Towards Fault Diagnosis in Reconfigurable Robot

東京電機大学201

Navigation Techniques for Control of Multiple Mobile Robots

The investigation reported in this thesis attempt to develop efficient techniques for the control of multiple mobile robots in an unknown environment. Mobile robots are key components in industrial automation, service provision, and unmanned space exploration. This thesis addresses eight different techniques for the navigation of multiple mobile robots. These are fuzzy logic, neural network, neuro-fuzzy, rule-base, rule-based-neuro-fuzzy, potential field, potential-field-neuro-fuzzy, and simulated-annealing- potential-field- neuro-fuzzy techniques. The main components of this thesis comprises of eight chapters. Following the literature survey in Chapter-2, Chapter-3 describes how to calculate the heading angle for the mobile robots in terms of left wheel velocity and right wheel velocity of the robot. In Chapter-4 a fuzzy logic technique has been analysed. The fuzzy logic technique uses different membership functions for navigation of the multiple mobile robots, which can perform obs..

Towards a bionic bat: A biomimetic investigation of active sensing, Doppler-shift estimation, and ear morphology design for mobile robots.

Institute of Perception, Action and BehaviourSo-called CF-FM bats are highly mobile creatures who emit long calls in which much of the energy is concentrated in a single frequency. These bats face sensor interpretation problems very similar to those of mobile robots provided with ultrasonic sensors, while navigating in cluttered environments. This dissertation presents biologically inspired engineering on the use of narrowband Sonar in mobile robotics. It replicates, using robotics as a modelling medium, how CF-FM bats process and use the constant frequency part of their emitted call for several tasks, aiming to improve the design and use of narrowband ultrasonic sensors for mobile robot navigation. The experimental platform for the work is RoBat, the biomimetic sonarhead designed by Peremans and Hallam, mounted on a commercial mobile platform as part of the work reported in this dissertation. System integration, including signal processing capabilities inspired by the bat’s auditory system and closed loop control of both sonarhead and mobile base movements, was designed and implemented. The result is a versatile tool for studying the relationship between environmental features, their acoustic correlates and the cues computable from them, in the context of both static, and dynamic real-time closed loop, behaviour. Two models of the signal processing performed by the bat’s cochlea were implemented, based on sets of bandpass filters followed by full-wave rectification and low-pass filtering. One filterbank uses Butterworth filters whose centre frequencies vary linearly across the set. The alternative filterbank uses gammatone filters, with centre frequencies varying non-linearly across the set. Two methods of estimating Doppler-shift from the return echoes after cochlear signal processing were implemented. The first was a simple energy-weighted average of filter centre frequencies. The second was a novel neural network-based technique. Each method was tested with each of the cochlear models, and evaluated in the context of several dynamic tasks in which RoBat was moved at different velocities towards stationary echo sources such as walls and posts. Overall, the performance of the linear filterbank was more consistent than the gammatone. The same applies to the ANN, with consistently better noise performance than the weighted average. The effect of multiple reflectors contained in a single echo was also analysed in terms of error in Doppler-shift estimation assuming a single wider reflector. Inspired by the Doppler-shift compensation and obstacle avoidance behaviours found in CF-FM bats, a Doppler-based controller suitable for collision detection and convoy navigation in robots was devised and implemented in RoBat. The performance of the controller is satisfactory despite low Doppler-shift resolution caused by lower velocity of the robot when compared to real bats. Barshan’s and Kuc’s 2D object localisation method was implemented and adapted to the geometry of RoBat’s sonarhead. Different TOF estimation methods were tested, the parabola fitting being the most accurate. Arc scanning, the ear movement technique to recover elevation cues proposed by Walker, and tested in simulation by her, Peremans and Hallam, was here implemented on RoBat, and integrated with Barshan’s and Kuc’s method in a preliminary narrowband 3D tracker. Finally, joint work with Kim, K¨ampchen and Hallam on designing optimal reflector surfaces inspired by the CF-FM bat’s large pinnae is presented. Genetic algorithms are used for improving the current echolocating capabilities of the sonarhead for both arc scanning and IID behaviours. Multiple reflectors around the transducer using a simple ray light-like model of sound propagation are evolved. Results show phase cancellation problems and the need of a more complete model of wave propagation. Inspired by a physical model of sound diffraction and reflections in the human concha a new model is devised and used to evolve pinnae surfaces made of finite elements. Some interesting paraboloid shapes are obtained, improving performance significantly with respect to the bare transducer

