检索结果-内蒙古大学图书馆

5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2023

作者： Yildiran, Ugur Yildiz Technical University Control and Automation Engineering Department İstanbul Turkey

ISBN: (纸本)9798350337525

Reinforcement Learning (RL) based methods have became popular for control and motion planning of robots, recently. Unlike sampling based motion planners, optimal policies computed by them provide feedback motion plans which eliminates the need for re-computing (optimal) trajectories when a robot starts from a different initial configuration each time. In related studies, an optimal policy (actor) and the associated value function (critic) are usually calculated preforming training in a simulation environment. During training, RL allows learning by interactions with the environment in a physically realistic manner. However, in a simulation system, it is possible to make physically unimplementable moves. Thus, instead of RL, one can make use of Dynamic Programming approaches such as Value Iteration for computing optimal policies, which does not require an exploration component and known to have better convergence properties. In addition, dimension of a value function is smaller than that of a Q-fuction, thereby lessening the severity of the curse of dimensionality. Motivated by these facts, the aim of this paper is to employ Value Iteration algorithm for motion planning of robot manipulators and elaborate its effectiveness compared to a popular RL method, Q-learning. © 2023 IEEE.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Attention mechanism based multi-scale feature extraction of bearing fault diagnosis

引用

Journal of Systems engineering and Electronics 2023年第5期34卷 1359-1367页

作者： LEI Xue LU Ningyun CHEN Chuang HU Tianzhen JIANG Bin College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and AstronauticsNanjing 211106China College of Electrical Engineering and Control Science Nanjing Tech UniversityNanjing 211816China

Effective bearing fault diagnosis is vital for the safe and reliable operation of rotating *** practical applications,bearings often work at various rotational speeds as well as load ***,the bearing fault diagnosis under multiple conditions is a new subject,which needs to be further ***,a multi-scale deep belief network(DBN)method integrated with attention mechanism is proposed for the purpose of extracting the multi-scale core features from vibration signals,containing four primary steps:preprocessing of multi-scale data,feature extraction,feature fusion,and fault *** key novelties include multi-scale feature extraction using multi-scale DBN algorithm,and feature fusion using attention *** benchmark dataset from University of Ottawa is applied to validate the effectiveness as well as advantages of this ***,the aforementioned method is compared with four classical fault diagnosis methods reported in the literature,and the comparison results show that our pro-posed method has higher diagnostic accuracy and better robustness.

关键词： bearing fault diagnosis multiple conditions atten-tion mechanism multi-scale data deep belief network(DBN)

来源：评论

学校读者我要写书评

暂无评论

HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

引用

Chinese Journal of Electronics 2023年第1期32卷 189-198页

作者： GUAN Qi SHENG Zihao XUE Shibei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

Real-time six degrees-of-freedom(6D)object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely high-resolution 6D pose estimation network(HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.

关键词： Knowledge engineering Computational modeling Pose estimation Grasping Benchmark testing Feature extraction Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Parks-McClellan Algorithm-Based Active Damping Strategy Applied to Grid-Connected Inverters 8

Parks-McClellan Algorithm-Based Active Damping Strategy Appl...

引用

8th Southern Power Electronics Conference and the 17th Brazilian Power Electronics Conference, SPEC / COBEP 2023

作者： Filho, José De Arimatéia O. Bressanini, Gabriel Lucas Curi Busarello, Tiago Davi De Oro Arenas, Luis Silva, Paulo Fernando Morales Paredes, Helmo Kelis Sorocaba Brazil Department of Control Automation and Computing Engineering Blumenau Brazil

ISBN: (纸本)9798350321128

In recent years, grid-connected inverters have gained wide prominence, primarily attributed to the surge in distributed energy resources. To ensure the reliable operation of these inverters, it is crucial to adequately damp the resonance peak of the LCL filter at the inverter output. By achieving this, the grid-connected inverter guarantees the system's stability while minimizing the harmonic content in the current injected into the distribution grid. To address this issue, this paper proposes the utilization of digital differentiators in conjunction with optimized wideband differentiators, which are designed using the Parks-McClellan (PM) algorithm. These differentiators are applied specifically to the LCL filter capacitor voltage to dampen the resonance peak effectively. Simulation results univocally demonstrate the effectiveness of the proposed approach. © 2023 IEEE.

关键词： Active damping capacitor voltage digital differentiator LCL-filter Parks-McClellan algorithm

来源：评论

学校读者我要写书评

暂无评论

An Efficient Mixed Integer Nonlinear Program Model for Optimal Positions of Pressure Reducing Valves in Water Distribution Systems 15

An Efficient Mixed Integer Nonlinear Program Model for Optim...

引用

15th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2023

作者： Dai, Pham Duc Thuyloi University Department of Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350321388

Water loss happens in all water distribution systems (WDSs). To deal with such the problems, pressure management strategy should be applied to lessen the water leakage flow. The optimal pressure management is formulated to minimize the total of excessive pressures in all demand supplying nodes. In mathematical formulation, it is a mixed-integer nonlinear program (MINLP). The existing MINLP model having been used until now for optimizing PRV locations is proven to be hard for MINLP algorithms based gradient methods and therefore is only suitable for small-scale WDSs with a limited number of demand patterns. In this paper, an efficient non-smooth constraints are proposed to model whether PRVs are installed on links for the optimal PRV localization problem. Since these constraints can be approximated by relaxed forms of complementarity inequalities, high quality MINLP solution can be achieved in a reasonable computation time. To demonstrate the efficacy of our new modeling approach, comparison of the performance of the newly formulated MINLP with the existing one for solving optimal PRV locating problems for a real WDS are taken. The results have shown that with our new MINLP model, better MINLP solution can be attained even for WDSs with multiple demand patterns. © 2023 IEEE.

