检索结果-内蒙古大学图书馆

A Noise-Excitation Generative Adversarial Network for Actuator Fault Diagnosis of Multi-legged Robot

无人系统（英文） 2023年第2期11卷 159-173页

作者： Liling Ma Jian Guo Jiehao Li Junzheng Wang State Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China

This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.

关键词： Actuator fault diagnosis multi-legged robot generative adversarial network attention mechanism

来源：评论

学校读者我要写书评

暂无评论

Distributed Optimization and Scaling Design for Solving Sylvester Equations

引用

Journal of systems Science & complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

来源：评论

学校读者我要写书评

暂无评论

A Regional Necessity Based Multi-agent Target Search Strategy for Post-earthquake Rescue 41

A Regional Necessity Based Multi-agent Target Search Strateg...

引用

第41届中国控制会议

作者： Xi Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The damage caused by the earthquake is *** the purpose of post-earthquake rescue is to reduce *** it is necessary to improve the efficiency of rescue as much as *** paper focuses on multi-agent cooperative target search in the post-earthquake rescue and how to exploit the prior information of post-disaster building to improve the searching efficiency.A regional necessity based searching strategy is proposed which utilizes pre-disaster building information and adapts to dynamic ***,the target probability map is estimated according to the distribution information of pre-disaster ***,the regional necessity map is constructed by integrating the target probability map and the perception of the environment during the search ***,the search strategy is proposed based on the regional necessity map and the particle swarm optimization *** the gradient direction of regional necessity and local optimal velocity,the agent dynamically selects the search *** comparing with other search strategies in simulation experiments,the proposed strategy could shorten the searching time and improve the searching efficiency in the small and medium-scale task ***,the search strategy can adapt to the post-earthquake dynamic environment,which is confirmed by dynamic experiments.

关键词： multi-agent cooperative target search post-earthquake rescue regional necessity particle swarm optimization

来源：评论

学校读者我要写书评

暂无评论

Dynamic Scheduling for Airport Special Vehicles Based on a Multi-strategy Hybrid Algorithm 41

Dynamic Scheduling for Airport Special Vehicles Based on a M...

引用

第41届中国控制会议

作者： Wei Quan Chen Chen Zhuang Shao Kai Meng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

When arriving at the airport,flight needs to be served by special *** at the dynamic time window scheduling problem of airport refueling vehicles,this paper establishes a vehicle routing problem model with time window to minimize the operating ***,a multi-strategy genetic algorithm is designed to gain the solve time window scheduling problem,which employs the crossover based on particle swarm optimization to accelerate the early search capability,and the local search method based on simulated annealing to increase the local optimization *** aiming at dynamically adjusting vehicle routes on the basis of static scheduling,a local replanning strategy based on a dynamic time window is introduced,which uses the original route matching and rescheduling *** results show that the multi-strategy hybrid algorithm can effectively reduce the number of routes and vehicles the airport *** different scales' dynamic changes of time windows,the algorithm could enable vehicles to still meet time constraints and effectively minimize the change of routes.

关键词： vehicle scheduling multi-strategy genetic algorithm dynamic scheduling local replanning strategy

来源：评论

学校读者我要写书评

暂无评论

Dehazing Network Based on U-Net Structure and Residual Block 41

Dehazing Network Based on U-Net Structure and Residual Block

引用

第41届中国控制会议

作者： Wenbo Zhang Haoze Li Han Sun Yongqiang Bai School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of deep learning technology,the dehazing method based on convolutional neural network has also developed ***,it still faces some problems such as incomplete dehazing and difficulty in detail *** at the problems,we propose a dehazing network based on U-Net structure and residual *** the down sampling process,we introduce the residual block of attention mechanism,which effectively improves the feature extraction and expression ability of the *** the middle part of the network,the smooth dilation convolution residual block is used to expand the receptive field of the network and improve the restoration effect of small *** the same time,we introduce a feature fusion mechanism based on attention mechanism,which can reduce the loss of information and weight the down-sampling features into intermediate *** the process of up sampling,the method of adding elements instead of feature stitching is used to reduce the number of parameters and realize the function of jump ***,dense convolution residual blocks are added to the jump connection between input and output to further improve the *** experimental results show that the PSNR of this method can reach 32.893,which is better than the existing methods.

