检索结果-内蒙古大学图书馆

Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive control

Tsinghua Science and Technology 2022年第6期27卷 948-963页

作者： Shun Sun Yu Liu Shaojun Guo Gang Li Xiaohu Yuan Department of Control Science and Technology Naval Aviation UniversityYantai 264001China Department of Electronic Engineering Tsinghua UniversityBeijing 100084China National Institute of Defense Technology Innovation Academy of Military Sciences PLABeijing 100091China Department of Automation Tsinghua UniversityBeijing 100084China

An observation-driven method for coordinated standoff target tracking based on Model Predictive control(MPC)is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs)while approaching or loitering over a *** acquiring a fusion estimate of the target state,each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix(FIM)determinant in the decentralized *** facilitate observation optimization,only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff ***,a modified iterative scheme is introduced to improve the iterative efficiency,and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its *** experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.

关键词： coordinated tracking standoff tracking observation-driven Model Predictive control(MPC) multiple UAVs Fisher Information Matrix(FIM)

来源：评论

学校读者我要写书评

暂无评论

Gigahertz Optical Digital-to-Analog Multiplier

Gigahertz Optical Digital-to-Analog Multiplier

引用

2023 International Russian automation Conference, RusAutoCon 2023

作者： Kamenskiy, Vladislav Sokolov, Sergey Kurinenko, Marianna Rostov State Transport University «automation and Remote Control in Railway Transport» Department Rostov-on-Don Russia Moscow Technical University of Communications and Informatics Department of Informatics and Computer Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

The article analyzes modern computing devices that perform multiplication operations. The main classes of multipliers built on the basis of both electronic and optical elements are considered. The main disadvantage of these devices, which negatively affects their performance, is the inability to carry out parallel calculations with them. In turn, this disadvantage is due to the fact that multiplication of the multi-bit binary number in general is carried out by calculating the partial products of the bits of the multipliers and their addition with the inevitable implementation of a corresponding, usually very large, number of transfers. The presence of a large number of transfers fundamentally does not allow solving the problem of increasing the speed of calculations. The developed optical binary digital-to-analog multiplier is devoid of this drawback. This optical digital-to-analog multiplier is implemented on the basis of optical splitters, optical couplers and optical banners with a well-developed technology for their manufacture today, which provides a minimum delay time of the optical signal (in the picosecond range). The functional diagram of the proposed optical digital-to-analog multiplier is shown and the principle of its operation is described. The possibility of increasing the speed of this optical digital-to-analog multiplier to the potential for optical information processing circuits is shown. © 2023 IEEE.

关键词： Optical data processing

来源：评论

学校读者我要写书评

暂无评论

Proposal of Serious Games for a Socially Assistive Robot Based on Eye Contact and Visual Attention of Children with Autism Spectrum Disorder 9th

Proposal of Serious Games for a Socially Assistive Robot ...

引用

9th Latin American Congress on Biomedical engineering, CLAIB 2022 and 28th Brazilian Congress on Biomedical engineering, CBEB 2022

作者： Negri, Yuri Panceri, João Freitas, Éberte Schreider, Sheila Caldeira, Eliete Bastos-Filho, Teodiano Electrical Engineering Department Federal University of Espirito Santo Av. Fernando Ferrari 514—Goiabeiras ES Vitória29075-910 Brazil Postgraduate Program in Electrical Engineering Federal University of Espirito Santo Vitoria Brazil Automation and Control Engineering Department Federal Institute of Espirito Santo Linhares Brazil Postgraduate Program in Biotechnology Federal University of Espirito Santo Vitoria Brazil

ISBN: (纸本)9783031494062

Eye contact is one of the main human skills, and a prerequisite of verbal language. However, children with Autism Spectrum Disorder (ASD) often have an important deficit in this skill, compromising their entire cognitive and social development. This work shows the development of two Serious Games (SGs), based on the concept of Child-Robot Interaction (CRI), for the exercise and improvement of eye contact and visual attention, as well as concepts such as imitation and emotion recognition. For face detection and eye movement monitoring, an open source development framework of machine learning named MediaPipe was used. Tests with children with ASD will be conducted, and it is expected these SGs have a positive impact regarding the improvement of both eye contact and visual attention for these children. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Serious games

来源：评论

学校读者我要写书评

暂无评论

Design Software in Tasks of Algorithmization of Manipulation Robots in Assembly of Parts with a Shaft-Bushing Connection Method

Design Software in Tasks of Algorithmization of Manipulation...

