检索结果-内蒙古大学图书馆

IEEE International Conference on Automation Science and engineering (CASE)

作者： Shankar A. Deka Sujet Phodapol Andreu Matoses Gimenez Victor Nan Fernandez-Ayala Rufus Wong Pian Yu Xiao Tan Dimos V. Dimarogonas Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems School of EECS Royal Institute of Technology (KTH) Stockholm Sweden Department of Cognitive Robotics Faculty of Mechanical Engineering TU Delft Delft Netherlands Department of Computer Science University of Oxford Oxford UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we introduce a ROS based framework designed for the planning and control of robotic systems within the context of precision agriculture, with an emphasis on human-in-the-loop capabilities. Utilizing Linear Temporal Logic to articulate complex task specifications, our algorithm creates high-level robotic plans that are not only correct by design but also adaptable in real time by human operators. This dual-focus approach ensures that while humans have the flexibility to modify the high-level plan on-the-fly or even take over low-level control of the robots, the system inherently safeguards against any human actions that could potentially breach the predefined task specifications. We demonstrate our algorithm within the dynamic and challenging environment of a real vineyard, where the collaboration between human workers and robots is critical for tasks such as harvesting and pruning, and show the practical applicability and robustness of our software. This work marks a pioneering application of formal methods to complex, real-world agricultural environments.

关键词： Precision agriculture Heuristic algorithms Software algorithms Robustness Human in the loop Software Real-time systems Planning Robots Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

A novel approach for enhancing personalized motion training and performance evaluation with Attn-MVAGCN

引用

Alexandria engineering Journal 2025年 129卷 53-66页

作者： Wensuo Lian Yuxin He Jindong Xu Department of Physical Education Changzhi University Changzhi Shanxi 046011 China Research Center for Sports Culture and Social Development Changzhi University Changzhi 046011 China School of Sports and Health Linyi University Linyi 276000 China School of Computer and Control Engineering YanTai University Yantai 264005 China

With the continuous development of intelligent sports training, high-precision posture estimation technology plays a vital role in personalized guidance and sports effect evaluation. However, existing posture estimation methods usually have difficulty in balancing high precision and computational efficiency in complex sports scenes. To this end, this paper proposes a new posture estimation model Attn-MVAGCN, which combines the MobileViT module for image feature extraction, the Adaptive-GCN module for joint relationship modeling, and introduces the attention mechanism to enhance the capture of key posture information. Through experiments on multiple standard datasets (COCO-WholeBody, MPII Human Pose, and NTU RGB+D), the results show that Attn-MVAGCN reduces MPJPE (joint position error) by 10.4% (35.2 mm) and improves AP (average precision) by 6.7% (72.5%), while the inference speed reaches 70.5 FPS, which is significantly better than the existing baseline model. Personalized training experiments further verify the effectiveness of the model in dynamically optimizing athlete posture estimation and improving motion standardization. The advantages of the Attn-MVAGCN model in computational efficiency and real-time performance enable it to run efficiently on mobile devices and smart wearable devices. It has the potential for application on resource-constrained devices and has broad application value in fields such as sports rehabilitation and smart fitness.

关键词： Deep learning Posture estimation Motion training Effect evaluation MobileViT Multi-modal data

来源：评论

学校读者我要写书评

暂无评论

A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

来源：评论

学校读者我要写书评

暂无评论

Actuator Scheduling for Linear Systems: A Convex Relaxation Approach

arXiv

引用

arXiv 2022年

作者： Jiao, Junjie Maity, Dipankar Baras, John S. Hirche, Sandra Information-Oriented Control Department of Electrical and Computer Engineering Technical University of Munich Munich Germany The Department of Electrical and Computer Engineering University of North Carolina CharlotteNC28223 United States The Department of Electrical and Computer Engineering University of Maryland College ParkMD20742 United States

In this letter, we investigate the problem of actuator scheduling for networked control systems. Given a stochastic linear system with a number of actuators, we consider the case that one actuator is activated at each time. This problem is combinatorial in nature and NP hard to solve. We propose a convex relaxation to the actuator scheduling problem, and use its solution as a reference to design an algorithm for solving the original scheduling problem. Using dynamic programming arguments, we provide a suboptimality bound of our proposed algorithm. Furthermore, we show that our framework can be extended to incorporate multiple actuator scheduling at each time and actuation costs. A simulation example is provided, which shows that our proposed method outperforms a random selection approach and a greedy selection approach. Copyright © 2022, The Authors. All rights reserved.

关键词： Scheduling

来源：评论

学校读者我要写书评

暂无评论

Anomaly detection system for retinal images based on area classifier 2

Anomaly detection system for retinal images based on area cl...

