检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Deng, Tianchen Wang, Yanbo Xie, Hongle Wang, Hesheng Wang, Jingchuan Wang, Danwei Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural representation to encode 3D scenes. This extension of NeRF to SLAM has shown promising results. However, the depth images obtained from consumer-grade RGB-D sensors are often sparse and noisy, which poses significant challenges for 3D reconstruction and affects the accuracy of the representation of the scene geometry. Moreover, the original hierarchical feature grid with occupancy value is inaccurate for scene geometry representation. Furthermore, the existing methods select random pixels for camera tracking, which leads to inaccurate localization and is not robust in real-world indoor environments. To this end, we present NeSLAM, an advanced framework that achieves accurate and dense depth estimation, robust camera tracking, and realistic synthesis of novel views. First, a depth completion and denoising network is designed to provide dense geometry prior and guide the neural implicit representation optimization. Second, the occupancy scene representation is replaced with Signed Distance Field (SDF) hierarchical scene representation for high-quality reconstruction and view synthesis. Furthermore, we also propose a NeRF-based self-supervised feature tracking algorithm for robust real-time tracking. Experiments on various indoor datasets demonstrate the effectiveness and accuracy of the system in reconstruction, tracking quality, and novel view synthesis. © 2024, CC BY-NC-SA.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

Optimal control of a Grid-connected Service Area for Plug-in Electric Vehicles Fast Charging under uncertain Power Demand

Optimal Control of a Grid-connected Service Area for Plug-in...

引用

Mediterranean Conference on control and automation (MED)

作者： Emanuele De Santis Francesco Liberati Alessandro Di Giorgio Department of Computer Control and Management Engineering (DIAG) "Antonio Ruberti" Sapienza University of Rome Rome Italy

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this paper we consider the problem of controlling a service area hosting stations for the provisioning of the electric vehicles fast charging service, having the support of an electric energy storage system and local power production from renewables. Key aspects motivating the work are the hard temporal constraint imposed by drivers requiring the fast charging service and the impact high aggregated power withdrawal has on the economic viability of the investment for the service area operator; consequently key control requirements include a congestion level driven tracking of the charging power demand and the flattening of power flow at the point of connection of the service area to the electricity grid, while keeping stable ESS operation. These opposing control objectives, together with the uncertain nature of the power demand and production, brings to the formulation of a stochastic model predictive control problem, based on a continuous/finite-time optimal control problem, for which the explicit form of solution is determined. Simulations are presented to validate the proposed approach.

关键词： Plug-in electric vehicles Renewable energy sources Power demand Optimal control Stochastic processes Production Power grids

来源：评论

学校读者我要写书评

暂无评论

Supply Chain Logistics Marine Simulator

Supply Chain Logistics Marine Simulator

引用

Automatics and Informatics (ICAI), International Conference

作者： Bozhidar Dyakov Milena Karova Aneta Varbanova Ivaylo Penev Ivan Grigorov Danail Dimitrov Department of Navigation Technical University of Varna Varna Bulgaria Department of Computer Science and Engineering Technical University of Varna Varna Bulgaria Department of Industrial Automation Technical University of Varna Varna Bulgaria Department of Software and Internet Technologies Technical University of Varna Varna Bulgaria

ISBN: (数字)9798350353907

ISBN: (纸本)9798350353914

The paper presents an implementation of a supply chain logistics marine simulator, which realizes document flow for processing of loads, carried by marine transport. The simulator is intended to be used in the educational process in specialties Navigation and Logistics. The main stages of the logistic process are discussed. The architecture of the software system is explained. The essential parts of the process are presented with screenshots from the system.

关键词： Codes Navigation Supply chains computer architecture Software systems Chatbots Road traffic Encryption Informatics computer security

来源：评论

学校读者我要写书评

暂无评论

A Subordinate Multi-Swarm Particle Swarm Optimization Algorithm based on the Dynamic Random Cooperative Learning Strategy 22

A Subordinate Multi-Swarm Particle Swarm Optimization Algori...

