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检索条件"机构=Hubei Key Laboratory of Advanced Control and Intelligent Automation Fo Complex Systems"

共 1229 条记录，以下是81-90 订阅

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An Inverse Kinematic Optimization Method for the S-R-S Redundant Manipulator Considering Joint Limit and Singular Position Avoidance 41

An Inverse Kinematic Optimization Method for the S-R-S Redun...

引用

第41届中国控制会议

作者： Yisheng Mei Xin Chen School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problem of how to avoid the joint limit and singular position in continuous trajectory planning of the S-R-S redundant manipulator,a new inverse kinematics optimization algorithm is proposed in this ***,according to the special geometry of S-R-S manipulator,we take the arm angle as the redundant parameter to obtain the joint angle expressions under the given tip pose and arm *** we discuss the feasible arm angles under joint limit in nonsingular and singular cases,and give a complete method to obtain the effective arm ***,we introduce the concept of virtual force to represent the degree that the joint is far from the limit,and define the optimization objective function with the virtual force as the weight to avoid joint limit,the complex relationship between the arm angle and joint angles is linearized by the difference method to simplify the objective function to quadratic function,combine with the feasible arm angle range,we realize singularity avoidance and joint limit avoidance at the same *** simulation result shows that compared with the traditional algorithm,the algorithm proposed in this paper has better joint limit avoidance ability on the premise of avoiding singularity which reflects the superiority of the algorithm and can be used for the motion planning of the manipulator in practical engineering.

关键词： Arm angle Singular position avoidance Joint limit avoidance Inverse kinematic optimization

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Adaptive Leader-following Consensus for a Class of Time Delay Multi-Agent systems 41

Adaptive Leader-Following Consensus for a Class of Time Dela...

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第41届中国控制会议

作者： Jiachun Sun Shiqi Zheng Liangguang Li Tao Song Qing Chang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we study the leader-following consensus for multi-agent systems with long input time delay under jointly connected directed switching *** adopt an adaptive distributed observer that can make every agent estimate the information of the *** we propose a new controller utilizing the predictor feedback technique,and then map MAS s into ODE-PDE(Ordinary differntial equations-Partial differntial equations) target systems so that we can utilize Lyapunov-Krasovskii function to analyze the stability of the *** are used to vertify the results in the end.

关键词： Multi-agent system distributed observer long input delay directed switching network

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Robust Delay-Dependent Stability for Uncertain Linear systems with Time-Varying Delay 49

Robust Delay-Dependent Stability for Uncertain Linear System...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Chen, Dong-Shuai He, Yong Shangguan, Xing-Chen School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

ISBN: (纸本)9798350331820

This paper investigates the problem of stability analysis for the uncertain linear systems with time-varying delay. Firstly, an uncertain linear system model considering time-varying delay is established. Then based on the Lyapunov-Krasovskii functional (LKF) method, a novel robust delay-dependent stability criterion is proposed, which is benefited by a new augmented LKF with more effective time-delay information and the use of a tighter integral inequality to estimate functional derivative. The stability criterion obtained is less conservative. At last, a numerical example shows the superiority and effectiveness that the method used in this paper. © 2023 IEEE.

关键词： Time delay

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Event-Triggered Asynchronous Fault Detection for Stochastically Switched systems With Sojourn Probabilities 41

Event-Triggered Asynchronous Fault Detection for Stochastica...

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第41届中国控制会议

作者： Xingyu Tang Xiongbo Wan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the event-triggered asynchronous fault detection（FD） problem for discrete-time switched systems with sojourn *** propose a novel asynchronous FD filter（FDF）,of which the sojourn probability is related to the mode of the switched system.A hybrid adjusting variables-dependent event-triggered mechanism（ETM） is devised to reduce the waste of network *** construct a new Lyapunov function that contains the mode of the switched system and a flexible variable in the ETM.A sufficient condition in terms of matrix inequalities is obtained under which the error dynamics is stochastically stable with a prescribed H *** parameters of the FDF are explicitly given based on the feasible solutions to these matrix inequalities.A numerical example is provided to demonstrate the effectiveness of the proposed event-triggered asynchronous FD method.

关键词： Asynchronous fault detection event-triggered switched systems sojourn probabilities

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An Improved SimAM Based CNN for Facial Expression Recognition 41

An Improved SimAM Based CNN for Facial Expression Recognitio...

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第41届中国控制会议

作者： Lan-Qin Zhang Zhen-Tao Liu Cheng-Shan Jiang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

To achieve effective deployment of the facial expression recognition(FER) system on marginalized devices,we designed a lightweight neural network based on ShufflenetV2,which can balance the relationship between the number of network parameters and the accuracy of *** this paper,a non-parameter SimAM attention module that can extract 3 D features is employed in the ShufflenetV2 network to enhance the spatial features extraction ability of the network,and the shortcut branch is introduced in Bottleneck for information interaction and feature fusion between *** tests were carried out on the RaFD dataset,and the recognition accuracy reaches 98.04%,while the number of model parameters is only 1.4 M.

关键词： Facial expression recognition Shufflenet SimAM Lightweight Neural Network

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Particle Detection of complex Images Based on Convolutional Neural Network 41

Particle Detection of Complex Images Based on Convolutional ...

