检索结果-内蒙古大学图书馆

IEEE Transactions on Artificial Intelligence 2023年第2期4卷 268-281页

作者： Tian, Ye Pan, Jingwen Yang, Shangshang Zhang, Xingyi He, Shuping Jin, Yaochu Anhui University Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education Institutes of Physical Science and Information Technology Hefei230601 China Hefei Comprehensive National Science Center Institute of Artificial Intelligence Hefei230088 China Anhui University School of Computer Science and Technology Hefei230601 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Artificial Intelligence Hefei230601 China Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Hefei230601 China Bielefeld University Faculty of Technology Bielefeld33619 Germany

The sparse adversarial attack has attracted increasing attention due to the merit of a low attack cost via changing a small number of pixels. However, the generated adversarial examples are easily detected in vision since the perturbation to each pixel is relatively large. To achieve imperceptible and sparse adversarial attacks, this article formulates a bi-objective constrained optimization problem, simultaneously minimizing the 0 and 2 distances to the original image, and proposes a dual-population-based constrained evolutionary algorithm to solve it. The proposed method solves the optimization problem by evolving two populations, where one population is responsible for finding feasible solutions (i.e., successful attacks) and the other one is to minimize both the 0 and 2 distances. Moreover, a population initialization strategy and two genetic operators are customized to accelerate the convergence speed. Experimental results indicate that the proposed method can achieve high success rates with low attack costs, and strikes a better balance between the 0 and 2 distances than state-of-the-art methods. © 2020 IEEE.

关键词： Evolutionary algorithms

来源：评论

学校读者我要写书评

暂无评论

HetSwarm: Cooperative Navigation of Heterogeneous Swarm in Dynamic and Dense Environments Through Impedance-Based Guidance

HetSwarm: Cooperative Navigation of Heterogeneous Swarm in D...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Malaika Zafar Roohan Ahmed Khan Aleksey Fedoseev Kumar Katyayan Jaiswal P. B. Sujit Dzmitry Tsetserukou Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia Department of Data Science and Engineering Multi-Robot Autonomy Laboratory IISER Bhopal Bhopal India

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments and operating at varying altitudes. However, their limited flight time, battery life, and payload capacity necessitate a supporting ground station. To address these challenges, we propose HetSwarm, a heterogeneous multi-robot system that combines a UAV and a mobile ground robot for collaborative navigation in cluttered and dynamic conditions. Our approach employs an artificial potential field (APF)-based path planner for the UAV, allowing it to dynamically adjust its trajectory in real time. The ground robot follows this path while maintaining connectivity through impedance links, ensuring stable coordination. Additionally, the ground robot establishes temporal impedance links with low-height ground obstacles to avoid local collisions, as these obstacles do not interfere with the UAV's flight. Experimental validation of HetSwarm in diverse environmental conditions demonstrated a 90 % success rate across 30 test cases. The ground robot exhibited an average deviation of 45 cm near obstacles, confirming effective collision avoidance. Compared to the Conflict-Based Search (CBS) algorithm, our approach enables agents to navigate within 25 cm of obstacles, whereas CBS maintains a minimum clearance of 73 cm, highlighting our method's efficiency in utilizing space in realtime. Extensive simulations in the Gym PyBullet environment further validated the robustness of our system for real-world applications, demonstrating its potential for dynamic, real-time task execution in cluttered environments.

关键词： Adaptive systems robot kinematics Autonomous aerial vehicles Real-time systems Aircraft navigation Robustness Trajectory Impedance Vehicle dynamics Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Measurement-Based Channel Characterization in a Large Hall Scenario at 300 GHz

引用

China Communications 2023年第4期20卷 118-131页

作者： Yejian Lyu Zhiqiang Yuan Huaqiang Gao Qiuming Zhu Xiang Zhang Wei Fan Deparment of Electronic Systems Aalborg UniversityAalborgØst 9220Denmark Beijing University of Posts and Telecommunications Beijing 100876China Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space College of Electronic and Information EngineeringNanjing University of Aeronautics and AstronauticsNanjing 211106China China Academy of Information and Telecommunications Technology(CAICT) Beijing 100191China Center for Wireless Communication-Radio Technology(CWC-RT) Oulu UniversityOulu 90570Finland