Navigational control of multiple mobile robots in various environments

The thesis addresses the problem of mobile robots navigation in various cluttered environments and proposes methodologies based on a soft computing approach, concerning to three main techniques: Potential Field technique, Genetic Algorithm technique and Fuzzy Logic technique. The selected techniques along with their hybrid models, based on a mathematical support, solve the three main issues of path planning of robots such as environment representation, localization and navigation. The motivation of the thesis is based on some cutting edge issues for path planning and navigation capabilities, that retrieve the essential for various situations found in day-to-day life. For this purpose, complete algorithms are developed and analysed for standalone techniques and their hybrid models. In the potential field technique the local minima due to existence of dead cycle problem has been addressed and the possible solution for different situations has been carried out. In fuzzy logic technique the different controllers have been designed and their performance analysis has been done during their navigational control in various environments. Firstly, the fuzzy controller having all triangular members with five membership functions have been considered. Subsequently the membership functions are changed from Triangular to other functions, e.g. Trapezoidal, Gaussian functions and combinational form to have a more smooth and optimised control response. It has been found that the fuzzy controller with all Gaussian membership function works better compared to other chosen membership functions. Similarly the proposed Genetic algorithm is based on the suitable population size and fitness functions for finding out the robot steering angle in various cluttered field. At the end hybrid approaches e.g. Potential-Fuzzy, otential-Genetic, Fuzzy-Genetic and Potential-Fuzzy-Genetic are considered for navigation of multiple mobile robots. Initially the combination of two techniques has been selected in order to model the controllers and then all the techniques have been hybridized to get a better controller. These hybrid controllers are first designed and analysed for possible solutions for various situations provided by human intelligence. Then computer simulations have been executed extensively for various known and unknown environments. The proposed hybrid algorithms are embedded in the controllers of the real robots and tested in realistic scenarios to demonstrate the effectiveness of the developed controllers. Finally, the thesis concludes in a chapter describing the comparison of results acquired from various environments, showing that the developed algorithms achieve the main goals proposed by different approaches with a high level of simulations. The main contribution provided in the thesis is the definition and demonstration of the applicability of multiple mobile robots navigations with multiple targets in various environments based on the strategy of path optimisation

Navigational Strategies for Control of Underwater Robot using AI based Algorithms

Autonomous underwater robots have become indispensable marine tools to perform various tedious and risky oceanic tasks of military, scientific, civil as well as commercial purposes. To execute hazardous naval tasks successfully, underwater robot needs an intelligent controller to manoeuver from one point to another within unknown or partially known three-dimensional environment. This dissertation has proposed and implemented various AI based control strategies for underwater robot navigation. Adaptive versions of neuro-fuzzy network and several stochastic evolutionary algorithms have been employed here to avoid obstacles or to escape from dead end situations while tracing near optimal path from initial point to destination of an impulsive underwater scenario. A proper balance between path optimization and collision avoidance has been considered as major aspects for evaluating performances of proposed navigational strategies of underwater robot. Online sensory information about position and orientation of both target and nearest obstacles with respect to the robot’s current position have been considered as inputs for path planners. To validate the feasibility of proposed control algorithms, numerous simulations have been executed within MATLAB based simulation environment where obstacles of different shapes and sizes are distributed in a chaotic manner. Simulation results have been verified by performing real time experiments of robot in underwater environment. Comparisons with other available underwater navigation approaches have also been accomplished for authentication purpose. Extensive simulation and experimental studies have ensured the obstacle avoidance and path optimization abilities of proposed AI based navigational strategies during motion of underwater robot. Moreover, a comparative study has been performed on navigational performances of proposed path planning approaches regarding path length and travel time to find out most efficient technique for navigation within an impulsive underwater environment

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

Semi-automatic liquid filling system using NodeMCU as an integrated Iot Learning tool

Computer programming and IoT are the key skills required in Industrial Revolution 4.0 (IR4.0). The industry demand is very high and therefore related students in this field should grasp adequate knowledge and skill in college or university prior to employment. However, learning technology related subject without applying it to an actual hardware can pose difficulty to relate the theoretical knowledge to problems in real application. It is proven that learning through hands-on activities is more effective and promotes deeper understanding of the subject matter (He et al. in Integrating Internet of Things (IoT) into STEM undergraduate education: Case study of a modern technology infused courseware for embedded system course. Erie, PA, USA, pp 1–9 (2016)). Thus, to fulfill the learning requirement, an integrated learning tool that combines learning of computer programming and IoT control for an industrial liquid filling system model is developed and tested. The integrated learning tool uses NodeMCU, Blynk app and smartphone to enable the IoT application. The system set-up is pre-designed for semi-automation liquid filling process to enhance hands-on learning experience but can be easily programmed for full automation. Overall, it is a user and cost friendly learning tool that can be developed by academic staff to aid learning of IoT and computer programming in related education levels and field

