检索结果-内蒙古大学图书馆

arXiv 2020年

作者： Liu, Yin-Bo Zeng, Ming Meng, Qing-Hao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University China

Vision-based lane detection (LD) is a key part of autonomous driving technology, and it is also a challenging problem. As one of the important constraints of scene composition, vanishing point (VP) may provide a useful clue for lane detection. In this paper, we proposed a new multi-task fusion network architecture for high-precision lane detection. Firstly, the ERFNet was used as the backbone to extract the hierarchical features of the road image. Then, the lanes were detected using image segmentation. Finally, combining the output of lane detection and the hierarchical features extracted by the backbone, the lane VP was predicted using heatmap regression. The proposed fusion strategy was tested using the public CULane dataset. The experimental results suggest that the lane detection accuracy of our method outperforms those of state-of-the-art (SOTA) *** Codes 68T45 (Primary) 68T07 (Secondary) Copyright © 2020, The Authors. All rights reserved.

关键词： Network architecture

来源：评论

学校读者我要写书评

暂无评论

A multi-resolution frontier-based planner for autonomous 3D exploration

arXiv

引用

arXiv 2020年

作者： Batinović, Ana Petrović, Tamara Ivanovic, Antun Petric, Frano Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best frontier point to be explored. Compared to existing frontier-based approaches, the planner is more scalable, i.e. it requires less time for the same data set size while ensuring similar exploration time. Performance is achieved by not relying on data obtained directly from the 3D sensor, but on data obtained by a mapping algorithm. In order to cluster the frontier points, we use the properties of the Octree environment representation, which allows easy analysis with different resolutions. The planner is tested in the simulation environment and in an outdoor test area with a UAV equipped with a lidar sensor. The results show the advantages of the approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Conformal mapping

来源：评论

学校读者我要写书评

暂无评论

A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties

A Haptic Exploration and Surface Classification of Objects w...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Peng Qi Yunfeng Wu Tianliang Yao Bo Lu Yi Sun Jian S. Dai Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai P. R. China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou Jiangsu China Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Department of Mechanical and Energy Engineering College of Engineering Southern University of Science and Technology Shenzhen P. R. China School of Natural Mathematical and Engineering Sciences King's College London

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object; however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index $K$ is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Anomaly Detection Method of Industrial Data Based on Stacking Integration

引用

Journal on Artificial Intelligence 2021年第1期3卷 9-19页

作者： Kunkun Wang Xianda Liu College of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang110159China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China Shenyang Institute of Automation Chinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China

With the development of Internet technology,the computing power of data has increased,and the development of machine learning has become faster and *** the industrial production of industrial control systems,quality inspection and safety production of process products have always been our *** at the low accuracy of anomaly detection in process data in industrial control system,this paper proposes an anomaly detection method based on stacking integration using the machine learning *** are collected from the industrial site and processed by feature *** component analysis(PCA)and integrated rule tree method are adopted to reduce the dimension of the process data,which can restore the original feature information of the data to the maximum *** forest(RF),Adaboost,XGboost,SVM were selected as the first layer of basic *** regression(LR)was used as the secondary learner to build the exception detection model based on stacking integrated *** data was used to train the base learner model and the integrated *** comparing and analyzing the experimental results of between integrated model and each basic learning *** comparing and analyzing the experimental results of the constructed anomaly detection model and the basic learning model,the accuracy of process data anomaly detection is effectively improved,and the false alarm rate of process data anomaly detection is effectively reduced.

关键词： Industrial control system anomaly detection random forest SVM stacking

来源：评论

学校读者我要写书评

暂无评论

Compressive Subspace Learning with Antenna Cross-correlations for Wideband Spectrum Sensing

arXiv

引用

arXiv 2020年

作者： Gong, Tierui Yang, Zhijia Zheng, Meng Liu, Zhifeng Wang, Gengshan Key Laboratory of Robotics the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

Compressive subspace learning (CSL) with the exploitation of space diversity has found a potential performance improvement for wideband spectrum sensing (WBSS). However, previous works mainly focus on either exploiting antenna auto-correlations or adopting a multiple-input multiple-output (MIMO) channel without considering the spatial correlations, which will degrade their performances. In this paper, we consider a spatially correlated MIMO channel and propose two CSL algorithms (i.e., mCSLSACC and vCSLACC) which exploit antenna cross-correlations, where the mCSLSACC utilizes an antenna averaging temporal decomposition, and the vCSLACC uses a spatial-temporal joint decomposition. For both algorithms, the conditions of statistical covariance matrices (SCMs) without noise corruption are derived. Through establishing the singular value relation of SCMs in statistical sense between the proposed and traditional CSL algorithms, we show the superiority of the proposed CSL algorithms. By further depicting the receiving correlation matrix of MIMO channel with the exponential correlation model, we give important closed-form expressions for the proposed CSL algorithms in terms of the amplification of singular values over traditional CSL algorithms. Such expressions provide a possibility to determine optimal algorithm parameters for high system performances in an analytical way. Simulations validate the correctness of this work and its performance improvement over existing works in terms of WBSS performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Cognitive radio

来源：评论

学校读者我要写书评

暂无评论

control of a system of two interacting bodies on a rough inclined plane

Control of a system of two interacting bodies on a rough inc...

引用

International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference)

作者： N. N. Bolotnik T. Yu. Figurina Laboratory of Robotics and Mechatronics Ishlinsky Institute for Problems in Mechanics RAS Moscow Russia Laboratory of Control of Mechanical Systems Ishlinsky Institute for Problems in Mechanics RAS Moscow Russia

ISBN: (数字)9781728167053

ISBN: (纸本)9781728167060

For a system of two bodies on an inclined plane with Coulomb's friction, the in-principle possibility for driving the system to an arbitrary terminal state of rest by means of control of the interaction force between the bodies is proved for the case where the bodies do not rest on the common line of maximum slope in the initial state. A control algorithm that combines quasistatic and fast motions is designed.

