检索结果-内蒙古大学图书馆

2019 2nd International Conference on advanced Materials, intelligent Manufacturing and automation, AMIMA 2019

作者： Hu, Cong Xia, Wei Chen, Peng Huang, Shun Guo, Hui Jin, Xing School of Automation China University of Geosciences Wuhan430074 China Hubeikey Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China

In order to improve the robustness of the correlation filtering (CF) tracking algorithm and overcome the problem that the traditional correlation filtering method can not deal with the target's scale and deformation change, a feature-adaptive scale adaptive correlation filter tracking algorithm is proposed. Firstly, the target is characterized;then the output filter is calculated by using the correlation filter;finally, the image blocks of different scales are intercepted from the target position of the current frame, and the optimal estimation of the target scale is obtained by the adaptive scale pool model. The experiment selects multiple video sequences for testing and compares the proposed algorithm with other target tracking methods. The experimental results show that the average performance is better than the comparison method. © Published under licence by IOP Publishing Ltd.

关键词： Deformation

来源：评论

学校读者我要写书评

暂无评论

Fractional-order Virtual Model control for Trotting Motion of Quadruped Robot

Fractional-order Virtual Model Control for Trotting Motion o...

引用

Chinese control and Decision Conference, CCDC

作者： JiangBo Zhao Shicheng Ma Shanshuai Niu Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

Virtual model control (VMC) is the most widely-used method for motion control of quadruped robot. VMC could decrease the abrupt ground reaction force and realize compliant interaction between foot and ground at the cost of control precision. To improve the robustness and precision of VMC, we integrate a fractional-order virtual damper with the classical VMC and propose a fractional-order VMC (FOVMC) for quadruped robot trotting motion. And we provide the implementation details about optimization-based FOVMC parameter tuning method and carry out the trotting experiments on the quadruped robot platform. The experiment results demonstrate that FOVMC could improve the precision of single-leg motion control and achieve a better whole-body trotting performance than classical VMC.

关键词： Legged locomotion Motion control Robot kinematics Foot Torque Force

来源：评论

学校读者我要写书评

暂无评论

Robotic arm calibration and teaching method based on binocular vision

Robotic arm calibration and teaching method based on binocul...

引用

第三十九届中国控制会议

作者： Ming Chen Xin Hong Longsheng Wei Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd.

Aiming at the errors caused by the production and assembly of the robotic arm and the problem of low absolute positioning accuracy, a method of robotic arm calibration and teaching based on binocular vision is proposed in this paper. First,the joints of the robot arm is controled to rotate separately, and the motion trajectory data of the end of the robot arm is recorded by the binocular vision. Then the circle center and circle plane normal vector of each joint axis motion is optimized using Adam algorithm. After identification and calculation, accurate kinematic parameters are obtained, and then kinematically model the manipulator once again. After the calibration is completed, the user can use the teaching rod to define the trajectory under the camera, and the defined trajectory is converted to the robot arm coordinate system for inverse kinematics solution. Finally, the robotic armis controled to reproduce the trajectory. Experimental results show that the proposed method can complete the precise calibration of the kinematic parameters of the robotic arm. After calibration, the average error of the end of the robotic arm is within 1 mm, and the absolute positioning accuracy is improved by more than 80%. The method proposed in this paper has low cost and simple operation, and it is easy to be popularized and applied in industrial and desktop robotic arm calibration and teaching.

关键词： Binocular vision Calibration Kinematic modeling Teaching Positioning accuracy

来源：评论

学校读者我要写书评

暂无评论

Survey on 6D Pose Estimation of Rigid Object

Survey on 6D Pose Estimation of Rigid Object

引用

第三十九届中国控制会议

作者： Jiale Chen Lijun Zhang Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd.

Estimating 6 D pose of rigid objects has gained increasing attention as it has become an curcial problem in rapidly growing technology related to robotics, augmented reality and autonomous driving. Therefore, the research on 6 D pose estimation technology is of great significance. In this paper, firstly, current position of the field is summarized regarding object pose estimation. We found that deep learning combined with traditional methods can produce better results. Then, pose ambiguity which is an open problem needed further study is raised. Finally, the main problems of the current research and possible development directions are identified.