引用

8th International Conference on Computing and Artificial Intelligence, ICCAI 2022

作者： Li, Mi Wang, YuanYuan Lu, ShengFu Department of Automation Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing International Collaboration Base on Brain Informatics and Wisdom Services Beijing100124 China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing100124 China Engineering Research Center of Digital Community Ministry of Education Beijing100124 China

ISBN: (纸本)9781450396110

Multi-swarm particle swarm optimization algorithms have received much attention in recent years due to their effectiveness in maintaining the diversity of population. However, during the evolution process, the algorithm often suffers from the aggregation of particles within the sub-swarm which could make the particles fall into the local optimum. In order to solve this problem, we propose a new multi-swarm particle swarm optimization algorithm: A Subordinate Multi-Swarm Particle Swarm Optimization Algorithm based on the Dynamic Cooperative Learning Strategy Algorithm (SMS-DCLS-PSO). In the SMS-DCLS-PSO algorithm, we use the number of stagnant local optimums in the sub-swarms as the aggregation flag. When the sub-swarms reach the aggregation condition, the dynamic random cooperative learning strategy is adopted to realize the adaptive periodic information exchange between sub-swarms. To further enhance the diversity of the population, the best particle of the main population and the worst particle of the sub-swarms are respectively mutated. When the sub-swarms don't meet the aggregation conditions, the sub-swarms evolve independently which means the particles only exchange the information within their own sub-swarm. The main-swarm evaluates the local optimal position of each sub-swarm and its own local optimal position in each iteration to update the velocity. The results of the comparison with SMS-DCLS-PSO and other PSO algorithms on the latest public test suite demonstrate that SMS-DCLS-PSO has a better performance on optimization. © 2022 ACM.

关键词： Particle swarm optimization (PSO)

来源：评论

学校读者我要写书评

暂无评论

Fault Diagnosis and Prognosis in Partially-Observed Discrete Event Systems with Delayed Observations

Fault Diagnosis and Prognosis in Partially-Observed Discrete...

引用

IEEE Conference on Decision and control

作者： Jiwei Wang Simone Baldi Wenwu Yu Xiang Yin School of Cyber Science and Engineering Southeast University Nanjing China School of Mathematics Southeast University Nanjing China Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Fault diagnosis and prognosis in discrete event systems are studied in the scenario where the observations are possibly received with delay. To address this scenario, two conditions for diagnosis and prognosis with delayed observations are proposed, where we show that the state-of-the-art notion of prognosability must be revised to avoid conservativeness. Diagnosability and prognosability conditions are then verified by introducing a delay observer and a new verification function. Theoretical analysis indicates the effectiveness of the verification method for fault diagnosis and prognosis in the system.

关键词： Fault diagnosis Observers Delays Discrete-event systems Prognostics and health management

来源：评论

学校读者我要写书评

暂无评论

Machine Learning-Based Underwater Communication System Using Light Carrying Orbital Angular Momentum

Machine Learning-Based Underwater Communication System Using...

引用

Conference on Lasers and Electro-Optics (CLEO)

作者： William A. Jarrett Svetlana Avramov-Zamurovic Joel M. Esposito Charles Nelson Weapons Robotics and Control Engineering Department United States Naval Academy Electrical and Computer Engineering Department United States Naval Academy Annapolis Maryland USA

An underwater communication system using light carrying orbital angular momentum is evaluated using a convolutional neural network through simulated and experimental thermally-generated underwater optical turbulence. ... 详细信息

ISBN: (数字)9781957171050

ISBN: (纸本)9781665466660

关键词： Underwater communication Optical computing Optical fiber networks Lasers and electrooptics Orbits Convolutional neural networks Electrooptical waveguides

来源：评论

学校读者我要写书评

暂无评论

Context-aware Emotion Recognition Based on Vision-Language Pre-trained Model

Context-aware Emotion Recognition Based on Vision-Language P...

引用

International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： XingLin Li Xinde Li Chuanfei Hu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Given the difficulty of recognizing ambiguous emotions in facial expression recognition tasks, we propose a visual-language model named CAER-CLIP to address this challenge. The proposed CAER-CLIP standed for Context-Aware Emotion Recognition (CAER), and were incorporated structure of the Contrastive Language–Image Pre-training (CLIP) model as promising alternative to classifier. There are two parts in CAER-CLIP model. In the visual part, facial expressions and contextual information of the image are simultaneously extracted to obtain the final feature embeddings, which are then used as a learnable “class” token for text-image pairing with desired module. In the textual part, we use text labels for emotion recognition classes as input. The outputs were merged to participate the comparative study to generated parameters of the model. The experiments demonstrate the effectiveness of the proposed method and show that our CAER-CLIP outperforms the state-of-the-art results on the CAER benchmark. The ablation experiment verified the effectiveness of both the classifier-based and text-based (ours without classifier) models, demonstrating that our method with the CAER-CLIP structure performed better, and the incorporation of a text encoder in the deep network model architecture effectively enhancing recognition accuracy.