引用

International Russian Smart Industry Conference (SmartIndustryCon)

作者： Maksim V. Arkhipov Artem Yu. Malkarov Vladlena V. Matrosova Department of Automation and Control Faculty of Mechanical Engineering Moscow Polytechnic University Moscow Russian Federation

This article presents developments by its authors: the IndustrialKit library package and the RCWorkspace application based on it. The library allows developers of third-party applications to use the functionality of programming and modeling robotic technological complexes in their products. The object-oriented concept of the package provides opportunities for offline training of manipulation robots in a developed simulation environment, subsequent transfer and launch of programs on real robots, organization of feedback control and obtaining statistical data from industrial equipment - common models of robots and various equipment devices, which is achieved through a unified structure of program modules. The connection of external visual models of production system components - robots, tools and parts - is demonstrated. An example of performing the task of assembling parts with spline joints is also given.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Neural-Network-Based Filtering with Encoding Mechanisms: Applications to Multiple Unmanned Aerial Vehicles

Neural-Network-Based Filtering with Encoding Mechanisms: App...

引用

2023 China automation Congress, CAC 2023

作者： Zhu, Kaiqun Xu, Xinpeng Cao, Zhiru Sun, Ran Yang, Ya University of Macau State Key Laboratory of Internet of Things for Smart City Macau China Shanghai Electro-Mechanical Engineering Institute Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China University of Shanghai for Science and Technology Department of Control Science and Engineering Shanghai China

ISBN: (纸本)9798350303759

In this paper, the neural-network-based filtering problem is investigated for multi-sensor systems with dynamic encoding mechanisms. The sensor nodes and the remote filter are connected through bandwidth-constrained communication networks. To alleviate the communication burden, a novel dynamic encoding-based data compression-decompression mechanism is proposed so as to encode the data into a limited number of bits. Then, with the aid of the neural network learning method, a neural-network-based set-membership filter is developed for estimating the system states. Sufficient conditions are obtained to ensure that the filtering error remains within the bounded ellipsoidal set. In addition, the neural network tuning parameters and the filter gains are calculated by solving constrained optimization problems. Finally, the effectiveness of the proposed filtering algorithm is verified through a scenario of maneuvering target tracking using multiple unmanned aerial vehicles. © 2023 IEEE.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

Optimization for Pickup Vehicle Scheduling in Steel Logistics Park Based on Enhanced SPEA2

Optimization for Pickup Vehicle Scheduling in Steel Logistic...

引用

2023 China automation Congress, CAC 2023

作者： Xu, Hongjie Wang, Jinlong Xu, Zhezhuang Chen, Boyu Zhang, Qingdong College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Sansteel Minguang Co. Ltd. Sanming353000 China

ISBN: (纸本)9798350303759

Pickup vehicle scheduling in the steel logistics park is a critical issue in determining the outbound effciency of steel products. Steel products are distributed in the yards of the steel logistics park with mixed storage, and the optional yards for each pickup operation are not unique, which greatly increases the scheduling complexity. To overcome this challenge, in this paper, we propose a pickup vehicle scheduling problem with mixed steel storage (PVSP-MSS) to optimize makespan of pickup vehicle and makespan of steel logistics park simultaneously. The optimization problem is described as a multi-objective problem, and an enhanced Strength Pareto Evolutionary Algorithm 2 (ESPEA) is proposed to solve the problem with high efficiency. Experiments are executed based on data collected from a real steel logistics park. The results confirm that ESPEA can significantly reduce both makespan of each pickup vehicle and makespan of steel logistics park. © 2023 IEEE.