关键词： Image Dehazing Residual Network Attention mechanism

来源：评论

学校读者我要写书评

暂无评论

Deep Multimodal Learning and Fusion Based intelligent Fault Diagnosis Approach

引用

Journal of Beijing Institute of Technology 2021年第2期30卷 172-185页

作者： Huifang Li Jianghang Huang Jingwei Huang Senchun Chai Leilei Zhao Yuanqing Xia Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

Industrial Internet of Things(IoT)connecting society and industrial systems represents a tremendous and promising paradigm *** IoT,multimodal and heterogeneous data from industrial devices can be easily collected,and further analyzed to discover device maintenance and health related potential knowledge *** data-based fault diagnosis for industrial devices is very helpful to the sustainability and applicability of an IoT *** how to efficiently use and fuse this multimodal heterogeneous data to realize intelligent fault diagnosis is still a *** this paper,a novel Deep Multimodal Learning and Fusion(DMLF)based fault diagnosis method is proposed for addressing heterogeneous data from IoT environments where industrial devices ***,a DMLF model is designed by combining a Convolution Neural Network(CNN)and Stacked Denoising Autoencoder(SDAE)together to capture more comprehensive fault knowledge and extract features from different modal ***,these multimodal features are seamlessly integrated at a fusion layer and the resulting fused features are further used to train a classifier for recognizing potential ***,a two-stage training algorithm is proposed by combining supervised pre-training and fine-tuning to simplify the training process for deep structure models.A series of experiments are conducted over multimodal heterogeneous data from a gear device to verify our proposed fault diagnosis *** experimental results show that our method outperforms the benchmarking ones in fault diagnosis accuracy.

关键词： fault diagnosis deep learning multimodal heterogeneous data multimodal fused features

来源：评论

学校读者我要写书评

暂无评论

Target tracking trajectory generation for quadrotors in static complex environments 4

Target tracking trajectory generation for quadrotors in stat...

引用

4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Ji, Yang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Beijing100081 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

This paper mainly focuses on the problem of target tracking trajectory generation for quadrotors in static complex environments. In this paper, a trajectory planning framework is proposed that can be used to address the occlusion problem caused by obstacles in target tracking situations. The main innovations are: First, a visibility function is introduced that is constructed based on a signed Euclidean distance field (ESDF) map. Based on this function, the favorable view direction is derived to track the target distinctly. Second, the distance between the target and chaser is optimized as one of the cost functions, resulting in a smooth and comfortable distance between them. Finally, the effectiveness of the algorithm is verified on the Rviz platform. © 2022 IEEE.

关键词： Target tracking

来源：评论

学校读者我要写书评

暂无评论

Model and Simulation of Multipath Error in DLL for GPS Receiver

引用

Chinese Journal of Electronics 2025年第3期23卷 508-515页

作者： Lan Cheng Jie Chen Gang Xie Taiyuan University of Technology Taiyuan China Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Although different multipath error models of Delay lock loop (DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product (DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression, is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Analytical models Tracking loops Codes Error analysis Simulation Receivers US Department of Transportation Mathematical models MATLAB Global Positioning system

来源：评论

学校读者我要写书评

暂无评论

Modeling of GPS Code and Carrier Tracking Error in Multipath

引用

Chinese Journal of Electronics 2023年第1期21卷 78-84页

作者： Jie Chen Lan Cheng Minggang Gan Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

The code tracking error model of coherent Code tracking loop (CTL) is modified since existing model cannot accurately describe the characteristic that the code tracking error is determined by multipath and correlator spacing in multipath. The noncoherent DOT-product (DOT) power mode CTL is established as a comparison with different CTLs in multipath. Besides, the carrier tracking error model is modified based on the established code tracking error models, which indicates that the carrier tracking error is also determined by the multipath and the correlator spacing. The presented error models indicate that the correlation between the code tracking error and carrier tracking error can be decorrelated. Theoretical analysis shows that the noncoherent DOT power mode CTL is essentially coherent when the discriminator output of carrier tracking loop is zero. The influence of multipath and correlator spacing on CTL and carrier tracking loop is analyzed by simulations.

关键词： Tracking loops Analytical models Codes Correlation US Department of Transportation Correlators Decorrelation

来源：评论

学校读者我要写书评

暂无评论

Graph-based Selection-Activation Reinforcement Learning for Heterogenous Multi-agent Collaboration 43

Graph-based Selection-Activation Reinforcement Learning for ...

引用

43rd Chinese control Conference, CCC 2024

作者： Chen, Hao-Xiang Zhang, Xi-Wen Shen, Jun-Nan Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401135 China

ISBN: (纸本)9789887581581

In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning (HMARL), the diversity of agent types and the unbalanced agent number of each type can lead to the curse of dimensionality and non-stationary. Moreover, the increase in the number of heterogeneous agents may result in slow convergence during training. This paper proposes a graph-based selection-activation reinforcement learning (GSARL) method for training heterogenous multi-agent collaboration strategies. It first constructs agents based on their types, then extracts the global adjacency matrices and the ally adjacency matrices from the agents' observations, and calculates the global feature matrices. Afterwards, GSARL utilizes hierarchical graph convolutional network to sequentially convolve the global information and ally information, obtaining action logits based on agent types. By using the neural topology graph and the selection-activation method, the optimal multi-agent collaboration configuration is obtained through combinatorial optimization. Experiments are conducted in an adversarial combat simulation environment involving collaborative Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs). Simulation results show that the proposed method can accelerate convergence while allowing that each type of heterogeneous agents can leverage its unique advantages. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Unmanned aerial vehicles (UAV)

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：