关键词： Pose Estimation Feature Detection Pose Ambiguity

来源：评论

学校读者我要写书评

暂无评论

Adaptive Backstepping Sliding Mode control for Fractional Order systems

Adaptive Backstepping Sliding Mode Control for Fractional Or...

引用

第三十九届中国控制会议

作者： Xiang Chen Shiqi Zheng Feng Liu Xiongliang Zhang Yuan Sun School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation fo Complex Systems School of Electrical and Electronic Engineering The University of Adelaide

This paper concentrates on the control problem of a class of fractional order nonlinear systems. A new adaptive backstepping sliding mode control is proposed, which inherits both the advantages of backstepping and sliding mode ***, a fractional order sliding mode disturbance observer is proposed to estimate unknown external disturbances. Meanwhile, RBF neural network is adopted to approximate unknown nonlinear terms. Finally, an illustrative simulation result based on a practical fractional order permanent magnet synchronous motor model is presented to verify the validity of proposed controller.

关键词： Fractional order systems adaptive sliding mode control disturbance observer backstepping

来源：评论

学校读者我要写书评

暂无评论

Noise Modeling and Data Augmentation Using Conditional Adversarial Autoencoder

Noise Modeling and Data Augmentation Using Conditional Adver...

引用

第三十九届中国控制会议

作者： Yunkai Jiang Yuan Zhu Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd.

Noising image recognition is an important but challenging task. The images collected by the camera are often accompanied by a variety of noise, which will cause the loss of image information to make recognition difficult. With powerful feature extraction, neural network models can be used to process these complex noising images. However, when the noise model to be learned is complex and the number of learning samples is limited, this may lead to overfitting of the network model. In order to increase the diversity of noising images in limited learning samples and improve the generalization ability of the recognition model, we propose a noise modeling method based on CVAE-GAN. First, the encoder maps a real noising image to hidden layer vectors, which contains noise distribution, image category, and pose information. Then the decoder receives these hidden layer vectors to generate an synthetic image of the specified category and noise level. Finally, during the training process, we combine adversarial loss and smoothl1 loss to make the generated noising image more realistic. Experiments show that compared with other current generative models, our method can more effectively learn the distribution rules of complex noise in real images and generate synthetic images more similar to real noise. These synthetic images generated by our method can can alleviate the overfitting problem caused by insufficient data volume and enhance the generalization ability of image recognition models. By this way, we obtain the state-of-the-art recognition performance on the challenging noising image dataset.

关键词： Noising Image Data Augmentation Recognition Noise Modeling Weak Supervision

来源：评论

学校读者我要写书评

暂无评论

Prediction of Gas Utilization Ratio Under Different Working Conditions of Blast Furnace Based on Extreme Learning Machine

Prediction of Gas Utilization Ratio Under Different Working ...

引用

International Conference on control and Robots (ICCR)

作者： Tianen Ma Jianqi An School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Ministry of Education of Engineering Research Centre for Earth Exploration Intelligent Technology Wuhan China

ISBN: (数字)9781728175621

ISBN: (纸本)9781728175638

Since the working condition affects the chemical reactions in a blast furnace (BF), the relationship between the blast-supply parameters and the gas utilization ratio (GUR) varies with different working conditions. This paper presents a GUR prediction model based on working condition classification. First, this paper analyzes the influence of working conditions on the state parameters of a BF. Then, a fuzzy clustering method is used to identify the working condition by using some state parameters. Next, the GUR prediction model was designed based on an extreme learning machine under different working conditions. Finally, the simulation results verified the effectiveness of this method.

关键词： Employee welfare Extreme learning machines Simulation Clustering methods Predictive models Blast furnaces Robots

来源：评论

学校读者我要写书评

暂无评论

Adaptive control for Stochastic Nonlinear systems With Quantized States

Adaptive Control for Stochastic Nonlinear Systems With Quant...