Human Practice. Digital Ecologies. Our Future. : 14. Internationale Tagung Wirtschaftsinformatik (WI 2019) : Tagungsband

Erschienen bei: universi - Universitätsverlag Siegen. - ISBN: 978-3-96182-063-4Aus dem Inhalt: Track 1: Produktion & Cyber-Physische Systeme Requirements and a Meta Model for Exchanging Additive Manufacturing Capacities Service Systems, Smart Service Systems and Cyber- Physical Systems—What’s the difference? Towards a Unified Terminology Developing an Industrial IoT Platform – Trade-off between Horizontal and Vertical Approaches Machine Learning und Complex Event Processing: Effiziente Echtzeitauswertung am Beispiel Smart Factory Sensor retrofit for a coffee machine as condition monitoring and predictive maintenance use case Stakeholder-Analyse zum Einsatz IIoT-basierter Frischeinformationen in der Lebensmittelindustrie Towards a Framework for Predictive Maintenance Strategies in Mechanical Engineering - A Method-Oriented Literature Analysis Development of a matching platform for the requirement-oriented selection of cyber physical systems for SMEs Track 2: Logistic Analytics An Empirical Study of Customers’ Behavioral Intention to Use Ridepooling Services – An Extension of the Technology Acceptance Model Modeling Delay Propagation and Transmission in Railway Networks What is the impact of company specific adjustments on the acceptance and diffusion of logistic standards? Robust Route Planning in Intermodal Urban Traffic Track 3: Unternehmensmodellierung & Informationssystemgestaltung (Enterprise Modelling & Information Systems Design) Work System Modeling Method with Different Levels of Specificity and Rigor for Different Stakeholder Purposes Resolving Inconsistencies in Declarative Process Models based on Culpability Measurement Strategic Analysis in the Realm of Enterprise Modeling – On the Example of Blockchain-Based Initiatives for the Electricity Sector Zwischenbetriebliche Integration in der Möbelbranche: Konfigurationen und Einflussfaktoren Novices’ Quality Perceptions and the Acceptance of Process Modeling Grammars Entwicklung einer Definition für Social Business Objects (SBO) zur Modellierung von Unternehmensinformationen Designing a Reference Model for Digital Product Configurators Terminology for Evolving Design Artifacts Business Role-Object Specification: A Language for Behavior-aware Structural Modeling of Business Objects Generating Smart Glasses-based Information Systems with BPMN4SGA: A BPMN Extension for Smart Glasses Applications Using Blockchain in Peer-to-Peer Carsharing to Build Trust in the Sharing Economy Testing in Big Data: An Architecture Pattern for a Development Environment for Innovative, Integrated and Robust Applications Track 4: Lern- und Wissensmanagement (e-Learning and Knowledge Management) eGovernment Competences revisited – A Literature Review on necessary Competences in a Digitalized Public Sector Say Hello to Your New Automated Tutor – A Structured Literature Review on Pedagogical Conversational Agents Teaching the Digital Transformation of Business Processes: Design of a Simulation Game for Information Systems Education Conceptualizing Immersion for Individual Learning in Virtual Reality Designing a Flipped Classroom Course – a Process Model The Influence of Risk-Taking on Knowledge Exchange and Combination Gamified Feedback durch Avatare im Mobile Learning Alexa, Can You Help Me Solve That Problem? - Understanding the Value of Smart Personal Assistants as Tutors for Complex Problem Tasks Track 5: Data Science & Business Analytics Matching with Bundle Preferences: Tradeoff between Fairness and Truthfulness Applied image recognition: guidelines for using deep learning models in practice Yield Prognosis for the Agrarian Management of Vineyards using Deep Learning for Object Counting Reading Between the Lines of Qualitative Data – How to Detect Hidden Structure Based on Codes Online Auctions with Dual-Threshold Algorithms: An Experimental Study and Practical Evaluation Design Features of Non-Financial Reward Programs for Online Reviews: Evaluation based on Google Maps Data Topic Embeddings – A New Approach to Classify Very Short Documents Based on Predefined Topics Leveraging Unstructured Image Data for Product Quality Improvement Decision Support for Real Estate Investors: Improving Real Estate Valuation with 3D City Models and Points of Interest Knowledge Discovery from CVs: A Topic Modeling Procedure Online Product Descriptions – Boost for your Sales? Entscheidungsunterstützung durch historienbasierte Dienstreihenfolgeplanung