A Digital Twin-Based Visual Servoing with Extreme Learning Machine and Differential Evolution

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Situation</td><td class="align_center">AS-SSE</td><td class="align_center">AS-MSE</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Case 1 (simulation)</td><td class="align_center"><span style="width: 34.3917ptpx;"><svg height="8.55521pt" id="M210" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -8.34882 34.3917 8.55521" width="34.3917pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 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520H280V225Z"></path></g></svg></span></td></tr><tr><td class="align_left">Case 1 (real)</td><td class="align_center"><span style="width: 40.6551ptpx;"><svg height="8.55521pt" id="M214" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -8.34882 40.6551 8.55521" width="40.6551pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M137 343C167 482 260 545 321 574C357 591 397 603 429 609L423 641C382 634 335 622 295 608C189 570 37 457 37 238C37 84 125 -12 242 -12C362 -12 447 89 447 209C447 311 374 393 267 393C247 393 226 386 204 376L137 343ZM227 337C318 337 361 256 361 173C361 105 336 22 258 22C176 22 126 120 126 240C126 266 127 291 132 310C155 323 189 337 227 337Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M244 635C114 635 38 519 38 422C38 317 111 240 217 240C236 240 255 244 277 256L345 292C311 140 203 39 59 15L64 -15C89 -15 150 -5 204 17C339 72 440 202 440 386C440 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<div>Quantitative indicators of ELM-IBVS.</div>

International Journal of Intelligent Systems

tab1

Table 1

Table 1: A Digital Twin-Based Visual Servoing with Extreme Learning Machine and Differential Evolution 