检索结果-内蒙古大学图书馆

Software engineering and Computer science (CSECS), International Conference on

作者： Xiaoyan Wu Dali Xu Fangfa Fu Bing Yang Hongyang Liu Kanglong Liu Xiyu Ding Chao Wu Na Niu School of Computer and Control Engineering Northeast Forestry University Harbin China School of Astronautics Harbin Institute of Technology Harbin China School of Computer Science Harbin University of Science and Technology Harbin China

ISBN: (数字)9798331522216

ISBN: (纸本)9798331522223

Clear outdoor images are essential for autonomous driving and accurate target detection, especially in haze. The majority of algorithms are unable to adequately address the issue of dehazing, resulting in a range of distortions, particularly in the sky area. This paper proposes an advanced dehazing algorithm for enhancing sky-area visuals (ESV). We segment the image into sky and non-sky areas, with atmospheric light levels being determined within the sky area. To enhance the recovery of the sky region, we suggest fine-tuning the sky's transmission to a predetermined constant value. Ultimately, the dehazed image is retrieved utilizing the atmospheric scattering model. Extensive experiments have shown that our proposed algorithm outperforms alternative methods, increasing PSNR by up to 1.3733%, 1.6360%, 2.4169%, 0.9512%, SSIM by up to 4.8995%, 0.6281%, 6.5335%, 8.7165%, enhancing the visuals of sky-area, compared to DCP, CAP, HC-CEP and AOD-Net.

关键词： Visualization Atmospheric modeling Software algorithms Scattering Reinforcement learning Object detection Distortion Rendering (computer graphics) Robustness Software engineering

来源：评论

学校读者我要写书评

暂无评论

Robust Non-fragile Negative Imaginary H∞ Synthesis for Attitude Stabilization of Flexible Spacecrafts With Input Constraint

引用

IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Cheng, Zhining He, Zhen Meng, Fanwei Zhou, Di Li, Siyuan Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Northeastern University at Qinhuangdao School of Control Engineering Qinhuangdao066004 China

High-precision attitude stabilization of flexible spacecraft with model uncertainty, external disturbance, actuator fault and input constraint is investigated in this paper. A robust non-fragile negative imaginary (NI) H∞ synthesis scheme is developed, rendering the closed-loop system asymptotically stable and NI with H∞ norm bounded. Meanwhile, the control input u is constrained by the specified upper bound. With a convex relaxation of Bilinear Matrix Inequalities (BMIs), the controller synthesis is cast as a convex optimization problem subject to Linear Matrix Inequality (LMI) constraints. The notable feature of the proposed method is that it achieves flexible vibration suppression and high-precision attitude stabilization simultaneously without requiring additional measurements or intelligent materials. The convergence of LMIs-based iterative algorithm is guaranteed by rigorous proof. Finally, comparative simulations demonstrate the effectiveness of the proposed method with high steady-state accuracy and low energy consumption. © 1965-2011 IEEE.

关键词： Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

引用

16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

来源：评论

学校读者我要写书评

暂无评论

Predefined-time Attitude Tracking control for Liquid-filled Spacecraft Under Angular Velocity and Torque Constraints

引用

IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Wei Guo, Yanning Ran, Guangtao Liu, Jian Wang, Bohui Harbin Institute of Technology Department of Control Science and Engineering Heilongjiang Harbin150001 China Southeast University School of Automation Nanjing210096 China Xi'an Jiaotong University School of Cyber Science and Engineering Xi'an710049 China

This paper addresses the attitude tracking control problem of liquid-filled spacecraft in the presence of angular velocity constraints and limited control torque. Significant challenges arise in spacecraft attitude control due to the increased nonlinearity and uncertainty in spacecraft dynamics resulting from large-amplitude liquid fuel slosh during attitude tracking missions. Firstly, the sloshing liquid in partially-filled tanks carried by the spacecraft is described by the Moving Pulsating Ball Model, and the interaction torque between rigid body and pulsating ball is equivalent to the internal disturbance. Secondly, a predefined-time disturbance observer is introduced to estimate the internal and external disturbance. After that, two sliding mode variables are designed to ensure that the angular velocity can track the desired value within a predefined time and satisfy the constraints. Furthermore, a predefined-time sliding mode attitude tracking controller is proposed, and a predefined-time auxiliary subsystem is proposed to deal with the torque constraint. Finally, the effectiveness of the proposed control algorithm is verified by numerical simulation. © 1965-2011 IEEE.

