scholarly journals A Reinforcement Learning Based Dirt-Exploration for Cleaning-Auditing Robot

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8331
Author(s):  
Thejus Pathmakumar ◽  
Mohan Rajesh Elara ◽  
Braulio Félix Gómez ◽  
Balakrishnan Ramalingam
Keyword(s):  
Reinforcement Learning ◽  
Research Work ◽  
Leading Edge ◽  
Research Problem ◽  
Fundamental Question ◽  
Policy Learning ◽  
Policy Network ◽  
Important Research ◽  
Important Research Problem

Cleaning is one of the fundamental tasks with prime importance given in our day-to-day life. Moreover, the importance of cleaning drives the research efforts towards bringing leading edge technologies, including robotics, into the cleaning domain. However, an effective method to assess the quality of cleaning is an equally important research problem to be addressed. The primary footstep towards addressing the fundamental question of “How clean is clean” is addressed using an autonomous cleaning-auditing robot that audits the cleanliness of a given area. This research work focuses on a novel reinforcement learning-based experience-driven dirt exploration strategy for a cleaning-auditing robot. The proposed approach uses proximal policy approximation (PPO) based on-policy learning method to generate waypoints and sampling decisions to explore the probable dirt accumulation regions in a given area. The policy network is trained in multiple environments with simulated dirt patterns. Experiment trials have been conducted to validate the trained policy in both simulated and real-world environments using an in-house developed cleaning audit robot called BELUGA.

Invariant Probabilities with Geometric Tail

1996 ◽  
Vol 10 (2) ◽  
pp. 213-221 ◽  
Author(s):  
Jean B. Lasserre ◽  
Henk Tijms
Keyword(s):  
Markov Chain ◽  
Linear Algebra ◽  
Research Problem ◽  
Important Research ◽  
Countable State ◽  
Important Research Problem

We present necessary and suffi2ient Foster-type conditions for a countable state Markov chain to have an invariant probability with at least a geometric tail. These conditions are obtained by using a generalized Farkas Theorem in Linear Algebra. The purpose of this note is also to pose an interesting and important research problem that is still largely open.

scholarly journals An Autonomous Robot-Aided Auditing Scheme for Floor Cleaning

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4332
Author(s):  
Thejus Pathmakumar ◽  
Manivannan Kalimuthu ◽  
Mohan Rajesh Elara ◽  
Balakrishnan Ramalingam
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Density Estimation ◽  
Research Work ◽  
Kernel Density ◽  
Fundamental Question ◽  
Outdoor Environments ◽  
Audit Score ◽  
Density Map

Cleaning is an important factor in most aspects of our day-to-day life. This research work brings a solution to the fundamental question of “How clean is clean” by introducing a novel framework for auditing the cleanliness of built infrastructure using mobile robots. The proposed system presents a strategy for assessing the quality of cleaning in a given area and a novel exploration strategy that facilitates the auditing in a given location by a mobile robot. An audit sensor that works by the “touch and inspect” analogy that assigns an audit score corresponds to its area of inspection has been developed. A vision-based dirt-probability-driven exploration is proposed to empower a mobile robot with an audit sensor on-board to perform auditing tasks effectively. The quality of cleaning is quantified using a dirt density map representing location-wise audit scores, dirt distribution pattern obtained by kernel density estimation, and cleaning benchmark score representing the extent of cleanliness. The framework is realized in an in-house developed audit robot to perform the cleaning audit in indoor and semi-outdoor environments. The proposed method is validated by experiment trials to estimate the cleanliness in five different locations using the developed audit sensor and dirt-probability-driven exploration.

scholarly journals GUILLAIN — BARRÉ SYNDROME AS A RELEVANT ISSUE OF NEUROLOGY (A LITERATURE REVIEW)

2019 ◽  
Vol 26 (2) ◽  
pp. 150-161
Author(s):  
Ivan A. Velichko ◽  
Marina A. Barabanova
Keyword(s):  
Peripheral Nerves ◽  
Research Problem ◽  
Severe Form ◽  
Guillain Barre Syndrome ◽  
Important Research ◽  
Relevant Issue ◽  
Guillain Barré Syndrome ◽  
Acute Polyneuropathy ◽  
Guillain Barré ◽  
Important Research Problem

