检索结果-内蒙古大学图书馆

Congress on Evolutionary Computation

作者： Jingyu Chen John Oyekan Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom Department of Computer Science University of York York United Kingdom

Collaboration of agents in a natural swarm enables the accomplishment of tasks that would be difficult or impossible for a single agent to complete alone. For example, a swarm of autonomous Unmanned Aerial Vehicles (UAVs) enables the collaborative sensing of bulky loads for transportation over impassable terrains when the load weighs several times more than each UAV. In this work, we propose a hierarchical algorithmic architecture that supports the search and coverage of various unknown payload profiles for subsequent transportation. The grasping formation of UAVs over the payload emerges from the synthetic behaviours in the architecture without any path planning. Experiments show that our proposed design can be successfully applied in searching and coverage of various loads and has been validated in the real world through the use of Crazyflie micro-UAVs. Furthermore, the proposed grasping formation satisfies static equilibrium thereby reducing orientation changes in the load-swarm system during transportation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Maximizing social power in multiple independent Friedkin-Johnsen models

Maximizing social power in multiple independent Friedkin-Joh...

引用

European control Conference (ECC)

作者： Lingfei Wang Yu Xing Claudio Altafini Karl H. Johansson Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering Division of Automatic Control Linköping University Linköping Sweden

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper investigates the problem of maximizing social power for a group of agents, who participate in multiple meetings described by independent Friedkin-Johnsen models. A strategic game is obtained, in which the action of each agent (or player) is her stubbornness over all the meetings, and the payoff is her social power on average. It is proved that, for all but some strategy profiles on the boundary of the feasible action set, each agent's best response is the solution of a convex optimization problem. Furthermore, even with the non-convexity on boundary profiles, if the underlying networks are given by a fixed complete graph, the game has a unique Nash equilibrium. For this case, the best response of each agent is analytically characterized, and is achieved in finite time by a proposed algorithm.

关键词： Network topology Europe Games Nash equilibrium Cost function Convex functions

来源：评论

学校读者我要写书评

暂无评论

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

arXiv

引用

arXiv 2024年

作者： Zhang, Yichen Chen, Xinyi Liu, Peize Wang, Junzhe Zou, Hetai Pan, Neng Gao, Fei Shen, Shaojie The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad series, a unified and versatile quadrotor platform series that offers high flexibility to adapt to a wide range of common tasks, excellent customizability for advanced demands, and easy maintenance in case of crashes. This project is fully open-source at https://***/UniQuad. Copyright © 2024, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

Enhanced cyber-physical system with semantic technologies and machine learning to support smart farming

Enhanced cyber-physical system with semantic technologies an...

引用

International Conference on control systems and computer Science (CSCS)

作者： Sorin N. Ciolofan Monica Drăgoicea Daniel-Cătălin Popeangă Department of Computer Science Politehnica University of Bucharest Bucharest Romania Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania

An important aspect related to the effects of agricultural activities on the environment is represented by the nutrient loss in water and air (specifically nitrogen). The interactions between catchments hydrological processes, management of farm activities, climate changes and nitrogen losses constitute a complex phenomenon yet not well understood, being an important concern from the sustainable agriculture perspective. Nitrogen can be lost with water as leaching or runoff, or as gas as ammonia volatilization. Nitrous oxide (N2O) is particularly problematic because it is also a powerful greenhouse gas. The goal of the current article is to present innovative digital techniques to advance in understanding of this phenomena through an Information System that integrates Artificial Intelligence techniques such as Semantic Technologies and Machine Learning (ML) into Cyber-Physical systems (CPS) to support smart farming and sustainable agriculture.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics

arXiv

引用

arXiv 2024年

作者： Smaili, Lyes Tang, Zhiqi Berkane, Soulaimane Hamel, Tarek Department of Computer Science and Engineering University of Quebec in Outaouais GatineauQC Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden Department of Electrical Engineering Lakehead University ON Canada France

