2020 International SAUPEC/RobMech/PRASA Conference最新文献_第5页

Using cloud cover forecasts for estimating a solar powered vehicles' range 使用云覆盖预测来估计太阳能汽车的航程

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041040

C. Landman, A. Rix

引用次数: 0

On the Effectiveness of Silly Walks as Initial Guesses for Optimal Legged Locomotion Problems 关于愚蠢行走作为最优腿运动问题初始猜测的有效性

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041065

Stacey Shield, Amir Patel

{"title":"On the Effectiveness of Silly Walks as Initial Guesses for Optimal Legged Locomotion Problems","authors":"Stacey Shield, Amir Patel","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041065","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041065","url":null,"abstract":"Trajectory optimization is a popular method of generating high-level plans for legged locomotion tasks, but convergence, and the quality of the solutions achieved, are dependent on the guess trajectory used to initialize the solver. Because the results are locally optimal at best, finding a good solution to a poorly-defined problem necessitates an unbiased initialization technique that facilitates broad exploration of the solution space over multiple attempts, but the problem is unlikely to solve at all if the guess is too far from feasible. In this paper, we attempt to navigate this trade-off between randomness and reliability using ‘silly walks': stochastically-generated gaits that satisfy some of the problem's feasibility constraints. We present a simple method of generating these motions, and compare the performance of this type of guess to various random sampling approaches. Through tests on a pendulum, hopper and quadrupedal model, we demonstrate that the silly walk offers a favourable balance of reliability, convergence time and solution diversity for legged locomotion problems.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134259783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

A Comparative Analysis of Different MPC Controllers for Load Frequency Control for Interconnected Power System 不同MPC控制器用于互联电力系统负荷频率控制的比较分析

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9040959

Igbineweka Ernest Uyioghosa, A. Saha

引用次数: 3

Archiving 4.0: Application of Image Processing and Machine Learning for the Robben Island Mayibuye Archives 存档4.0:罗本岛Mayibuye档案馆图像处理和机器学习的应用

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041115

D. Kern, Manuel Zweng, Stanley Sello, A. Bagula, U. Klauck

{"title":"Archiving 4.0: Application of Image Processing and Machine Learning for the Robben Island Mayibuye Archives","authors":"D. Kern, Manuel Zweng, Stanley Sello, A. Bagula, U. Klauck","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041115","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041115","url":null,"abstract":"Image processing is becoming one of the key technologies of the fourth industrial revolution (4IR) which provides different ways of detecting and recognizing faces, persons and other objects in an image. This can benefit large archives with historical images such as the Robben Island Mayibuye Archives where many figures of the Apartheid struggle appearing in pictures are still unknown. This paper analyzes the findings of the first step of Archiving 4.0, a project that aims of using 4IR techniques to support and improve archiving in South Africa. It aims at finding the best among different models for face detection by evaluating their performance on a subset of the images from the Robben Island Mayibuye Archives. For a range of selected face detection models, the Intersection over Union and the Average Precision are calculated. The models are evaluated and compared on the basis of these metrics and their speed. The results show the strengths and weaknesses of the different approaches and reveal which of the approaches is best to be used in which situation.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122443286","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Deep Learning and Transfer Learning applied to Sentinel-1 DInSAR and Sentinel-2 optical satellite imagery for change detection 深度学习和迁移学习应用于Sentinel-1 DInSAR和Sentinel-2光学卫星图像的变化检测

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041139

Zainoolabadien Karim, Terence L van Zyl

{"title":"Deep Learning and Transfer Learning applied to Sentinel-1 DInSAR and Sentinel-2 optical satellite imagery for change detection","authors":"Zainoolabadien Karim, Terence L van Zyl","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041139","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041139","url":null,"abstract":"This paper discusses Deep Learning (DL) and Transfer Learning (TL) state of the art techniques applied to a binary classification task for change detection in satellite imagery. A blob detection algorithm is applied to a Differential Interferometric Synthetic Aperture Radar (DInSAR) generated displacement map. The blobs are classified as either positive, corresponding to uplift or subsidence, or negative, corresponding to noise. The novel dataset consists of Sentinel-1 DInSAR processed georeferenced images of displacement, phase, coherence and RGB Sentinel-2 optical satellite imagery of the blobs. TL via Feature Extraction (FE) is applied using numerous DL models with weights pretrained on the ImageNet dataset to generate feature maps after removing the last predictive layer. A Logistic Regression classifier is then applied to the features. Fine-Tuning (FT) and Random Initialisation (RI), training from scratch, are also applied to ResNet-50 and EfficientNet B4 architectures. The best performing model (85.76%) is the ResNet-50 using FE. Small ensembles of some models are also investigated. An ensemble of ResNet-50, ResNeXt-50 and EfficientNet B4 has an accuracy of 84.83%. TL via FE with the ResNet-50 has an accuracy of approx. 9% and 8% higher than when using it for TL via FT or RI respectively. The EfficientNet B4 obtained an accuracy of 82.29% for FE, 66.35% for FT and 50.00% (as good as a random guess) for RI.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114317325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Comparison of DC voltage Control Strategies for Multi-terminal HVDC Network during AC Faults 交流故障时多端高压直流网络直流电压控制策略比较

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9040990

Sindisiwe C. Malanda, I. Davidson, Grain Adam

引用次数: 3

Active Distribution System State Estimation on Modified IEEE 33 bus test system 基于改进IEEE 33总线测试系统的主动配电系统状态估计

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041234

J. Watitwa, K. Awodele

{"title":"Active Distribution System State Estimation on Modified IEEE 33 bus test system","authors":"J. Watitwa, K. Awodele","doi":"10.1109/SAUPEC/RobMech/PRASA48453.2020.9041234","DOIUrl":"https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041234","url":null,"abstract":"Distributed Generation units have been continuously deployed over the past twenty years in distribution power systems as mitigation against greenhouse gas emissions and climate change. Therefore distribution systems, which were designed initially as passive networks with little monitoring, are evolving into active networks, forcing Distribution System Operators to implement the required Distribution Management Systems control applications. Distribution System State Estimation (DSSE) is a crucial component in Distribution Management Systems. However, despite Transmission System State Estimation being common since its inception in the late 1960s, its methods are not directly transferable to DSSE since transmission systems differ from distribution networks in their operation, design, and topology. This paper develops and tests the performance of Active Distribution System State Estimation Weighted Least Square (WLS) algorithm, which considers the integration of Distributed Generation. The optimum Distributed Generation units placement on the IEEE 33 is evaluated using the Particle Swarm Optimization method. Finally, the state estimation results are compared with real-time load flow results obtained from MATLAB Simulation.","PeriodicalId":215514,"journal":{"name":"2020 International SAUPEC/RobMech/PRASA Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114829011","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

On automated ear-based authentication 关于基于耳朵的自动身份验证

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041089

Aviwe Kohlakala, Johannes Coetzer

引用次数: 4

DMPC Scheme for Load Frequency Control with Application to Interconnected Power System 负载频率控制的DMPC方案及其在互联电力系统中的应用

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041073

Igbineweka Ernest Uyioghosa, A. K. Saha

引用次数: 1

Reinforcement Learning-based Control System of a Hybrid Power Supply 基于强化学习的混合电源控制系统

2020 International SAUPEC/RobMech/PRASA Conference Pub Date : 2020-01-01 DOI: 10.1109/SAUPEC/RobMech/PRASA48453.2020.9041138

F. Daniel, A. Rix

引用次数: 0