mit Pattern A Semi-Automated Approach for Generating Online Review Templates Machine Learning goes Measure Management: Leveraging Anomaly Detection and Parts Search to Improve Product-Cost Optimization Bedeutung von Predictive Analytics für den theoretischen Erkenntnisgewinn in der IS-Forschung Track 6: Digitale Transformation und Dienstleistungen Heuristic Theorizing in Software Development: Deriving Design Principles for Smart Glasses-based Systems Mirroring E-service for Brick and Mortar Retail: An Assessment and Survey Taxonomy of Digital Platforms: A Platform Architecture Perspective Value of Star Players in the Digital Age Local Shopping Platforms – Harnessing Locational Advantages for the Digital Transformation of Local Retail Outlets: A Content Analysis A Socio-Technical Approach to Manage Analytics-as-a-Service – Results of an Action Design Research Project Characterizing Approaches to Digital Transformation: Development of a Taxonomy of Digital Units Expectations vs. Reality – Benefits of Smart Services in the Field of Tension between Industry and Science Innovation Networks and Digital Innovation: How Organizations Use Innovation Networks in a Digitized Environment Characterising Social Reading Platforms— A Taxonomy-Based Approach to Structure the Field Less Complex than Expected – What Really Drives IT Consulting Value Modularity Canvas – A Framework for Visualizing Potentials of Service Modularity Towards a Conceptualization of Capabilities for Innovating Business Models in the Industrial Internet of Things A Taxonomy of Barriers to Digital Transformation Ambidexterity in Service Innovation Research: A Systematic Literature Review Design and success factors of an online solution for cross-pillar pension information Track 7: IT-Management und -Strategie A Frugal Support Structure for New Software Implementations in SMEs How to Structure a Company-wide Adoption of Big Data Analytics The Changing Roles of Innovation Actors and Organizational Antecedents in the Digital Age Bewertung des Kundennutzens von Chatbots für den Einsatz im Servicedesk Understanding the Benefits of Agile Software Development in Regulated Environments Are Employees Following the Rules? On the Effectiveness of IT Consumerization Policies Agile and Attached: The Impact of Agile Practices on Agile Team Members’ Affective Organisational Commitment The Complexity Trap – Limits of IT Flexibility for Supporting Organizational Agility in Decentralized Organizations Platform Openness: A Systematic Literature Review and Avenues for Future Research Competence, Fashion and the Case of Blockchain The Digital Platform Otto.de: A Case Study of Growth, Complexity, and Generativity Track 8: eHealth & alternde Gesellschaft Security and Privacy of Personal Health Records in Cloud Computing Environments – An Experimental Exploration of the Impact of Storage Solutions and Data Breaches Patientenintegration durch Pfadsysteme Digitalisierung in der Stressprävention – eine qualitative Interviewstudie zu Nutzenpotenzialen User Dynamics in Mental Health Forums – A Sentiment Analysis Perspective Intent and the Use of Wearables in the Workplace – A Model Development Understanding Patient Pathways in the Context of Integrated Health Care Services - Implications from a Scoping Review Understanding the Habitual Use of Wearable Activity Trackers On the Fit in Fitness Apps: Studying the Interaction of Motivational Affordances and Users’ Goal Orientations in Affecting the Benefits Gained Gamification in Health Behavior Change Support Systems - A Synthesis of Unintended Side Effects Investigating the Influence of Information Incongruity on Trust-Relations within Trilateral Healthcare Settings Track 9: Krisen- und Kontinuitätsmanagement Potentiale von IKT beim Ausfall kritischer Infrastrukturen: Erwartungen, Informationsgewinnung und Mediennutzung der Zivilbevölkerung in Deutschland Fake News Perception in Germany: A Representative Study of People’s Attitudes and Approaches to Counteract Disinformation Analyzing the Potential of Graphical Building Information for Fire Emergency Responses: Findings from a Controlled Experiment Track 10: Human-Computer Interaction Towards a Taxonomy of Platforms for Conversational Agent Design Measuring Service Encounter Satisfaction with Customer Service Chatbots using Sentiment Analysis Self-Tracking and Gamification: Analyzing the Interplay of Motivations, Usage and Motivation Fulfillment Erfolgsfaktoren von Augmented-Reality-Applikationen: Analyse von Nutzerrezensionen mit dem Review-Mining-Verfahren