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which primarily uses repulsive forces based on position, DAF employs a dissipative feedback mechanism that accounts for both position and velocity, contributing to smoother and more natural obstacle avoidance. The proposed continuously differentiable controller solves the motion-to-goal problem while guaranteeing collision-free navigation by using the robot’s state and local obstacle distance information. We show that the controller guarantees safe navigation in generic n-dimensional environments and that all undesired ω-limit points are unstable under certain controlled curvature conditions. Designed for real-time implementation, DAF requires only locally measured data from limited-range sensors (e.g., LiDAR, depth cameras), making it particularly effective for robots navigating unknown workspaces. Simulations in 2D and 3D environments are conducted to validate the theoretical results and to showcase the effectiveness of our approach. © 2024, CC BY.

关键词： Feedback

来源：评论

学校读者我要写书评

暂无评论

control-oriented modeling and passivity analysis of thermal dynamics in a multi-producer district heating system

引用

IFAC-PapersOnLine 2023年第1期56卷 175-180页

作者： Saeed Ahmed Juan E. Machado Michele Cucuzzella Jacquelien M.A. Scherpen Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen The Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Italy

Climate change and geopolitics have led to the conception of plans for reducing greenhouse gas emissions and improving the sustainability of existing fossil-based energy systems. In this respect, district heating has been identified as an indispensable player for its potential to integrate seamlessly environmentally-friendly heat sources. To improve the efficiency of these district heating systems, optimal operation schemes can be devised and enforced through control systems. To this end, we present a control-oriented nonlinear ODE-based model of temperature dynamics in a multi-producer district heating system. The model features a modular design and comprises the thermal dynamics of heat exchangers of producers and consumers interconnected by a distribution network of meshed topology. Then, we establish passivity properties and zero-state detectability for the modeled temperature dynamics that could be exploited for controller design and solving constrained optimization problems.

关键词： District heating thermal dynamics Krasovskii passivity shifted passivity zero-state detectability

来源：评论

学校读者我要写书评

暂无评论

Experimental and numerical study on the shrinkage-deformation of carrot slices during hot air drying

引用

International Journal of Agricultural and Biological engineering 2023年第1期16卷 260-272页

作者： Dalong Jiang Congcong Li Zifan Lin Yuntian Wu Hongjuan Pei Magdalena Zielinska Hongwei Xiao School of Computer and Control Engineering Yantai UniversityYantai 264005ShandongChina Hebei Agricultural University Baoding 071001HebeiChina Hebei Key Laboratory of Agricultural Big Data Baoding 071001HebeiChina Department of Electrical and Electronic Engineering University of Western AustraliaPerth 6000Australia BeiGene Guangzhou Biologics Manufacturing Co. LtdGuangzhou 510555China Neuroscience and Intelligent Media Institute Communication University of ChinaBeijing 100024China Department of Systems Engineering University of Warmia and MazuryOlsztyn 004889Poland College of Engineering China Agricultural UniversityBeijing 100083China

In order to further understand the mechanism of material volume change in the drying process,numerical simulations(considering or neglecting shrinkage)of heat and mass transfer during convective drying of carrot slices under constant and controlled temperature and relative humidity were carried *** results were validated with experimental *** results of the simulation show that the Quadratic model fitted well to the moisture ratio and the material temperature data trend with average relative errors of 5.9%and 8.1%,***,the results of the simulation considering shrinkage show that the moisture and temperature distributions during drying are closer to the experimental data than the results of the simulation disregarding *** material moisture content was significantly related to the shrinkage of dried *** and relative humidity significantly affected the volume shrinkage of carrot *** volume shrinkage increased with the rising of the constant temperature and the decline of relative *** model can be used to provide more information on the dynamics of heat and mass transfer during drying and can also be adapted to other products and dryers devices.

关键词： carrot drying numerical simulation heat and mass transfer shrinkage

来源：评论

学校读者我要写书评

暂无评论

Tight Collision Probability for UAV Motion Planning in Uncertain Environment

Tight Collision Probability for UAV Motion Planning in Uncer...