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第41届中国控制会议

作者： Yuting Ge Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Particle Detection plays important roles in industrial and medical image ***-learning based methods can only deal with the particle images with simple backgrounds and sparse *** most neural network based methods can also hardly to deal with overlapping objects and small particles,besides,the huge amount of parameters of these methods also has a great demand for annotated data,which is difficult to ***,we use bright pixels to represent the spatial position of particles,and artificially divid the sizes of particles into multiple intervals.A feature representation called Light-spots Maps is proposed to replace the bounding box and pixel classifications in our detection *** Light-weight networks based on ResNets is used to transform the particle images into Light-spots maps to detect the particle *** experiments,we prove the effectiveness of our method.

关键词： Objects Detection Particles Detection Convolutional Neural Network

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forward and inverse calculation method for shape and depth of seepage channel of embankment 41

Forward and inverse calculation method for shape and depth o...

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第41届中国控制会议

作者： Yue-Cheng Zhai Jun-Lei Song Kai-Feng Dong Fang jin Wen-qin Mo Ya-juan Hui School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Seepage diseases in embankments are very common,and if they cannot be treated in time,they will bring serious safety hazards and even cause embankment break *** the location and depth of a seepage channel is the prerequisite and basis for the treatment of seepage *** present,there are several methods are used to detect seepage in embankments,but none of them can accurately calculate or explain the depth of seepage *** magnetic gradient tensor method,which is widely used in the depth calculation of magnetic sources,is only suitable for the magnetic dipole model,and not suitable for the tubular model similar to the seepage *** view of this,this paper draws on the idea of magnetic exploration,and proposes a forward and inverse calculation method for the depth of the seepage *** method first builds a variety of basic seepage channel models based on certain constraints,and calculates the magnetic field value of each model at each measuring point on the ground *** compare the actual measured magnetic field value with the model magnetic field value to find the closest seepage channel ***,by continuously optimizing the closest model,the real seepage channel is gradually *** model calculated by this method can better reflect the depth information of the real seepage channel,and the depth error is less than lm.

关键词： seepage depth magnetic gradient tensor forward and inversion calculation

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Multi-Time Scale Analysis of The Influence of Blast Furnace Operations on Permeability Index 41

Multi-Time Scale Analysis of The Influence of Blast Furnace ...

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第41届中国控制会议

作者： Weijun Li Jianqi An Xin Chen Qingyi Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the smelting process of a blast furnace(BF),BF operations can regulate the permeability index(PI),but different operations affect the PI on different time *** at the problem that BF operations have multi-time-scale effects on the PI,this paper uses a multi-time scale method to analyze the influence of each operation on PI at different time ***,the influence of BF operations on the PI is analyzed through the ironmaking mechanism,and three mechanism chains of BF operations affecting the PI were *** this basis,the time scale of the mechanism chains is ***,a crosscorrelation analysis is used to calculate the time-delay relationship between each operation and the ***,the influence of different operation parameters on the PI is verified by real-world production data,and the multi-time scale characteristics of the influence of BF operations on the PI are proved.

关键词： Blast Furnace Multi-Time Scale Permeability Index Cross-Correlation Analysis

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A Soft Grasping Device with the Modularization and Bi-directional Bending Properties 41

A Soft Grasping Device with the Modularization and Bi-direct...

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第41届中国控制会议

作者： Ling-Jie Gai Jie Huang Xiaofeng Zong School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This work proposes a fully soft grasping device to perform complex tasks,which consists of the modularized soft grippers and the bi-directional bending soft *** the modularized soft gripper part,we adopt caps to seal both ends of the gripper and connect the adjacent knuckles by *** modularized design not only makes the soft grippers like human fingers to achieve segmental bending,but also reduces the waste caused by local *** the soft holder part,we present a bidirectional bending method to automatically adjust the grasping space,and we also establish a mathematical model to describle the relationship between the soft holder's bending angle and the air ***,in order to evaluate the dynamic response and position accuracy of the grasping device,a PID controller is designed for the soft grasping device to track the step,sine,and square wave ***,the great grasping performance of the fully soft grasping device is verified by experiments.

关键词： Modularized soft gripper Soft holder Adjust grasping range automatically PID controller

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Research on Electricity Price Sensitivity of Smart Park Facing Source and Load Uncertainty 41

Research on Electricity Price Sensitivity of Smart Park Faci...

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第41届中国控制会议

作者： Jie Cai Zhijian Fang Wenhe Peng Zihan Zhang Junwen He School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Due to the uncertainty of photovoltaic power generation and the disorder of large-scale electric vehicle charging,new challenges have been brought to the security and stability of the smart park distribution network,hybrid storage plays a significant role in smoothing power *** the goal of maximizing the annual earnings of energy storage,this paper proposes a real-time electricity price model based on the electricity price sensitivity of the tie line power fluctuation *** is verified by numerical example simulation,and the results show that,the model plays a very good role in smoothing power fluctuations and improving the economic benefits of energy storage.

关键词： Smart park hybrid energy storage real-time electricity price electricity price sensitivity

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