中,我们通过重点确保整个系统的安全性来应对这些挑战。首先,我们通过在阻尼最小二乘法中引入约束条件来解决逆运动学问题。这一改进不仅解决了奇异性问题,还保证了关节角度的安全范围,从而确保了系统的稳定性和可靠性。在此基础上,我们提出采用约束 DDPG 方法来修正控制器偏差。在受约束 DDPG 中,我们在 Actor 网络中加入了一个约束层,将关节偏差作为状态输入。通过在安全角度范围内进行离线训练,它可作为偏差校正器。最后,我们通过使用 CRANE 双足机器人进行动态模拟,验证了我们提出的方法的有效性。通过奇异性分析、约束有效性评估和离散地形行走实验等综合评估,我们证明了我们的方法在提高行走性能、确保安全方面的优越性和实用性。总之,我们的研究从奇异性处理、安全约束和偏差学习等多个角度解决了步态优化问题,为双足机器人运动的发展做出了贡献。
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Integrated Computer-Aided Engineering
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