关键词： Frequency modulation

来源：评论

学校读者我要写书评

暂无评论

Monocular Visual SLAM based on VGG Feature Point Extraction

Monocular Visual SLAM based on VGG Feature Point Extraction

引用

Chinese control Conference (CCC)

作者： Xu-Yang Dai Qing-Hao Meng Wen-Jian Zheng Shao-Kai Zhu Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Significant progress has been made in the field of visual SLAM (Simultaneous Localization and Mapping). However, the localization accuracy of visual SLAM can be significantly reduced in low-texture and illumination-changing environments. To solve these problems, an enhanced visual SLAM algorithm based on VGG (Visual Geometry Group) network was proposed in this paper. Firstly, the VGG network for feature point extraction was incorporated into the visual odometry (VO) to achieve robust camera pose estimation. Secondly, an automatic corner annotation method was adopted to set up the training database, which could reduce the workload of data annotation. Thirdly, to make the backend optimization more suitable for the VGG based VO, the BA (bundle adjustment) optimization process was improved. Experimental results showed that, the proposed visual SLAM method outperformed the mainstream ORB-SLAM (Oriented FAST and Rotated BRIEF SLAM) method, in terms of the number of effective feature points, the robustness of feature matching process to light changes, and the accuracy of robot pose estimation.

关键词： Feature extraction Simultaneous localization and mapping Cameras Visualization Optimization Training Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

A Novel E-Nose Chamber Design for VOCs Detection in Automobiles

A Novel E-Nose Chamber Design for VOCs Detection in Automobi...

引用

Chinese control Conference (CCC)

作者： Lu Cheng Yin-Bo Liu Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

To detect parts per billion (ppb)-level volatile organic compounds (VOCs) in automobiles, a pre-concentrator is generally needed for electronic noses (e-noses), which can enrich ppb-level concentration to parts per million (ppm) level. However, the current e-nose chamber structure could dilute the pre-concentrated gases and then the detection performance is reduced. To solve this problem, a novel chamber design was proposed in this paper. The core design idea was to reduce the space for the gas flow in the chamber, taking into account the shape and size of the gas sensors. Specially, for the pin-type gas sensors, a series of cylindrical structure design was adopted, and for the micro-electro-mechanical system (MEMS) patch-type sensors, the headspace was compressed. The results of computational fluid dynamics (CFD) based simulation showed that the concentration of pre-concentrated gases in the novel chamber was higher than that of the traditional chamber. The designed chambers were manufactured using polylactic acid (PLA) material by 3D printing. Experimental gases were prepared from polyurethane (PU) leather and polyvinyl chloride (PVC) leather to verify the performance of the chambers, and the results demonstrated that the proposed new e-nose chamber was superior to the traditional one in terms of the pre-concentration effect, repeatability and classification performance.

关键词： Gas detectors Sensor arrays Micromechanical devices Fluid flow Gases Automobiles

来源：评论

学校读者我要写书评

暂无评论

An Open Data Set for Rail Vehicle Positioning Experiments

An Open Data Set for Rail Vehicle Positioning Experiments

引用

International Conference on Intelligent Transportation

作者： Michael Roth Hanno Winter Institute of Transportation Systems German Aerospace Center (DLR) Braunschweig Germany Control Methods and Robotics Laboratory Technische Universität Darmstadt Germany

ISBN: (数字)9781728141497

ISBN: (纸本)9781728141503

This paper describes an openly available data set for rail vehicle positioning experiments. The data were collected using the DLR research vehicle RailDriVE on a segment of the harbor railway of Braunschweig, Germany, in February 2019. Several sensors of the RailDriVE equipment and an additional self-sufficient system provided by Technische Universität Darmstadt were employed, including two GNSS receivers, two inertial measurement units (IMU), and several speed and distance sensors (radar, optical, odometer) from the rail domain. Front-facing camera data has been included for documentation purposes. In order to simplify its use, some pre-processing steps were applied to the data, mainly to have common time and coordinate frames. Furthermore, example and reference positioning solutions have been included. The data set is described in detail, with information about the individual sensors and the data set structure (with parameters, raw, pre-processed, and reference data). Our work should be seen as a step towards more open and data-driven research in the rail domain, where experiments are difficult and costly. It is our hope to provide a solid basis for many different research efforts that provide the required technological advances for the rail sector.

关键词： Sensors Rails Global navigation satellite system Optical sensors Receivers Sensor systems Radar tracking

来源：评论

学校读者我要写书评

暂无评论

Indoor Layout Estimation by Fusing Monocular RGB Image Features Extracted with HRNet

Indoor Layout Estimation by Fusing Monocular RGB Image Featu...

引用

Chinese control Conference (CCC)

作者： Rong-Ze Huang Yin-Bo Liu Meh Jabeen Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Indoor layout estimation (ILE) is a challenging research that segments the natural indoor scene image into floor, walls and ceiling, and it has a wide range of application prospects in the fields such as scene understanding, reconstruction, robot positioning, and virtual reality. An ILE method by merging multiple features from a monocular red-green-blue (RGB) image was proposed. Firstly, the High-resolution networks (HRNet) was used to extract the features of indoor corner keypoints (CKs) and informative edges (IEs) in the form of heatmaps. Secondly, the extracted features were then selected through a room type (RT) classification network. Finally, a feature fusion algorithm was proposed, which obtained the initial layout hypothesis through CK features and then continuously optimized the layout hypothesis with IE features. The proposed ILE method was validated on the large scene understanding challenge (LSUN) dataset.

关键词：

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：