Acute infl ammatory polyneuropathy is an important research problem of modern neurology. Guillain — Barré syndrome is a severe form of acute polyneuropathy, which is based on autoimmune infl ammation of the myelin sheath of roots and peripheral nerves. Guillain — Barré syndrome is an example of one of the most severe diseases of the nervous system, in which timely diagnosis, proper therapy and qualifi ed care facilitate the achievement of the full recovery of lost functions in most patients. Following an extensive review of Russian and foreign literature, this article discusses modern concepts of Guillain — Barré syndrome, in particular questions related to its epidemiology, etiopathogenesis, classifi cation, clinical features, diagnosis, treatment and prognosis.

scholarly journals Od męki translacji do piekła logosu. O przekładzie w „Przekładzie” Pabla De Santisa

2019 ◽  
pp. 143-166
Author(s):  
Katarzyna Majdzik Papić
Keyword(s):  
Jacques Derrida ◽  
Research Problem ◽  
Julia Kristeva ◽  
The Novel ◽  
Important Research ◽  
Tower Of Babel ◽  
Crime Novel ◽  
The Relationship ◽  
Hans Georg Gadamer ◽  
Important Research Problem

The article presents how the novel The Translation by Pablo De Santis reffers to the most important concepts of theory and philosophy of translation. Among these concepts the most significant are those which consider the boundaries and mechanisms of interpretation in the act of translation. These ideas are metaphorically expressed by the myth of the fall of the Tower of Babel. The interpretative context for the novel by De Santis is determined by the works of Jacques Derrida, Julia Kristeva and Hans-Georg Gadamer. An important research problem is also the relationship between the category of translation and the hybrid genre of the crime novel by De Santis.

scholarly journals Control of separately excited DC motor with series multi-cells chopper using PI - Petri nets controller

2019 ◽  
Vol 8 (1) ◽  
pp. 32-38 ◽  
Author(s):  
Mohamed Lamine Hamida ◽  
Hakim Denoun ◽  
Arezki Fekik ◽  
Sundarapandian Vaidyanathan
Keyword(s):  
Petri Nets ◽  
Research Problem ◽  
Dc Motor ◽  
Pi Controller ◽  
Important Research ◽  
Power Simulation ◽  
Industrial Sectors ◽  
Capacitor Voltage ◽  
Binary Control ◽  
Important Research Problem

Abstract The separately excited Direct Current (DC) motor is widely used in many industrial sectors. During the operation of the DC motor, the load torque and the voltage of the network can cause a destabilization of the actual speed and actual current. Thus, the need to regulate the speed and current of the DC motor is a very important research problem. In this paper, a control strategy of separately excited DC motor using a series multi-cells chopper is described. The proposed control is based on Proportional-Integral (PI) and Petri nets controllers. Specifically, the conventional PI controller is used to control the speed of DC motor. The Petri nets controller ensures the regulation of the armature current and to maintain the capacitor voltage of the multi-cells converter to its reference. The Petri nets controller also generates binary control switches. The proposed control system has been implemented using MATLAB Sim Power. Simulation results demonstrate that a series multi-cells chopper and the proposed control give a good performance and high robustness in load disturbance for the separately excited DC motor.

scholarly journals Meta-analysis in management and quality sciences

2021 ◽  
pp. 324-335
Author(s):  
Henryk Dzwigol
Keyword(s):  
Meta Analysis ◽  
Research Work ◽  
Principal Component ◽  
Research Problem ◽  
Research Process ◽  
Theory And Practice ◽  
Theoretical Research ◽  
Methodological Approaches ◽  
Constant Growth