Sub-terahertz(Sub-THz),defined as the frequency bands in 100-300 GHz,is promising for future generation communications and sensing *** channel measurement and modeling are essential for development and performance evaluation of the future communication *** channel modeling relies on realistic channel data,which should be collected by high-fidelity channel *** paper presents the measurement-based channel characterization in a large indoor scenario at 299-301 *** firstly review the state-of-the-art channel measurements at sub-THz frequency *** then presented a VNA-based channel sounder for long-range measurements,which uses the radio-overfiber *** measurements using this channel sounder are conducted in a large hall *** on the measurement data,we calculated and analyzed key propagation channel parameters,e.g.,path loss,delay spread,and angular *** results are also analyzed both in the line-of-sight(Lo S)and noneLo S(NLo S)*** large delay components in the measurements demonstrate the possibility of the longrange channel measurement campaign at 300 GHz.

关键词： channel measurement sub-terahertz 300 GHz channel characterization

来源：评论

学校读者我要写书评

暂无评论

Biogas Fermentation Monitoring Research Based on Borderline-SMOTE Algorithm and Stacking Ensemble Learning 13

Biogas Fermentation Monitoring Research Based on Borderline-...

引用

13th International Conference of Information and Communication technology, ICTech 2024

作者： Xiu, Pengfei Fu, Lijun Sun, Yukun Wang, Hongliang Li, Xuerao Shenyang Institute of Computing Technology Chinese Academy of Sciences University of Chinese Academy of Sciences Liaoning Province Human-Computer Interaction System Engineering Research Center Based on Digital Twin Shenyang China Shandong University Big Data Technology and Cognitive Intelligence Laboratory University of Chinese Academy of Sciences Shenyang China Shenyang Institute of Computing Technology Chinese Academy of Sciences Liaoning Province Human-Computer Interaction System Engineering Research Center Based on Digital Twin Shenyang China

ISBN: (纸本)9798350376258

Anaerobic fermentation is the most important link to gas production, this paper solves the current problem with the help of the current complete machine learning technology, combining perception and intelligent processing, intelligent processing of information, and derive a decision-making basis for its control or management [1]. Aiming at the current problems of the anaerobic fermentation process in biogas engineering, the system design was carried out, and the anaerobic fermentation process of biogas and its main influencing factors were investigated, and the monitoring parameters of the system were selected to be temperature, PH value, liquid level and redox potential [2]. Previous studies are mainly based on a single prediction model, which leads to poor generalization ability of the model. In this study, unbalanced samples are handled by Borderline-SMOTE algorithm. Based on the Stacking integrated learning approach, a common single prediction model is used to construct a combined prediction model. The accuracy, precision, recall, F1 score and area under the ROC curve are used to evaluate the advantages and disadvantages of the combined prediction model over the single prediction model. ©2024 IEEE.

关键词： Decision making

来源：评论

学校读者我要写书评

暂无评论

Vacuum wetting of Ag/TA2 to develop a novel micron porous Ti with significant biocompatibility and antibacterial activity

引用

Journal of Materials Science & technology 2022年第21期116卷 180-191页

作者： Guanpeng Liu Yulong Li Ming Yan Jicai Feng Jian Cao Min Lei Quanwen Liu Xiaowu Hu Wenqin Wang Xuewen Li Key Lab for Robot and Welding Automation of Jiangxi Province Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China Jiangxi Provincial Key Laboratory of Interdisciplinary Science Nanchang UniversityNanchang 330031China Department of Materials Science and Engineering and Shenzhen Key Laboratory for Additive Manufacturing of High-Performance Materials Southern University of Science and TechnologyShenzhen 518055China State Key Lab of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China The National Engineering Research Center for Bioengineering Drugs and the Technologies Institute of Translational MedicineNanchang UniversityNanchang 330031China The Engineering Training Center of Nanchang University Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China