引用

2nd IEEE International Conference on Electronic engineering, ICEEM 2021

作者： Amer, Mohamed A. Rihan, Mohamed El-Agooz, Salah El-Hag, Noha A. El-Shafai, Walid El-Samie, Fathi E. Abd Khalaf, Ashraf A. M. El-Banby, Ghada M. Abdelhamed, Mohamed A. Faculty of Electronic Engineering Menoufia University Department of Electronics and Electrical Communications Engineering Menouf Egypt Department of Communication and Computer Engineering El-Shorouk City Egypt Minia University Department of Electronics and Electrical Communications Engineering Faculty of Engineering Egypt Faculty of Electronic Engineering Menoufia University Department of Industrial Electronics and Control Engineering Engineering Menouf Egypt

ISBN: (纸本)9781665418423

Diabetic Retinopathy (DR) is a disease of the eye for diabetics, and it can lead to a lack of vision if leaved untreated. The proposed approach in this paper is used to help for detecting and classifying the DR. It is applied to detect non-proliferative DR by identifying micro-aneurysms and hemorrhages. Firstly, the pre-processing step is applied. It consists of extracting the green channel, removing the optic disc (OD) and normalizing the background. Then, h-maxima transformation is performed. After that, threshold segmentation is applied to detect the hemorrhages and micro-aneurysms, accurately. Finally, an area classifier is used for the classification process to discriminate dark spot lesions. © 2021 IEEE.

关键词： Image classification

来源：评论

学校读者我要写书评

暂无评论

Dynamic Random Route Mutation Mechanism for Moving Target Defense in SDN 6

Dynamic Random Route Mutation Mechanism for Moving Target De...

引用

6th International Symposium on computer and Information Processing Technology, ISCIPT 2021

作者： Zhang, Bofeng Han, Li Sun, Shimin Tianjin University of Technology School of Computer Science and Engineering Tianjin China Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology National Engineering Laboratory for Computer Virus Prevention and Control Technology Tianjin China Tiangong University Tianjin Key Laboratory of Autonomous Intelligent Technology and System School of Computer Science and Technology Tianjin China

ISBN: (纸本)9781665441377

Moving Target Defense (MTD) is commonly used in changing the asymmetric situation between attack and defense in cyberspace. Route mutation is a vital branch of MTD. Current route mutation methods still have some limitations on unpredictability of mutating routing paths and time overhead. In this paper, we propose a Dynamic Random Route Mutation (DRRM) mechanism in order to maximize the unpredictability of mutation and reduce the time overhead. First, we adopt Jaccard distance matrix and temporal constraint to improve mutation space. Mutation space can be dynamically shifted to enhance the unpredictability. Then, we weaken attackers' capabilities of launching effective eavesdropping at a certain node by using route weight. Finally, we construct a pre-distribution strategy to reduce the transmission latency caused by route mutation. Simulation results show that DRRM not only raises the difficulty of network eavesdropping, but also ensures low mutation time overhead. © 2021 IEEE.

关键词： Dynamics

来源：评论

学校读者我要写书评

暂无评论

Enhanced Fault Detection in Industrial Process via a Hellinger Distance-Based Data-Driven Scheme

Enhanced Fault Detection in Industrial Process via a Helling...

引用

Modeling, Simulation & Intelligent Computing (MoSICom), International Conference on

作者： Mohammed Affan K. Ramakrishna Kini Muddu Madakyaru Fouzi Harrou Mukund Kumar Menon Ying Sun Department of Chemical Engineering Manipal Institute of Technology Manipal Academy of Higher Education Manipal India Department of Instrumentation and Control Engineering Manipal Institute of Technology Manipal Academy of Higher Education Manipal India Computer Electrical and Mathematical Sciences and Engineering (CEMSE) Division King Abdullah University of Science and Technology Thuwal Saudi Arabia

ISBN: (数字)9798331533311

ISBN: (纸本)9798331533328

Accurate fault detection in modern chemical processes ensures safety and efficiency. However, detecting faults in noisy environments remains a significant challenge. This paper introduces an effective fault detection (FD) strategy that combines a supervised learning approach using partial least squares (PLS) with fault detection charts based on Hellinger distance (HD) and exponentially weighted moving average (EWMA). The PLS-HD-EWMA strategy utilizes PLS to generate residuals, while HD is employed to compute the divergence between actual residuals and fault-free residuals. EWMA is then applied to evaluate the HD, providing sensitivity to small changes for effective fault detection. The proposed strategy’s efficacy is demonstrated through simulations on a benchmark continuous stirred tank reactor process, evaluating three common fault scenarios. The monitoring performance indicates that the PLS-HD-EWMA approach outperforms all the other conventional methods, offering superior fault detection capabilities.