关键词： Fuel sloshing

来源：评论

学校读者我要写书评

暂无评论

Enhanced interactive AR bricklaying: elevating human–robot collaboration in augmented reality assisted masonry design and construction

引用

Architectural Intelligence 2025年第1期4卷 1-23页

作者： Zhang, Weichen Ruttico, Pierpaolo School of Architecture and Design Harbin Institute of Technology Key Laboratory of Cold Region Urban and Rural Human Settlement Environment Science and Technology Ministry of Industry and Information Technology Xidazhi Street 92 Harbin150006 China INDEXLAB Department of Architecture Built Environment and Construction Engineering School of Architecture Urban Planning Construction Engineering Politecnico di Milano Via Gaetano Previati 1c Lecco23900 Italy

Enhanced interactive AR bricklaying aims to combine human intelligence with robotic precision, enhancing creativity while addressing the inherent situation that the conventional robotic construction process are not well adapted to uncertainty. In conventional interactive brick-laying workflows, the design and construction phases are separate. Augmented Reality (AR) assists humans in completing parametric form designs, after which robots precisely execute the bricklaying process. However, this method demonstrates a low level of human–robot interaction, failing to fully harness the potential of AR in enhancing interactivity. This study first conducts a comparative experiment to evaluate a more interactive workflow, where design and construction phases alternate, against the conventional workflow. It examines the impact, limitations, and potential of human involvement in a linear robotic construction process. Based on this analysis, a construction case uses an AR system with a higher degree of interactivity. The system redistributes tasks between humans and robots, informed by the findings of the comparative experiment. The new workflow facilitates the construction of a brick wall, composed of large engineering bricks without mortar, measuring 7 m by 1.8 m, and featuring an inclined pattern. AR-guided interaction enables humans to guide robotic construction of a simple structure without relying on simulations or obstacle avoidance path planning. The discrepancies observed between design and final construction outcomes highlight the role of human intelligence, further validating the significance of enhanced interactive construction as a promising approach. © The Author(s) 2025.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Robust Offline Imitation Learning Through State-level Trajectory Stitching

arXiv

引用

arXiv 2025年

作者： Wang, Shuze Mei, Yunpeng Cao, Hongjie Yuan, Yetian Wang, Gang Sun, Jian Chen, Jie National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and suffer from covariate shift. To address these challenges, recent advances in offline IL have incorporated suboptimal, unlabeled datasets into the training. In this paper, we propose a novel approach to enhance policy learning from mixed-quality offline datasets by leveraging task-relevant trajectory fragments and rich environmental dynamics. Specifically, we introduce a state-based search framework that stitches state-action pairs from imperfect demonstrations, generating more diverse and informative training trajectories. Experimental results on standard IL benchmarks and real-world robotic tasks showcase that our proposed method significantly improves both generalization and performance. Videos are available on https://***/sbr. Copyright © 2025, The Authors. All rights reserved.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

A Novel Three-Phase Passive Auxiliary Resonant Pole Soft-Switching Inverter With Symmetrical Auxiliary Networks and Electric Energy Feedback Function

引用

International Journal of Circuit Theory and Applications 2025年第0期

作者： Wang, Shuyu Liu, Hongchen Gao, Fei Wheeler, Patrick School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Department of Engineering Science Shanghai Jiao Tong University Shanghai China Power Electronics Machines and Control Research Institute University of Nottingham Santiago Chile

To solve the problems of high cost, large additional component size, large circulating loss, and complex control in existing auxiliary resonant soft-switching inverters, a three-phase passive auxiliary resonant pole inverter (ARPI) with symmetrical auxiliary networks and electric energy feedback function is proposed. On each phase bridge arm of the inverter, a set of passive auxiliary networks (PANs) without large electrolytic capacitors, transformers, and other devices is provided, which is capable of enhancing the power density of the inverter. Additionally, as the auxiliary commutation circuit does not employ auxiliary switches, it not only lowers the hardware cost but also simplifies the control complexity and enhances the reliability of the soft-switching inverter operation. The proposed topology is capable of enhancing the utilization ratio of DC voltage and reducing the harmonic content of the output waveform. According to the equivalent circuit diagrams in different operating modes, the soft-switching operating principle and realization conditions of soft-switching for the proposed ARPI are analyzed. The parameters of passive components are designed with the aim of minimizing the PAN loss. A 3-kW experimental prototype is constructed. The experimental results indicate that the switching tubes can realize the soft-switching action and suppress the rate of change of voltage and current. The efficiency of the prototype can reach 98.30% at the rated output power, which is a remarkable improvement compared with the same type of ARPIs. © 2025 John Wiley & Sons Ltd.