关键词： Pickups

来源：评论

学校读者我要写书评

暂无评论

Dynamic Programming vs Q-learning for Feedback Motion Planning of Manipulators

Dynamic Programming vs Q-learning for Feedback Motion Planni...

引用

Human-Computer Interaction, Optimization and Robotic Applications (HORA), International Congress on

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

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Structural Coverability for Intelligent automation Systems 19

Structural Coverability for Intelligent Automation Systems

引用

19th IEEE International Conference on automation Science and engineering, CASE 2023

作者： Eros, Endre Bengtsson, Kristofer Åkesson, Knut Chalmers University of Technology Automation Research Group Electrical Engineering Systems and Control Department Gothenburg Sweden Research and Technology Development Volvo Group Smart and Connected Operations Gothenburg Sweden

ISBN: (纸本)9798350320695

In order to be flexible and handle complex scenarios, intelligent automation systems might benefit from automated planning techniques which rely on specifications and models describing their behavior. However, due to the presence of message passing, latency, jitter, timeouts, failures, and error handling, the verification of such behavior models using formal methods is often unfeasible. Therefore, testing has emerged as an approach to evaluating the behavior of intelligent automation systems. This paper presents a way to analyze structural coverability of behavior models for intelligent automation systems, which is inspired by the modified condition/decision coverage (MC/DC) criterion. This is paired with a testing procedure that enables each test case to influence both the controller and the simulated environment by injecting some specific state. As a result, the proposed coverability criterion can effectively identify segments of the behavior model that have not been adequately tested and suggest additional test cases to improve coverability. An example use case is presented to demonstrate the effectiveness of this approach. © 2023 IEEE.

关键词： Message passing

来源：评论

学校读者我要写书评

暂无评论

Chaos in pulsar spin dynamics

引用

IFAC-PapersOnLine 2023年第1期56卷 199-203页

作者： Berc Deruni Mustafa Dogan Department of Engineering Yeditepe University Istanbul 34755 Turkey Department of Control and Automation Engineering Faculty of Electrical-Electronics Engineering Istanbul Technical University Istanbul 34469 Turkey

In the present paper, a new model describing neutron star dynamics is analysed. The system under consideration can be described as a modified vortex creep model. Two component model and the vortex creep model have been used successfully to describe post glitch relaxation phase. However, glitch behaviour is yet to be explained. There can be a possible stochastic mechanism that trigger glitches in neutron stars. To this aim, we propose a modification in the nonlinear vortex creep model. The significance of the modification is twofold, the dynamics of the system is able to generate intermittency, imitating the glitch behaviour of pulsars, and the system also show chaotic motion when the system parameters are set accordingly. The chaotic dynamics is verified by using nonlinear tools such as numerical phase portraits, Lyapunov exponents and bifurcation diagrams.

关键词： Pulsar spin dynamics nonlinear superfluidity chaos intermittency

来源：评论

学校读者我要写书评

暂无评论

Dual-Class Leader-Following Modeling for Collective Motion of Multi-Agent Systems 43

Dual-Class Leader-Following Modeling for Collective Motion o...

引用

43rd Chinese control Conference, CCC 2024

作者： Zhang, Bo Li, Haoqi Meng, Bin Hu, Jiangping Ghosh, Bijoy Kumar Beijing Institute of Control Engineering Beijing100080 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China University of Electronic Science and Technology of China Huzhou313000 China Texas Tech University Department of Mathematics and Statistics LubbockTX79409 United States

ISBN: (纸本)9789887581581

Leader-follower collective motion is a key multi-agent network application. However, conventional methods struggle with high dynamics or communication interferences and fail to maintain consistent motion. To address this issue, a resilient dual-class cooperative following (DCCF) model is proposed. This model uses two movement strategies for the different follower categories. Leader-connected followers use a single-tracking control based on velocity or direction, whereas leader-disjoint followers employ a modified relative speed for single tracking. The DCCF model may be more suitable for practical use than existing ones. Simulations under degraded conditions demonstrate its superior tracking performance and robustness over traditional methods. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： collective motion dual-class cooperative following leader-follower tracking Multi-agent network

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：