Designing Dynamic Decision Support for Electronic Requirements Negotiations Who is Stressed by Using ICTs? A Qualitative Comparison Analysis with the Big Five Personality Traits to Understand Technostress Walking the Middle Path: How Medium Trade-Off Exposure Leads to Higher Consumer Satisfaction in Recommender Agents Theory-Based Affordances of Utilitarian, Hedonic and Dual-Purposed Technologies: A Literature Review Eliciting Customer Preferences for Shopping Companion Apps: A Service Quality Approach The Role of Early User Participation in Discovering Software – A Case Study from the Context of Smart Glasses The Fluidity of the Self-Concept as a Framework to Explain the Motivation to Play Video Games Heart over Heels? An Empirical Analysis of the Relationship between Emotions and Review Helpfulness for Experience and Credence Goods Track 11: Information Security and Information Privacy Unfolding Concerns about Augmented Reality Technologies: A Qualitative Analysis of User Perceptions To (Psychologically) Own Data is to Protect Data: How Psychological Ownership Determines Protective Behavior in a Work and Private Context Understanding Data Protection Regulations from a Data Management Perspective: A Capability-Based Approach to EU-GDPR On the Difficulties of Incentivizing Online Privacy through Transparency: A Qualitative Survey of the German Health Insurance Market What is Your Selfie Worth? A Field Study on Individuals’ Valuation of Personal Data Justification of Mass Surveillance: A Quantitative Study An Exploratory Study of Risk Perception for Data Disclosure to a Network of Firms Track 12: Umweltinformatik und nachhaltiges Wirtschaften Kommunikationsfäden im Nadelöhr – Fachliche Prozessmodellierung der Nachhaltigkeitskommunikation am Kapitalmarkt Potentiale und Herausforderungen der Materialflusskostenrechnung Computing Incentives for User-Based Relocation in Carsharing Sustainability’s Coming Home: Preliminary Design Principles for the Sustainable Smart District Substitution of hazardous chemical substances using Deep Learning and t-SNE A Hierarchy of DSMLs in Support of Product Life-Cycle Assessment A Survey of Smart Energy Services for Private Households Door-to-Door Mobility Integrators as Keystone Organizations of Smart Ecosystems: Resources and Value Co-Creation – A Literature Review Ein Entscheidungsunterstützungssystem zur ökonomischen Bewertung von Mieterstrom auf Basis der Clusteranalyse Discovering Blockchain for Sustainable Product-Service Systems to enhance the Circular Economy Digitale Rückverfolgbarkeit von Lebensmitteln: Eine verbraucherinformatische Studie Umweltbewusstsein durch audiovisuelles Content Marketing? Eine experimentelle Untersuchung zur Konsumentenbewertung nachhaltiger Smartphones Towards Predictive Energy Management in Information Systems: A Research Proposal A Web Browser-Based Application for Processing and Analyzing Material Flow Models using the MFCA Methodology Track 13: Digital Work - Social, mobile, smart On Conversational Agents in Information Systems Research: Analyzing the Past to Guide Future Work The Potential of Augmented Reality for Improving Occupational First Aid Prevent a Vicious Circle! The Role of Organizational IT-Capability in Attracting IT-affine Applicants Good, Bad, or Both? Conceptualization and Measurement of Ambivalent User Attitudes Towards AI A Case Study on Cross-Hierarchical Communication in Digital Work Environments ‘Show Me Your People Skills’ - Employing CEO Branding for Corporate Reputation Management in Social Media A Multiorganisational Study of the Drivers and Barriers of Enterprise Collaboration Systems-Enabled Change The More the Merrier? The Effect of Size of Core Team Subgroups on Success of Open Source Projects The Impact of Anthropomorphic and Functional Chatbot Design Features in Enterprise Collaboration Systems on User Acceptance Digital Feedback for Digital Work? Affordances and Constraints of a Feedback App at InsurCorp The Effect of Marker-less Augmented Reality on Task and Learning Performance Antecedents for Cyberloafing – A Literature Review Internal Crowd Work as a Source of Empowerment - An Empirical Analysis of the Perception of Employees in a Crowdtesting Project Track 14: Geschäftsmodelle und digitales Unternehmertum Dividing the ICO Jungle: Extracting and Evaluating Design Archetypes Capturing Value from Data: Exploring Factors Influencing Revenue Model Design for Data-Driven Services Understanding the Role of Data for Innovating Business Models: A System Dynamics Perspective Business Model