关键词： Training Sensitivity Fault detection Computational modeling Supervised learning Noise Safety Noise measurement Continuous-stirred tank reactor Monitoring

来源：评论

学校读者我要写书评

暂无评论

On the Robustness of Adversarial Training Against Uncertainty Attacks

arXiv

引用

arXiv 2024年

作者： Ledda, Emanuele Scodeller, Giovanni Angioni, Daniele Piras, Giorgio Cinà, Antonio Emanuele Fumera, Giorgio Biggio, Battista Roli, Fabio Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Rome00185 Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Via Dodecaneso 35 Genova16146 Italy Department of Electric and Electronic Engineering University of Cagliari Via Marengo 3 Cagliari09100 Italy

In learning problems, the noise inherent to the task at hand hinders the possibility to infer without a certain degree of uncertainty. Quantifying this uncertainty, regardless of its wide use, assumes high relevance for security-sensitive applications. Within these scenarios, it becomes fundamental to guarantee good (i.e., trustworthy) uncertainty measures, which downstream modules can securely employ to drive the final decision-making process. However, an attacker may be interested in forcing the system to produce either (i) highly uncertain outputs jeopardizing the system’s availability or (ii) low uncertainty estimates, making the system accept uncertain samples that would instead require a careful inspection (e.g., human intervention). Therefore, it becomes fundamental to understand how to obtain robust uncertainty estimates against these kinds of attacks. In this work, we reveal both empirically and theoretically that defending against adversarial examples, i.e., carefully perturbed samples that cause misclassification, additionally guarantees a more secure, trustworthy uncertainty estimate under common attack scenarios without the need for an ad-hoc defense strategy. To support our claims, we evaluate multiple adversarial-robust models from the publicly available benchmark RobustBench on the CIFAR-10 and ImageNet datasets. © 2024, CC BY.

关键词： Adversarial machine learning

来源：评论

学校读者我要写书评

暂无评论

Comprehensive Evaluation of Power Business Data Service Based on Indicator Simplification and Weights Fusion

Comprehensive Evaluation of Power Business Data Service Base...

引用

IEEE Information Technology and Mechatronics engineering Conference (ITOEC)

作者： Chunhui Zhao Danli Li Jiyong Zhang Gao Yu JiangYu Yan WeiTeng Zhai State Grid Economic and Technological Research Institute Co. Ltd. Beijing China School of Control and Computer Engineering North China Electric Power University Beijing China

Power business data services explore the potential value of power data by analyzing and mining power big data to assist in the development of new power systems and smart grids. This paper looks into the potential of power data by exploring power business data services. To evaluate the service, we consider four aspects: service benefit, data quality, service quality, and data service performance. The DEMATEL-ISM method is used to simplify the indicator system. Additionally, the DEMATEL method is combined with the AHP and coefficient of variation methods to form a subjective-objective combination of weighting methods for determining the weights of the indicators. This method addresses the lack of objectivity in the weights caused by the interaction between indicators and the overlap of meanings. The proposed method is validated through examples to show its feasibility and validity.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Protecting Personalized Trajectory with Differential Privacy under Temporal Correlations

Protecting Personalized Trajectory with Differential Privacy...

引用

IEEE Conference on Wireless Communications and Networking

作者： Mingge Cao Haopeng Zhu Minghui Min Yulu Li Shiyin Li Hongliang Zhang Zhu Han School of Information and Control Engineering China University of Mining and Technology Xuzhou China Key Laboratory of Aerospace Information Security and Trusted Computing Ministry of Education School of CyberScience and Engineering Wuhan University Wuhan China School of Electronics Peking University Beijing China Department of Electrical and Computer Engineering University of Houston Houston TX USA

ISBN: (数字)9798350303582

ISBN: (纸本)9798350303599

Location-based services (LBSs) in vehicular ad hoc networks (VANETs) offer users numerous conveniences. However, the extensive use of LBSs raises concerns about the privacy of users' trajectories, as adversaries can exploit temporal correlations between different locations to extract personal information. Additionally, users have varying privacy requirements depending on the time and location. To address these issues, this paper proposes a personalized trajectory privacy protection mechanism (PTPPM). This mechanism first uses the temporal correlation between trajectory locations to determine the possible location set for each time instant. We identify a protection location set (PLS) for each location by employing the Hilbert curve-based minimum distance search algorithm. This approach incor-porates the complementary features of geo-indistinguishability and distortion privacy. We put forth a novel Permute-and-Flip mechanism for location perturbation, which maps its initial application in data publishing privacy protection to a location perturbation mechanism. This mechanism generates fake locations with smaller perturbation distances while improving the balance between privacy and quality of service (QoS). Simulation results show that our mechanism outperforms the benchmark by providing enhanced privacy protection while meeting user's QoS requirements.

关键词： Privacy Correlation Publishing Perturbation methods Simulation Vehicular ad hoc networks Quality of service

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：