检索结果-内蒙古大学图书馆

2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Tang, Lvbang Wang, Hesheng Li, Peng Wang, Yong Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China China School of Mechanical Engineering and Automation China Beijing Institute of Control Engineering China

ISBN: (纸本)9781728163215

In this paper, we propose a time-efficient approach to generate safe, smooth and dynamically feasible trajectories for quadrotors in the obstacle-cluttered environment. By using the uniform B-spline to represent trajectories, we transform the trajectory planning to a graph-search problem of B-spline control points in discretized space. Highly strict convex hull property of B-spline is derived to guarantee the dynamical feasibility of the entire trajectory. A novel non-uniform kino-dynamic search strategy is adopted, and the step length is dynamically adjusted during the search process according to the Euclidean signed distance field (ESDF), making the trajectory achieve reasonable time-allocation and be away from obstacles. Non-static initial and goal states are allowed, therefore it can be used for online local re-planning as well as global planning. Extensive simulation and hardware experiments show that our method achieves higher performance compared with the state-of-the-art method. © 2019 IEEE.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

Soybeannet: Transformer-Based Convolutional Neural Network for Soybean Pod Counting from Unmanned Aerial Vehicle (Uav) Images

SSRN

引用

SSRN 2023年

作者： Li, Jiajia Magar, Raju Thada Chen, Dong Lin, Feng Wang, Dechun Yin, Xiang Zhuang, Weichao Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States Department of Plant Soil and Microbial Sciences Michigan State University East LansingMI United States Environmental Institute & Link Lab University of Virginia CharlottesvilleVA United States Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering Southeast University Nanjing China Department of Mechanical Engineering Michigan State University East LansingMI48824 United States

Soybean is a critical source of food, protein, and oil, and thus has received extensive research aimed at enhancing their yield, refining cultivation practices, and advancing soybean breeding techniques. Within this context, soybean pod counting plays an essential role in understanding and optimizing production. Despite recent advancements, the development of a robust pod-counting algorithm capable of performing effectively in real-field conditions remains a significant challenge This paper presents a pioneering work of accurate soybean pod counting utilizing unmanned aerial vehicle (UAV) images captured from actual soybean fields in Michigan, USA. Specifically, this paper presents SoybeanNet, a novel point-based counting network that harnesses powerful transformer backbones for simultaneous soybean pod counting and localization with high accuracy. In addition, a new dataset of UAV-acquired images for soybean pod counting was created and open-sourced, consisting of 113 drone images with more than 260k manually annotated soybean pods captured under natural lighting conditions. Through comprehensive evaluations, SoybeanNet demonstrates superior performance over five state-of-the-art approaches when tested on the collected images. Remarkably, SoybeanNet achieves a counting accuracy of 84.51% when tested on the testing dataset, attesting to its efficacy in real-world scenarios. The publication also provides both the source at https://***/JiajiaLi04/Soybean-Pod-Counting-from-UAV-Images and the labeled soybean dataset at https://***/datasets/jiajiali/uav-based-soybean-pod-images, offering a valuable resource for future research endeavors in soybean pod counting and related fields. © 2023, The Authors. All rights reserved.

关键词： Statistical tests

来源：评论

学校读者我要写书评

暂无评论

Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

引用

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 569-576页

作者： ZHUANG Hanyang ZHOU Xuejun WANG Chunxiang QIAN Yuhan University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and TechnologyLiuzhou 545006GuangxiChina Noblelift Intelligent Equipment Co. Ltd.Huzhou 313100ZhejiangChina Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

High-definition(HD)maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems.A complete ground orthophoto is usually used as the base image to construct the HD *** ground orthophoto is obtained through inverse perspective transformation and image *** the image mosaicing,multiple consecutive orthophotos are stitched together using pose information and image *** this study,wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image *** the orthophoto wavelet transform,high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local *** results show that the accuracy of the orthophotos generated using this method is improved.

关键词： high-definition(HD)map wavelet transform image registration panorama

来源：评论

学校读者我要写书评

暂无评论

A Cooperation-Aware Lane Change Method for Autonomous Vehicles

arXiv

引用

arXiv 2022年

作者： Sheng, Zihao Liu, Lin Xue, Shibei Zhao, Dezong Jiang, Min Li, Dewei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China James Watt School of Engineering University of Glasgow GlasgowG12 8QQ United Kingdom School of Electronics and Information Engineering Soochow University Suzhou215006 China

Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative strategies for lane change. To avoid the conservatism, this paper presents a cooperation-aware lane change method utilizing interactions between vehicles. We first propose an interactive trajectory prediction method to explore possible cooperations between an AV and the others. Further, an evaluation is designed to make a decision on lane change, in which safety, efficiency and comfort are taken into consideration. Thereafter, we propose a motion planning algorithm based on model predictive control (MPC), which incorporates AV’s decision and surrounding vehicles’ interactive behaviors into constraints so as to avoid collisions during lane change. Quantitative testing results show that compared with the methods without an interactive prediction, our method enhances driving efficiencies of the AV and other vehicles by 14.8% and 2.6% respectively, which indicates that a proper utilization of vehicle interactions can effectively reduce the conservatism of the AV and promote the cooperation between the AV and others. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Convergence analysis of dual decomposition algorithm in distributed optimization: Asynchrony and inexactness

arXiv

引用

arXiv 2021年

作者： Su, Yifan Wang, Zhaojian Cao, Ming Jia, Mengshuo Liu, Feng The State Key Laboratory of Power System Department of Electrical Engineering Tsinghua University Beijing100084 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands

Dual decomposition is widely utilized in distributed optimization of multi-agent systems. In practice, the dual decomposition algorithm is desired to admit an asynchronous implementation due to imperfect communication, such as time delay and packet drop. In addition, computational errors also exist when individual agents solve their own subproblems. In this paper, we analyze the convergence of the dual decomposition algorithm in distributed optimization when both the asynchrony in communication and the inexactness in solving subproblems exist. We find that the interaction between asynchrony and inexactness slows down the convergence rate from O(1/k) to O(1/√k). Specifically, with a constant step size, the value of objective function converges to a neighborhood of the optimal value, and the solution converges to a neighborhood of the exact optimal solution. Moreover, the violation of the constraints diminishes in O(1/√k). Our result generalizes and unifies the existing ones that only consider either asynchrony or inexactness. Finally, numerical simulations validate the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

Enabling Stateful TCP Performance Profiling with Key Event Capturing

引用

IEEE Transactions on Network and Service Management 2025年

作者： Geng, Ruopeng Lu, Jianyuan Fang, Chongrong Zhang, Shaokai Zhao, Jiangu Zong, Zhigang Lyu, Biao Zhu, Shunmin Cheng, Peng Chen, Jiming Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Alibaba Group Hangzhou310052 China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai China Zhejiang University College of Control Science and Engineering Hangzhou310027 China

TCP ensures reliable transmission through its stateful implementation and remains crucial today. TCP performance profiling is essential for tasks like diagnosing network performance problems, optimizing transmission performance, and developing new TCP variants, etc. Existing profiling methods lack enough attention to TCP state transition to provide detailed insights on TCP performance. Thus, we build TcpSight, a tool focusing on TCP state transition throughout connection lifetimes. TcpSight conducts stateful analysis by capturing key events using an efficient per-connection lock-free data management mechanism. Besides, TcpSight enhances profiling by integrating application layer information collected from the TCP stack. With the profiling results, users can identify the culprit of TCP performance degradation, and evaluate the performance of TCP algorithms. We design optional modules and filtering mechanisms to reduce TcpSights overhead. Our evaluation presents that TcpSight incurs an additional CPU consumption of about 16.6% (without filtering) and 10.6% (with filtering) when the server's load is 55.7%, and generates storage consumption about 1.88 KB per connection on average. We also give application cases of TcpSight and the deployment experiences in Alibaba Cloud. TcpSight helps in revealing meaningful findings and insights into exploiting TCP in the production deployment. © 2004-2012 IEEE.

关键词： Information management

来源：评论

学校读者我要写书评

暂无评论

SoybeanNet: Transformer-Based Convolutional Neural Network for Soybean Pod Counting from Unmanned Aerial Vehicle (UAV) Images

arXiv

引用

arXiv 2023年

作者： Li, Jiajia Magar, Raju Thada Chen, Dong Lin, Feng Wang, Dechun Yin, Xiang Zhuang, Weichao Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States Department of Plant Soil and Microbial Sciences Michigan State University East LansingMI United States Environmental Institute Link Lab University of Virginia CharlottesvilleVA United States Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering Southeast University Nanjing China Department of Mechanical Engineering Michigan State University East LansingMI48824 United States

Soybean is a critical source of food, protein and oil, and thus has received extensive research aimed at enhancing their yield, refining cultivation practices, and advancing soybean breeding techniques. Within this context, soybean pod counting plays an essential role in understanding and optimizing production. Despite recent advancements, the development of a robust pod-counting algorithm capable of performing effectively in real-field conditions remains a significant challenge This paper presents a pioneering work of accurate soybean pod counting utilizing unmanned aerial vehicle (UAV) images captured from actual soybean fields in Michigan, USA. Specifically, this paper presents SoybeanNet, a novel point-based counting network that harnesses powerful transformer backbones for simultaneous soybean pod counting and localization with high accuracy. In addition, a new dataset of UAV-acquired images for soybean pod counting was created and open-sourced, consisting of 113 drone images with more than 260k manually annotated soybean pods captured under natural lighting conditions. Through comprehensive evaluations, SoybeanNet demonstrates superior performance over five state-of-the-art approaches when tested on the collected images. Remarkably, SoybeanNet achieves a counting accuracy of 84.51% when tested on the testing dataset, attesting to its efficacy in real-world scenarios. The publication also provides both the source code (https://***/JiajiaLi04/Soybean-Pod-Counting-from-UAV-Images) and the labeled soybean dataset (https://***/datasets/jiajiali/uav-based-soybean-pod-images), offering a valuable resource for future research endeavors in soybean pod counting and related fields. © 2023, CC BY-NC-SA.