Innovation and Stakeholder: Exploring Mechanisms and Outcomes of Value Creation and Destruction Business Models for Internet of Things Platforms: Empirical Development of a Taxonomy and Archetypes Revitalizing established Industrial Companies: State of the Art and Success Principles of Digital Corporate Incubators When 1+1 is Greater than 2: Concurrence of Additional Digital and Established Business Models within Companies Special Track 1: Student Track Investigating Personalized Price Discrimination of Textile-, Electronics- and General Stores in German Online Retail From Facets to a Universal Definition – An Analysis of IoT Usage in Retail Is the Technostress Creators Inventory Still an Up-To-Date Measurement Instrument? Results of a Large-Scale Interview Study Application of Media Synchronicity Theory to Creative Tasks in Virtual Teams Using the Example of Design Thinking TrustyTweet: An Indicator-based Browser-Plugin to Assist Users in Dealing with Fake News on Twitter Application of Process Mining Techniques to Support Maintenance-Related Objectives How Voice Can Change Customer Satisfaction: A Comparative Analysis between E-Commerce and Voice Commerce Business Process Compliance and Blockchain: How Does the Ethereum Blockchain Address Challenges of Business Process Compliance? Improving Business Model Configuration through a Question-based Approach The Influence of Situational Factors and Gamification on Intrinsic Motivation and Learning Evaluation von ITSM-Tools für Integration und Management von Cloud-Diensten am Beispiel von ServiceNow How Software Promotes the Integration of Sustainability in Business Process Management Criteria Catalog for Industrial IoT Platforms from the Perspective of the Machine Tool Industry Special Track 3: Demos & Prototyping Privacy-friendly User Location Tracking with Smart Devices: The BeaT Prototype Application-oriented robotics in nursing homes Augmented Reality for Set-up Processe Mixed Reality for supporting Remote-Meetings Gamification zur Motivationssteigerung von Werkern bei der Betriebsdatenerfassung Automatically Extracting and Analyzing Customer Needs from Twitter: A “Needmining” Prototype GaNEsHA: Opportunities for Sustainable Transportation in Smart Cities TUCANA: A platform for using local processing power of edge devices for building data-driven services Demonstrator zur Beschreibung und Visualisierung einer kritischen Infrastruktur Entwicklung einer alltagsnahen persuasiven App zur Bewegungsmotivation für ältere Nutzerinnen und Nutzer A browser-based modeling tool for studying the learning of conceptual modeling based on a multi-modal data collection approach Exergames & Dementia: An interactive System for People with Dementia and their Care-Network Workshops Workshop Ethics and Morality in Business Informatics (Workshop Ethik und Moral in der Wirtschaftsinformatik – EMoWI’19) Model-Based Compliance in Information Systems - Foundations, Case Description and Data Set of the MobIS-Challenge for Students and Doctoral Candidates Report of the Workshop on Concepts and Methods of Identifying Digital Potentials in Information Management Control of Systemic Risks in Global Networks - A Grand Challenge to Information Systems Research Die Mitarbeiter von morgen - Kompetenzen künftiger Mitarbeiter im Bereich Business Analytics Digitaler Konsum: Herausforderungen und Chancen der Verbraucherinformati

Evolving a modular neural network-based behavioral fusion using extended VFF and environment classification for mobile robot navigation

A local navigation algorithm for mobile robots is proposed that combines rule-based and neural network approaches. First, the extended virtual force field (EVFF), an extension of the conventional virtual force field (VFF), implements a rule base under the potential field concept. Second, the neural network performs fusion of the three primitive behaviors generated by EVFF Finally, evolutionary programming is used to optimize the weights of the neural network with an arbitrary form of objective function. Furthermore, a multinetwork version of the fusion neural network has been proposed that lends itself to not only an efficient architecture but also a greatly enhanced generalization capability. Herein, the global path environment has been classified into a number of basic local path environments to which each module has been optimized with higher resolution and better generalization. These techniques have been verified through computer simulation under a collection of complex and varying environments.X1119sciescopu