引用

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

作者： Tianyu Liu Fu Zhang Fei Gao Jia Pan Department of Mechanical Engineering The University of Hong Kong Institute of Cyber-Systems and Control Zhejiang University Department of Computer Science The University of Hong Kong

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate robot localization and modeling errors further exacerbate these challenges. Recent research on UAV motion planning in static environments has been unable to cope with the rapidly changing surroundings, resulting in trajectories that may not be feasible. Moreover, previous approaches that have addressed dynamic obstacles or external disturbances in isolation are insufficient to handle the complexities of such environments. This paper proposes a reliable motion planning framework for UAVs, integrating various uncertainties into a chance constraint that characterizes the uncertainty in a probabilistic manner. The chance constraint provides a probabilistic safety certificate by calculating the collision probability between the robot's Gaussian-distributed forward reachable set and states of obstacles. To reduce the conservatism of the planned trajectory, we propose a tight upper bound of the collision probability and evaluate it both exactly and approximately. The approximated solution is used to generate motion primitives as a reference trajectory, while the exact solution is leveraged to iteratively optimize the trajectory for better results. Our method is thoroughly tested in simulation and real-world experiments, verifying its reliability and effectiveness in uncertain environments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Efficacy of Local Cache for Performance Improvement of Reliable Data Transmission in Aggregated Robot Processing Architecture

Efficacy of Local Cache for Performance Improvement of Relia...

引用

International Conference on control, Automation and systems ( ICCAS)

作者： Abdul Jalil Jun Kobayashi Department of Computer Science and Systems Engineering Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan Department of Intelligent and Control Systems Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan

This study aims to improve the performance of message data transmission in Aggregated Robot Processing (ARP) architecture where the RELIABLE option of the RELIABILITY QoS (Quality of Service) policy is applied to a ROS 2 (Robot Operating System 2) node communication. Basically, the RELIABLE option guarantees that a publisher properly send all message data to a subscriber. However, the publisher could fail to transmit some message data to the subscriber even in the RELIABLE QoS option unless the buffer size of the publisher is enough. We introduce local cache to a sensing component to alleviate the issue in the case that the sensors output the same value in a row. The experimental results showed that the local cache improved the latency and reduced the message loss in node communication.

关键词： Performance evaluation Operating systems Process control Quality of service Robot sensing systems control systems Sensors

来源：评论

学校读者我要写书评

暂无评论

Teeth Segmentation from Bite-Wing X-Ray Images by Integrating Nested Dual UNet with Swin Transformers

Teeth Segmentation from Bite-Wing X-Ray Images by Integratin...

引用

2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Li, Yubo Tian, Yibin Zhang, Zhiyuan Zhang, Xueyang Du, Bingran Zeng, Zhi School of Computer and Information Science Chongqing Normal University Chongqing401331 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Litemaze Technology Shenzhen518000 China School of Computing and Information Systems Singapore Management University Singapore487372 Singapore Shunde Hospital Department of Stomatology Foshan528000 China

ISBN: (纸本)9781665410205

In medical practice, the precision of image segmentation is crucial for diagnosis and treatment evaluations. Specifically, in dentistry, accurate teeth segmentation from bite-wing images is important for automatic and objective evaluations of root canal treatments. This study introduces Swin-U2 Net, a model merging the nested dual UNet with residual U-block and Swin Transformers. It combines the local feature extraction capability of the former and the global attention and context understanding of the latter. It has been evaluated for tooth root segmentation using 500 bite-wing dental x-ray images obtained from a root canal treatment clinic. It achieved the best segmentation outcome in terms of Intersection over Union (IOU) and the third best result in terms of Dice Similarity Coefficient (DSC) with the second least amount of network parameters among six UNet-like models, thus it is effective and efficient. © 2024 IEEE.

关键词： Image segmentation

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：