引用

第三十九届中国控制会议

作者： Mingyuan Zhao Shiqi Zheng Feng Liu Xiang Chen Yuan Sun School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation fo Complex Systems School of Electrical and Electronic Engineering The University of Adelaide

In this paper, adaptive control problem is investigated for stochastic nonlinear systems with quantized states. Compared with the existing works, the considered system is more general which contains a deterministic nonlinear term and a stochastic disturbance in each channel. In order to handle the high order nonlinearities, we present a new technique which makes the partial derivative of virtual control law become a constant, this makes the adaptive control scheme of state quantization feasible. Then, a new adaptive law is proposed to deal with some completely unknown parameters, which includes an interesting third-order term of the parameters. Finally, simulation results demonstrate the efficacy of the proposed schemes.

关键词： adaptive control backstepping state quantization stochastic system

来源：评论

学校读者我要写书评

暂无评论

Tolerance and detection for the edge disconnection in consensus problems of multi-agent systems with the time-delay

Tolerance and detection for the edge disconnection in consen...

引用

Chinese automation Congress (CAC)

作者： Junhao Ren Xiaofeng Zong Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In this paper, tolerance and detection problems for the edge disconnection in consensus issues of discrete-time multi-agent systems with the time-delay are investigated. We first discuss the tolerance of the edge disconnection in consensus problems. For the case with the strongly connected communication topology, the faulty system can still achieve consensus if the connectedness of the multi-agent system is not changed as the edge disconnection, but the consensus value of the faulty system might be different from the original one. Especially, the consensus value of the system with the edge disconnection will be consistent with the original one if the communication topology of the faulty system is undirected and connected. In addition, the detection problem of the edge disconnection in multi-agent systems is considered by transforming the detection problem into the discernibility problem between the faulty system and the original system. By the state augmentation method and observability properties of the system, some equivalent conditions for the discernibility of the edge disconnection are established.

关键词： Topology Image edge detection Delays Multi-agent systems Laplace equations Matrix decomposition Directed graphs

来源：评论

学校读者我要写书评

暂无评论

EDOLAB: An Open-Source Platform for Education and Experimentation with Evolutionary Dynamic Optimization Algorithms

arXiv

引用

arXiv 2023年

作者： Peng, Mai Yazdani, Delaram She, Zeneng Yazdani, Danial Luo, Wenjian Li, Changhe Branke, Juergen Nguyen, Trung Thanh Gandomi, Amir H. Yang, Shengxiang Jin, Yaochu Yao, Xin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Research Institute Faculty of Engineering and Technology Liverpool John Moores University United Kingdom School of Computer Science and Technology Harbin Institute of Technology China Guangdong Provincial Key Laboratory of Novel Security Intelligence Technologies School of Computer Science and Technology Harbin Institute of Technology Peng Cheng Laboratory China School of Artificial Intelligence Anhui University of Sciences & Technology China Information Systems Management and Analytics in Warwick Business School University of Warwick United Kingdom Faculty of Engineering & Information Technology University of Technology Sydney Australia Obuda University Hungary School of Computer Science and Informatics De Montfort University United Kingdom Department of Artificial Intelligence School of Engineering Westlake University China School of Computer Science University of Birmingham United Kingdom

Many real-world optimization problems exhibit dynamic characteristics, posing significant challenges for traditional optimization techniques. Evolutionary Dynamic Optimization Algorithms (EDOAs) are designed to address these challenges effectively. However, in existing literature, the reported results for a given EDOA can vary significantly. This inconsistency often arises because the source codes for many EDOAs, which are typically complex, have not been made publicly available, leading to error-prone re-implementations. To support researchers in conducting experiments and comparing their algorithms with various EDOAs, we have developed an open-source MATLAB platform called the Evolutionary Dynamic Optimization laboratory (EDOLAB). This platform not only facilitates research but also includes an educational module designed for instructional purposes. The education module allows users to observe: a) a 2-dimensional problem space and its morphological changes following each environmental change, b) the behaviors of individuals over time, and c) how the EDOA responds to environmental changes and tracks the moving optimum. The current version of EDOLAB features 25 EDOAs and four fully parametric benchmark generators. © 2023, CC BY-NC-SA.

关键词： Optimization algorithms

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：