关键词： Poles

来源：评论

学校读者我要写书评

暂无评论

Sparse Linear Arrays for Direction-of-Arrival Estimation: A Tutorial Overview

引用

IEEE Aerospace and Electronic Systems Magazine 2025年

作者： Li, Xiang Jin, Ming Meng, Xiang-Tian Cao, Bing-Xia Yan, Feng-Gang Greco, Maria Sabrina Gini, Fulvio Harbin Institute of Technology School of Electronics and Information Engineering Harbin150000 China Harbin Institute of Technology School of Information Science and Engineering Weihai264209 China University of Pisa Department of Information Engineering Pisa56122 Italy

Sparse linear arrays serve as the fundamental basis for sparse signal processing and have demonstrated remarkable direction-of-arrival (DOA) estimation performance. Due to the merit of resolving more signals with fewer sensors in severe mutual coupling environments, sparse arrays have garnered significant research interest in recent decades, prompting researchers to focus on various design criteria. This paper overviews recent advances dealing with sparse linear arrays designed for underdetermined DOA estimation. First, we briefly review the DOA estimation model and consolidate the performance metrics. Second, we review an extensive number of sparse linear array configurations and categorize existing works within a research-developed framework that encompasses three categories: (i) non-regular integer sparse arrays including minimum redundancy arrays and minimum holes arrays, (ii) regular integer sparse arrays including nested arrays and coprime arrays, and (iii) other sparse arrays including non-integer sparse arrays and composite Singer arrays. Further classifications are also provided based on different design methods. Moreover, we compare these configurations in terms of the number of sensors, degrees of freedom (DOFs), angular resolutions, leakage coefficient, and weight functions involved with mutual coupling. Lastly, we provide brief concluding remarks along with potential future research directions. © 1986-2012 IEEE.

关键词： Direction of arrival

来源：评论

学校读者我要写书评

暂无评论

Machine-learning-based sampling inspection under OQC capacity for real-time quality monitoring in the TFT-LCD industry

引用

International Journal of Production Research 2025年第6期63卷 2090-2113页

作者： Shih, Ming-Sung Chen, James C. Chen, Tzu-Li Chiang, Chih-Hsiung Hsu, Ching-Lan International Intercollegiate Ph.D. Program National Tsing Hua University Hsinchu Taiwan Department of Industrial Engineering and Engineering Management National Tsing Hua University Hsinchu Taiwan Graduate Institute of Intelligent Manufacturing Technology National Taiwan University of Science and Technology Taipei Taiwan Division of Quality Control AUO Corporation Taichung Taiwan

In the thin film transistor-liquid crystal display (TFT-LCD) industry, the competition is fierce, and the external failure cost is high. To improve the quality of released products, sampling inspection under outgoing quality control (OQC) is conducted before products are released. Owing to the variety and complexity of inspection items, the task must be carried out manually while realising automation is difficult. Traditional random sampling inspection is limited by sampling quantity, manpower, and material resources. To effectively improve acceptable quality levels, this paper proposes a quality predictive monitoring framework tailored to the production and inspection characteristics of the TFT-LCD industry. This framework includes real-time automatic quality monitoring based on an optimal machine learning prediction model with two-phase feature creation, and it also addresses OQC inspection capacity constraints. Experimental results show the prediction performance based on proposed model is better than the traditional random sampling process. In practice, superior average outgoing quality improves by more than 70% at the same sampling level. In addition, the features of the process can be further controlled and managed based on the prediction model to monitor the key parameters in real time and respond to abnormalities quickly, thereby further improving the quality of released products. © 2024 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Liquid crystal displays

来源：评论

学校读者我要写书评

暂无评论

Enhanced strength and conductivity of CuCrZr/CuAlCrFeNi 2.5 multi-principal element alloy composite via interface and configuration engineering

引用

Journal of Materials Research and technology 2025年 36卷 6834-6845页

作者： Tao Hong Jie Chen Hongmei Chen Bohua Yu Ning Ding Xinxin Yang Chaoran Wang Chi Zhang Weizong Bao Zeyun Cai Guoqiang Xie School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China Institute of Special Environments Physical Sciences Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001 China

Constructing multi-modal interface and configuration design is a highly promising strategy for the development of next-generation electrical contact composites. The CuAlCrFeNi 2.5 dual-phase multi-principal element alloy (MPEA) is designed as a reinforcement phase for copper-based composites, dual-phase enhanced configuration of multi-modal interfaces ensures a good combination of strength and conductivity, fabricated via a ball milling (BM)-spark plasma sintering (SPS) process. Further optimization of the interface and microstructural configuration, controlled by sintering temperature, achieving an outstanding combination of yield strength of 852 ± 20 MPa and electrical conductivity of 39.76 ± 0.13 International Annealed Copper Standard (IACS) at a sintering temperature of 723 K. A comprehensive analysis of the strengthening and conductivity mechanisms reveals the role of multi-modal interfaces and complex-scale configurations in achieving this balance. This work provides novel insights into the development of advanced ultra-high strength conductive materials.

关键词： Spark plasma sintering Copper-based composites Mechanical properties Electrical conductivity

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：