关键词： Water distribution systems

来源：评论

学校读者我要写书评

暂无评论

Sequential Convex Program for Variable Speed Pump Scheduling in Water Distribution Systems 15

Sequential Convex Program for Variable Speed Pump Scheduling...

引用

15th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2023

作者： Dai, Pham Duc Thuyloi University Department of Control Engineering and Automation Hanoi Viet Nam

ISBN: (纸本)9798350321388

Operation of water distribution systems (WDSs) to reduction of water leakage can be achieved by properly operating variable speed pumps (VSPs). This practical problem can be casted into a nonlinear program (NLP) where decision variables are relative speeds of pumps while the state variables are flows and nodal heads. The formulated NLP consists of both convex and non-convex constraints, for this reason, we proposed to apply the sequential convex programming technique (SCP) for solving the NLP. The advantage of the SCP method lies in the fact that instead of solving the non-convex NLP, we solve sequential convex NLPs and, in this case, it requires less number of iterates for solution convergence than solving the problem directly by using standard NLP solvers. The effectiveness of the approach was demonstrated on two WDSs for optimal VSP scheduling problem © 2023 IEEE.

关键词： Water distribution systems

来源：评论

学校读者我要写书评

暂无评论

Comparative Analysis of Vibration and Noise of Axial Flux Motor with Different Pole and Slot Combinations

引用

Chinese Journal of Electrical engineering 2023年第4期9卷 144-156页

作者： Qixu Chen Zhizhong Chen Guoli Li Dechen Wu Peng Li School of Electrical Engineering and Automation Anhui UniversityHefei 230601China National Engineering Laboratory of Energy-Saving Motor&Control Technology Anhui UniversityHefei 230601China

The electromagnetic vibration noise in axial flux motors was meticulously *** this study,24-slot/10-pole and 12-slot/10-pole axial flux motors were chosen as the subjects of *** spatial characteristics of the axial electromagnetic force were derived analytically and confirmed via two-dimensional Fourier *** finite-element method was used to simulate the low-order axial modes of both ***,a modal experiment on the stator of a 24-slot/10-pole axial flux motor was conducted to validate the simulation’s *** integrating the electromagnetic and structural models,a comprehensive multi-physical field model was developed to calculate the vibration noise of the axial flux *** precision of this model was subsequently corroborated with noise *** findings from this study aim to offer insights into identifying the sources of vibration noise in axial flux motors.

关键词： Axial electromagnetic force vibration noise axial flux motors modal analysis

来源：评论

学校读者我要写书评

暂无评论

A Comparison of Local Planner Algorithms for a ROS-based Omnidirectional Mobile Robot 8

A Comparison of Local Planner Algorithms for a ROS-based Omn...

引用

8th International Conference on Robotics and automation engineering, ICRAE 2023

作者： Imamoglu, Mehmed Rafi Sumer, Ecem Temeltas, Hakan Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9798350327656

The topic of local planner algorithms applicable to omnidirectional mobile robots is yet to thoroughly investigated. This study investigates the performance of the most commonly implemented local planner algorithms for omnidirectional mobile robots by conducting a comparative analysis between the Dynamic Window Approach (DWA) and the Timed Elastic Band (TEB) algorithms. The evaluation was conducted within real-world settings, specifically targeting the challenges of parking maneuvers, dynamic obstacle avoidance and turning maneuvers. Performance metrics, tailored to each scenario, were employed to assess the algorithms. The results demonstrate that the TEB method outperforms the DWA in the tested conditions. © 2023 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Generating High-Quality Prediction Intervals for Regression Tasks via Fuzzy C-Means Clustering-Based Conformal Prediction

Generating High-Quality Prediction Intervals for Regression...

引用

Intelligent and Fuzzy Systems - Intelligence and Sustainable Future Proceedings of the INFUS 2023 Conference

作者： Msaddi, Saleh Kumbasar, Tufan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783031397769

Accurately assessing uncertainty and prediction of a regression model is essential for making informed decisions, especially in high-risk tasks. Conformal Prediction (CP) is a powerful distribution-free uncertainty quantification framework for building such models as it is capable to transform a single-point prediction of any machine learning model into a Prediction Interval (PI) with a guarantee of encompassing the true value for specified levels of confidence. On the other hand, to generate high-quality PIs, the PIs should be as narrow as possible while enveloping a certain amount of uncertainty (i.e. confidence level). The generated width of the PIs mainly depends on the nonconformity measure used within the CP. In this study, we propose two novel Fuzzy c-Means Clustering (FCM) based nonconformity measures for CP with nearest neighbors to learn distribution-free and high-quality PIs for regression. The proposed approach generates tight PIs by evaluating the degree of nonconformity of a new data point compared to the so-called calibration points via Fuzzy Sets (FSs). From the calibration dataset, we extract representative FSs via FCM and assign every test point alongside the nearest neighbors within the calibration dataset with membership grades to adapt the nonconformity measure. To evaluate the performance, we present statistical comparisons and demonstrate that the proposed FCM-based nonconformity measures result in high-quality PIs. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

Group Hybrid Coordination control of Multi-Agent Systems With Time-Delays and Additive Noises

引用

IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 737-748页

作者： Chuanjian Li Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China IEEE

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this *** group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,*** MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,*** developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,*** is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented ***,the validity of the group control results is verified by several simulation examples.

关键词： Additive noises consensus control containment control group hybrid coordination control multi-agent systems(MASs) time-delays

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：