Разработка универсальной роботизированной платформы
The paper describes the development of a robotic platform for buildings. The versatility of the platform allows its applying in various fields of human activity, both in the remote control and autonomous regime. The main steps involved in creating a robotic platform are described; its characteristics and working results are given.
The problem of automatic image recognition based on the minimum information discrimination principle is formulated and solved. Discrimination calculation in the Kullback–Leibler information metric based on colour histograms comparison is proposed. It’s combined with a method of directed enumeration of the set of alternatives as opposed to the method of complete enumeration of competing hypotheses. Results of an experimental study of the discrimination in the problem of face images recognition are presented. It is shown that the proposed algorithm is characterized by increased accuracy and reliability of automatic image recognition.
The article is devoted to the problem of image recognition in real-time applications with a large database containing hundreds of classes. The directed enumeration method as an alternative to exhaustive search is examined. This method has two advantages. First, it could be applied with measures of similarity which do not satisfy metric properties (chi-square distance, Kullback-Leibler information discrimination, etc). Second, the directed enumeration method increases recognition speed even in the most difficult cases which seem to be very important in practical terms. In these cases many neighbors are located at very similar distances. In this paper we present the results of an experimental study of the directed enumeration method with comparison of color- and gradient-orientation histograms in solving the problem of face recognition with well-known datasets (Essex, FERET). It is shown that the proposed method is characterized by increased computing efficiency of automatic image recognition (3-12 times in comparison with a conventional nearest neighbor classifier).
A new modification of the method of directed alternatives' enumeration using the Kullback-Leibler discrimination information is proposed for half-tone image recognition.Results of an experimental studyin the problem of face images recognition with a large database are pre-sented. It is shown that the proposed modification is characterized by increased speed of image recognition (5-10 times vs exhaustive search).
Decision support in equipment condition monitoring systems with image processing is analyzed. Long-run accumulation of information about earlier made decisions is used to realize the adaptiveness of the proposed approach. It is shown that unlike conventional classification problems, the recognition of abnormalities uses training samples supplemented with reward estimates of earlier decisions and can be tackled using reinforcement learning algorithms. We consider the basic stages of contextual multi-armed bandit algorithms during which the probabilistic distributions of each state are evaluated to evaluate the current knowledge of the states, and the decision space is explored to increase the decision-making efficiency. We propose a new decision-making method, which uses the probabilistic neural network to classify abnormal situation and the softmax rule to explore the decision space. A modelling experiment in image processing was carried out to show that our approach allows a higher accuracy of abnormality detection than other known methods, especially for small-size initial training samples.
We examine the questions of applying large pyramidal neural (intellectual neuron) networks to solve equipment object control problems. We consider the description of a system for dynamic planning of mobile robot behavior, constructed based on a network of similar elements.
The problem of automatic image recognition based on the minimum information discrimination principle is formulated and solved. Color histograms comparison in the Kullback–Leibler information metric is proposed. It’s combined with method of directed enumeration alternatives as opposed to complete enumeration of competing hypotheses. Results of an experimental study of the Kullback-Leibler discrimination in the problem of face recognition with a large database are presented. It is shown that the proposed algorithm is characterized by increased accuracy and reliability of image recognition.
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The mobile robots control subsystems are presented.
Generalized error-locating codes are discussed. An algorithm for calculation of the upper bound of the probability of erroneous decoding for known code parameters and the input error probability is given. Based on this algorithm, an algorithm for selection of the code parameters for a specified design and input and output error probabilities is constructed. The lower bound of the probability of erroneous decoding is given. Examples of the dependence of the probability of erroneous decoding on the input error probability are given and the behavior of the obtained curves is explained.
The dynamics of a two-component Davydov-Scott (DS) soliton with a small mismatch of the initial location or velocity of the high-frequency (HF) component was investigated within the framework of the Zakharov-type system of two coupled equations for the HF and low-frequency (LF) fields. In this system, the HF field is described by the linear Schrödinger equation with the potential generated by the LF component varying in time and space. The LF component in this system is described by the Korteweg-de Vries equation with a term of quadratic influence of the HF field on the LF field. The frequency of the DS soliton`s component oscillation was found analytically using the balance equation. The perturbed DS soliton was shown to be stable. The analytical results were confirmed by numerical simulations.
Radiation conditions are described for various space regions, radiation-induced effects in spacecraft materials and equipment components are considered and information on theoretical, computational, and experimental methods for studying radiation effects are presented. The peculiarities of radiation effects on nanostructures and some problems related to modeling and radiation testing of such structures are considered.
Let G be a semisimple algebraic group whose decomposition into the product of simple components does not contain simple groups of type A, and P⊆G be a parabolic subgroup. Extending the results of Popov , we enumerate all triples (G, P, n) such that (a) there exists an open G-orbit on the multiple flag variety G/P × G/P × . . . × G/P (n factors), (b) the number of G-orbits on the multiple flag variety is finite.
I give the explicit formula for the (set-theoretical) system of Resultants of m+1 homogeneous polynomials in n+1 variables