关键词： Training Emotion recognition Visualization Accuracy Text recognition Face recognition Benchmark testing Feature extraction Data mining Context modeling

来源：评论

学校读者我要写书评

暂无评论

Soccer match broadcast video analysis method based on detection and tracking

Soccer match broadcast video analysis method based on detect...

引用

作者： Li, Hongyu Yang, Meng Yang, Chao Kang, Jianglang Suo, Xiang Meng, Weiliang Li, Zhen Mao, Lijuan Sheng, Bin Qi, Jun School of Information science and Technology Beijing Forestry University Beijing China Engineering Research Center for Forestry-Oriented Intelligent Information Processing National Forestry and Grassland Administration Beijing China School of Athletic Performance Shanghai University of Sport Shanghai China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Department of Computer Science and Engineering Shanghai Jiao Tong Univerity Shanghai China Department of Computing Xi'an JiaoTong-Liverpool University Suzhou China

We propose a comprehensive soccer match video analysis pipeline tailored for broadcast footage, which encompasses three pivotal stages: soccer field localization, player tracking, and soccer ball detection. Firstly, we introduce sports camera calibration to seamlessly map soccer field images from match videos onto a standardized two-dimensional soccer field template. This addresses the challenge of consistent analysis across video frames amid continuous camera angle changes. Secondly, given challenges such as occlusions, high-speed movements, and dynamic camera perspectives, obtaining accurate position data for players and the soccer ball is non-trivial. To mitigate this, we curate a large-scale, high-precision soccer ball detection dataset and devise a robust detection model, which achieved the (Formula presented.) of 80.9%. Additionally, we develop a high-speed, efficient, and lightweight tracking model to ensure precise player tracking. Through the integration of these modules, our pipeline focuses on real-time analysis of the current camera lens content during matches, facilitating rapid and accurate computation and analysis while offering intuitive visualizations. © 2024 John Wiley & Sons Ltd.

关键词： Visualization

来源：评论

学校读者我要写书评

暂无评论

Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based control Barrier Functions

arXiv

引用

arXiv 2023年

作者： Dai, Bolun Khorrambakht, Rooholla Krishnamurthy, Prashanth Gonçalves, Vinícius Tzes, Anthony Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States Electrical Engineering New York University Abu Dhabi Abu Dhabi129188 United Arab Emirates

control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using differentiable optimization has provided a way to compute the minimum uniform scaling factor that results in an intersection between two convex shapes and to also compute the Jacobian of the scaling factor. In this paper, we propose a framework that uses this scaling factor, with an offset, to systematically define a CBF for obstacle avoidance tasks. We provide theoretical analyses of the continuity and continuous differentiability of the proposed CBF. We empirically evaluate the proposed CBF's behavior and show that the resulting optimal control problem is computationally efficient, which makes it applicable for realtime robotic control. We validate our approach, first using a 2D mobile robot example, then on the Franka-Emika Research 3 (FR3) robot manipulator both in simulation and experiment. Index Terms-Robot safety, collision avoidance. © 2023, CC BY.

关键词： Robot applications

来源：评论

学校读者我要写书评

暂无评论

Secure State Estimation against Sparse Attacks on a Time-varying Set of Sensors

引用

IFAC-PapersOnLine 2023年第2期56卷 270-275页

作者： Zishuo Li Muhammad Umar B. Niazi Changxin Liu Yilin Mo Karl H. Johansson Department of Automation Tsinghua University Beijing 100084 China Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SE-100 44 Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA

This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. At each time, the attacker has the freedom to choose an arbitrary set of no more than p sensors and manipulate their measurements without restraint. To this end, we propose a secure state estimation scheme and guarantee a bounded estimation error irrespective of the attack signals subject to 2p-sparse observability and a mild, technical assumption that the system matrix has no degenerate eigenvalues. The proposed scheme comprises a design of decentralized observers for each sensor based on the local observable subspace decomposition. At each time step, the local estimates of sensors are fused by a median operator to obtain a secure estimation, which is then followed by a local detection-and-resetting process of the decentralized observers. The estimation error is shown to be upper-bounded by a constant which is determined only by the system parameters and noise magnitudes. Moreover, we design the detector threshold to ensure that the benign sensors never trigger the detector. The efficacy of the proposed algorithm is demonstrated by its application on a benchmark example of IEEE 14-bus system. We show that our proposed scheme can effectively tolerate sparse attacks on an unknown set of sensors, ensuring a bounded estimation error and effectively detecting and resetting the attacked sensors.

关键词： Estimation and filtering Design of fault tolerant/reliable systems Estimation and fault detection

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：