关键词： Statistical tests

来源：评论

学校读者我要写书评

暂无评论

Dynamic Modeling and Vibration Analysis of Rolling Bearings with Local Fault

引用

Dongbei Daxue Xuebao/Journal of Northeastern University 2020年第3期41卷 343-348页

作者： Ma, Hui Li, Hong-Fei Yu, Kun Zeng, Jin School of Mechanical Engineering & Automation Northeastern University Shenyang110819 China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang110819 China

A two-dimensional explicit finite element (FE) model of healthy cylindrical roller bearings based on ANSYS/LS-DYNA software was established, and the availability of model was verified from the perspective of bearing kinematics. The FE model of cylindrical roller bearing with local spalling fault was developed by introducing local spalling fault into healthy inner and outer raceway, among which the local spalling was simulated by circumferential rectangle. The equivalent stress of the edge element of fault zone and the process of rolling through the local fault zone were analyzed. Comparing the simulation results with the experimental ones, the correctness of the FE model was confirmed. On this basis, the influence of smoothness of the local fault on the vibration characteristics of the rolling bearing was studied. The smoother the fault area, the smaller the vibration response. These results can provide some reference for the fault diagnosis of rolling bearings. © 2020, Editorial Department of Journal of Northeastern University. All right reserved.

关键词： Roller bearings

来源：评论

学校读者我要写书评

暂无评论

A Compatibility Evaluation Method for Substation Protection and Monitoring system Based on G1 Method and Expert Investigation

A Compatibility Evaluation Method for Substation Protection ...

引用

New Energy and Power engineering (ICNEPE), International Conference on

作者： Hao Xia Xiongyao Deng Shizhong Ma Yuxiang Yan Ancheng Xue Yu Liu Zhihuai Shu Naichao Chang Zhongqing Li Jiangwen Meng Xuewei Dou Shenqiang Wang Fangying Wu Chen Fan State Key Laboratory of Alternate Electrical Power System with Renewable Energy Source (North China Electric Power University) Beijing China National Electric Power Dispatching and Control Center of State Grid Corporation of China Beijing China China Electric Power Research Institute Beijing China Beijing Sifang Engineering Co. Ltd Beijing China Power Automation Department China Electric Power Research Institute Nanjing China

In existing protection and monitoring system of substation(S-PMS), there are compatibility problems between hardware and software or between software-hardware combinations and systems, including differences in communication protocols between different manufacturers and differences in system adaptation. Compatibility issues have become a growing focus area for the power industry. This paper proposes a method to evaluates the compatibility of the protection and monitoring system of substation based on the G1 and expert investigation, for the existing or unbuilt substations. In detail, Firstly, according to the compatibility requirements of the substation protection and monitoring system, corresponding indicators are proposed and a comprehensive compatibility evaluation model is constructed. Secondly, based on the comprehensive evaluation model, the evaluation results of typical stations without domestic chips and optimized stations using domestic chips are compared to verify the feasibility of the proposed method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Leader-tracking in a shape-preserving formation with bearing-only measurements 21st

Leader-tracking in a shape-preserving formation with bearing...

引用

21st IFAC World Congress 2020

作者： Yang, Ziwen Zhu, Shanying Chen, Cailian Feng, Gang Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong

This paper studies the problem of shape-preserving formation control for multi-agent systems where only bearing measurements are available. Most existing methods to solve the problems assume that accurate global or local position measurements of agents are available, or use estimators to get these information without analysis of estimators' effects on the closed loop system stability. In this work, we propose a framework integrating an estimator to get relative positions using bearing-only measurements and an estimator-based controller to achieve tracking a pair of leaders in a formation with a preserved shape. The estimator is designed by exploiting orthogonality to cope with the high non-linearity of bearing measurements, based on which the controller is designed with the estimated relative positions. With rigorous theoretical analysis of the closed-loop system, we characterize the leaders which can be tracked by followers in a shape-preserving formation using bearing-only measurements, and the asymptotic stability of the closed-loop system can be guaranteed. Simulations testify the effectiveness of the proposed framework. Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license

关键词： Closed loop systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：