Porous Ti with low modulus,excellent bio-corrosion resistance,biocompatibility,and antibacterial activity is highly pursued as advanced implant *** this work,a new approach to prepare micron porous structures on the surface layer of a grade 2 commercially-pure Ti(TA2)was proposed,which utilized a simple vacuum wetting process of pure Ag on the surface of *** microstructure,corrosion resistance,biocompatibility,mechanical properties,antibacterial ability,and formation mechanism of the asfabricated porous Ti were *** results show that the pores(with average pore sizes of 0.5-5μm)are distributed on the surface layer of the TA2 with a depth of~10μ*** particular,a large number of silver nanoparticles(Ag NPs)form which are dispersed on the porous *** formation mechanisms of the porous structures and Ag NPs were elucidated,suggesting that the volatilization/sublimation of Ag in TA2 is *** porous Ti possesses excellent bio-corrosion resistance,surface wettability,biocompatibility,antibacterial activity,and a relatively low elastic modulus of 40-55 GPa,which may have a promising future in the field of orthopedic *** work also provides a novel idea for the development of advanced porous Ti materials for orthopedic-related basic research and biomedical applications.

关键词： Porous titanium Biomaterials Vacuum wetting Porous surface Antibacterial activity

来源：评论

学校读者我要写书评

暂无评论

Design and validation of a novel tracheal intubation robot

Design and validation of a novel tracheal intubation robot

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Luo, Jingjing Tian, Yu Wang, Hongbo Wang, Jiawei Zhou, Luyan Tang, Jianhao Zhu, Xing Feng, Lili Han, Yuan Li, Wenxian Fudan University Institute of Ai and Robotics Academy for Engineering and Technology Shanghai210043 China Jihua Laboratory Guangdong Foshan528200 China Ministry of Education Engineering Research Center of Ai and Robotics Shanghai210043 China Eye & Ent Hospital of Fudan University Shanghai200031 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China

ISBN: (纸本)9798350325706

Tracheal intubation is a crucial measure to ensure smooth respiration during general anesthesia surgeries. Currently, manual intubation is commonly employed, with its success heavily reliant on the proficiency of the physicians performing the procedure. In this paper, a 3 degree-of-freedom (DOF) master-slave operated tracheal intubation robotic system is proposed, wherein a flexible endoscope serves as the end effector. The structural components of the master-slave mechanism are described in detail, and the kinematic model of the flexible endoscope is established. Four participants were recruited to conduct experimental research on master-slave operation intubation. In the experiment, the shortest operation time recorded was 8.88 seconds, while the longest is 72.04 seconds, they are less than the clinically required safety threshold of 2 minutes. This validates the feasibility of the developed prototype in achieving robot-assisted intubation. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on Biomimetic Design Methods for Humanoid robot Thigh

Research on Biomimetic Design Methods for Humanoid Robot Thi...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Nie, Daming Xie, Anhuan Kong, Lingyu Zhang, Yu Zheng, Gang Fu, Yili Gu, Jason Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China Zhejiang University of Science and Technology School of Mechanical and Energy Engineering Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxB3M 1A2 Canada

ISBN: (纸本)9798350325706

Human bones have formed the preferred configuration for high-strength and lightweight after long-time evolution. Taking human's longest and strongest bone - the femur - as an example, it is consist of two characteristic layers, i.e. the substantia compacta and the substantia spongiosd. This article innovatively imitates the structural characteristics of human femur, the thigh of humanoid robot is designed in form of "variable thickness shell + variable density lattice". The thickness of shell and the density of lattice are adjusted by the initial stress distribution individually. Results show that the weight of shell and lattice of the thigh structure can be reduced by 20% under reasonable mapping relationship of "stress - shell thickness"and "stress - lattice rod diameter", while the structural stiffness meets the application requirements. Finally, the limiting factors of the "variable thickness shell + variable density lattice"structure designing approach are analyzed, and potential measures for optimizing the design method of the humanoid robot thigh in the future are described. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Improving multi-view document clustering: leveraging multi-structure processor and hybrid ensemble clustering module 30

Improving multi-view document clustering: leveraging multi-s...