This study on the methodology of conducting the research process indicates the scarcity of an empirical approach to a problem of quality of the research process. In this paper, the determinants of the quality of the research process in the management sciences were examined. The authors employed the commonly used principal component analysis (PCA), also known as factor analysis. Furthermore, the article presents a holistic, structured and configurable framework that would result in the construction of an appropriate research methodology. The research work carried out within the discipline of management sciences must be embedded both in terms of theory and practice. Although the management sciences are most often treated as applied or practical sciences, they also undertake theoretical research in their scope, because no science can develop without theoretical research. This paper aims to identify the factors influencing the quality of the research process as the complementary elements to the contemporary methodological approaches. The analysis of the domestic and foreign scientific background, as well as the drawn conclusions, turned on the modifications introduced over the years in the management methods. The management methodology is constantly expanding by new methods, the latter being of diverse cognitive and practical effectiveness. The constant growth of diagnostic instruments has been dependent, mainly, on changes occurring in the environment. Moreover, it is connected to the need to make use of more sophisticated and effective tools. The article focused on meta-analysis as a research process and qualitative approach to the research process on the example of research results. Empirical research confirms the existence of factors that constitute a criterion supporting the assessment of the quality of the conducted research process. In the management sciences, the quality of the research process is defined as verifying the degree of implementation and consistency of the objectives of the work following the research problem and conclusions.

Recognising Human Behaviour in a Spatio-Temporal Context

2011 ◽  
pp. 443-459 ◽  
Author(s):  
Hans W. Guesgen ◽  
Stephen Marsland
Keyword(s):  
Contextual Information ◽  
Implementation Strategies ◽  
Smart Homes ◽  
Research Problem ◽  
Temporal Context ◽  
Temporal Data ◽  
Important Research ◽  
Novel Method ◽  
Spatio Temporal ◽  
Important Research Problem

Identifying human behaviours in smart homes from sensor observations is an important research problem. The addition of contextual information about environmental circumstances and prior activities, as well as spatial and temporal data, can assist in both recognising particular behaviours and detecting abnormalities in these behaviours. In this chapter, we describe a novel method of representing this data and discuss a wide variety of possible implementation strategies.

Using Contextual Information for Recognising Human Behaviour

2016 ◽  
Vol 7 (1) ◽  
pp. 27-44 ◽  
Author(s):  
Hans W. Guesgen ◽  
Stephen Marsland
Keyword(s):  
Contextual Information ◽  
Implementation Strategies ◽  
Smart Homes ◽  
Research Problem ◽  
Human Behaviour ◽  
Temporal Data ◽  
Important Research ◽  
Novel Method ◽  
Important Research Problem

Identifying human behaviours in smart homes from sensor observations is an important research problem. The addition of contextual information about environmental circumstances and prior activities, as well as spatial and temporal data, can assist in both recognising particular behaviours and detecting abnormalities in these behaviours. In this paper, the authors describe a novel method of representing this data and discuss a wide variety of possible implementation strategies.

Research on Location Feedback Based DV-Hop Localization Algorithm

2014 ◽  
Vol 621 ◽  
pp. 699-706
Author(s):  
Fei Liu ◽  
Guang Zeng Feng
Keyword(s):  
Research Problem ◽  
Feedback Mechanism ◽  
Localization Algorithm ◽  
Important Research ◽  
Precise Location ◽  
The Real ◽  
The Difference ◽  
Unknown Node ◽  
Range Free ◽  
Important Research Problem

In wireless sensor networks (WSNs), estimation of the location of the unknown node based on the average hop distance is an important research problem for range free localization algorithm. As one of the range free algorithm, DV-Hop chooses the average hop distance comes from the nearest beacon, can't reflect the real status of WSNs. We observe that the unknown node can achieve the precise location when one feedback channels are built between the unknown node and the beacons which embedded accurate location. Based on this observation, we propose one improved DV-Hop localization algorithm based on feedback mechanism (FDV-Hop). Using DV-Hop, the unknown node achieves the estimated location, and broadcasts its average hop distance to the beacons. The beacons also use DV-Hop to calculate their location based on the average hop distance from the unknown node. Then the beacons calculate the difference between the estimated location and the real location, and send the difference between them to unknown node with weights setting. The unknown node recalculates its location which involving the difference of location and the weights. The simulation shows that FDV-Hop can reduce the average localization error effectively and keep the localization stable.

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