引用

Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Bai, Ruina Bai, Qi Huang, Ruizhang Chen, Yanping Qin, Yongbin Text Computing & Cognitive Intelligence Engineering Research Center National Education Ministry College of Computer Science and Technology Guizhou University Guiyang550025 China State Key Laboratory of Public Big Data Guizhou University Guiyang550025 China School of Mathematical Sciences Zhejiang University Hangzhou310058 China

ISBN: (纸本)9782493814104

We introduce a multi-view document clustering model called DMsECN (Deep Multi-structure Ensemble Clustering Network), comprising a multi-structure processor and a hybrid ensemble clustering module. Unlike existing models, DMsECN distinguishes itself by creating a consensus structure from multiple clustering structures. The multi-structure processor comprises two stages, each contributing to the extraction of clustering structures that preserve both consistency and complementarity across multiple views. Representation learning extracts both view and view-fused representations from multi-views through the use of contrastive learning. Subsequently, multi-structure learning employs distinct view clustering guidance to generate the corresponding clustering structures. The hybrid ensemble clustering module merges two ensemble methods to amalgamate multiple structures, producing a consensus structure that guarantees both the separability and compactness of clusters within the clustering results. The attention-based ensemble primarily concentrates on learning the contribution weights of diverse clustering structures, while the similarity-based ensemble employs cluster assignment similarity and cluster classification dissimilarity to guide the refinement of the consensus structure. Experimental results demonstrate that DMsECN outperforms other models, achieving new state-of-the-art results on four multi-view document clustering datasets. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Structure (composition)

来源：评论

学校读者我要写书评

暂无评论

Calculation of Salt Heap Volume Based on Point Cloud Surface Reconstruction 4

Calculation of Salt Heap Volume Based on Point Cloud Surface...

引用

4th International Conference on robotics and Computer Vision, ICRCV 2022

作者： Liu, Chuang Liu, Jun Zhang, Meijuan Liu, Ruirui Dong, Guangfeng Wang, Zhen Liu, Zhongjian Wuhan Institute of Technology Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology School of Computer Science and Engineering Wuhan China Sdic Xinjiang Luobupo Hoevellite Co. Ltd Technology Center Hami China

ISBN: (数字)9781665481700

ISBN: (纸本)9781665481700

Salt heaps in salt-producing areas are large and numerous, and traditional measurement methods cannot efficiently calculate the volume of salt piles. To solve this problem, this paper proposes a method for calculating the volume of salt stacks using airborne LiDAR combined with surface reconstruction. First, the airborne LiDAR was introduced to obtain the surface point cloud of the salt heap from above. Then, the point cloud is preprocessed by denoising, downsampling, and completion, etc. After the three-dimensional model is reconstructed using the greedy projection triangulation algorithm, the volume of the model can be equivalent to the actual volume of the salt heap. The experimental results show that the error between the calculated volume and the actual volume of this method is less than 4%, and the complete three-dimensional model of the salt heap can be reconstructed well, which shows that the method has good reconstruction effect and calculation accuracy. © 2022 IEEE.

关键词： Surface reconstruction

来源：评论

学校读者我要写书评

暂无评论

A Finite-Time Posture Control Strategy for the Swarm Underactuated robots 5th

A Finite-Time Posture Control Strategy for the Swarm Under...

引用

5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Huang, Zixin Qin, Xiangyu Wei, Shaoqi Wang, Lejun Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789811939976

Under the background of industrial machinery automation. The swarm robots are required to cooperate to complete complex and accurate works in finite-time and create more relative residual value. Based on the inherent advantages of underactuated robot, the research of finite time posture control strategy has higher theoretical and practical value. Firstly, the dynamic model of a single Pendubot of planar swarm underactuated robots was built. However, the robots reach to the same objective from different initial states and keep being at the same posture, so it was necessary to plan a feasible trajectory. Then, the planned trajectory parameters are optimized to make the underactuated robots relized the objectives in finite time. Finally, an unified tracking controller is designed for the underactuated robots. Simulation results of the swarm underactuated robots demonstrated the effectiveness of the proposed control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： robots

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：