检索结果-内蒙古大学图书馆

International Conference on Computer Vision (ICCV)

作者： Jiuming Liu Guangming Wang Zhe Liu Chaokang Jiang Marc Pollefeys Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University ETH Zürich MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China University of Mining and Technology Microsoft

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and outliers of outdoor LiDAR scans. In addition, most existing registration works generally adopt a two-stage paradigm: They first find correspondences by extracting discriminative local features and then leverage estimators (eg. RANSAC) to filter outliers, which are highly dependent on well-designed descriptors and post-processing choices. To address these problems, we propose an end-to-end transformer network (RegFormer) for large-scale point cloud alignment without any further post-processing. Specifically, a projection-aware hierarchical transformer is proposed to capture long-range dependencies and filter outliers by extracting point features globally. Our transformer has linear complexity, which guarantees high efficiency even for large-scale scenes. Furthermore, to effectively reduce mismatches, a bijective association transformer is designed for regressing the initial transformation. Extensive experiments on KITTI and NuScenes datasets demonstrate that our RegFormer achieves competitive performance in terms of both accuracy and efficiency. Codes are available at https://***/IRMVLab/RegFormer.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive Group Consensus of Coupled Harmonic Oscillators with Multiple Leaders

Adaptive Group Consensus of Coupled Harmonic Oscillators wit...

引用

World Congress on Intelligent control and Automation

作者： Housheng Su Michael Z. Q. Chen Xiaofan Wang Najl V. Valeyev Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong Department of Automation Shanghai Jiao Tong University College of Engineering Mathematics and Physical Sciences University of Exeter

ISBN: (纸本)9781467313971

In this paper, we investigate the group consensus of coupled harmonic oscillators with multiple leaders in an undirected fixed network. Unlike many existing algorithms for group consensus of multi-agent systems or cluster synchronization of complex dynamical networks, which require global information of the underlying network such as the eigenvalues of the coupling matrix or centralized control protocols, we propose a novel decentralized adaptive group consensus algorithm for coupled harmonic oscillators. By using the decentralized adaptive group consensus algorithm and without using any global information of the underlying network, all agents in the same group asymptotically synchronize with the corresponding leader even when only one agent in each group has access to the information of the corresponding leader. Numerical simulation results are presented to illustrate the theoretical results.

关键词： Distributed control Multi-agent systems Group consensus Adaptive control Leader

来源：评论

学校读者我要写书评

暂无评论

Model Predictive control for Human Following Rehabilitation Robot

Model Predictive Control for Human Following Rehabilitation ...

引用

IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

作者： Shihao Yan Jing Tao Jian Huang Anshun Xue the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Ministry of Civil Affairs of the People's Republic of China National Research Center for Rehabilitation Technical Aids Beijing China the Beijing Advanced Innovation Center of Intelligent Robots and Systems Beijing China

A new type of rehabilitation robot that can follow the user side-by-side is designed for aiding the elderly and disabled. The Human Following Rehabilitation Robot (HFRR) consists of a metal armrest, a set of sensors and a differential mobile base. By predicting the user's speed in the future through the user's current walking speed and the preset path, the problem of human following side-by-side is converted to a problem of keeping a certain lateral distance from the predicted trajectory. Linearizing the tracking error model, the nonholonomic mobile robot (NMR) can maintain a certain lateral distance from the trajectory by using Model Predictive control (MPC) and then follow the user side-by-side. The simulation and experimental results show the proposed controller can obtain good performance in this problem.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A TDOA/AOA Hybrid Positioning Based on Improved Sparrow Search Algorithm for Mobile Position Estimation

引用

Wireless Communications and Mobile Computing 2023年第1期2023卷

作者： Hu, Zhongyi Lu, Dongwan Xu, Minghai Tong, Yinsheng Ma, Hanjie Yue, Yinggao School of Computer Science and Artificial Intelligence Wenzhou University Wenzhou325035 China Intelligent Information Systems Institute Wenzhou University Wenzhou325035 China Key Laboratory of Intelligent Image Processing and Analysis Wenzhou China School of Intelligent Manufacturing and Electronic Engineering Wenzhou University of Technology Wenzhou325035 China

To address the difficulty in calculating the nonlinear equation of time difference of arrival (TDOA) positioning, as well as the problem of measurement error in the hybrid time difference of arrival/angle of arrival (TDOA/AOA) positioning algorithm, an improved sparrow search algorithm is proposed to optimize positioning, and the optimization mechanism is retained on the basis of improving the performance of the original algorithm. The maximum likelihood estimation method is used to calculate the objective function, and then, the estimated function of the mobile station is used as the fitness function to generate the initial population of sparrows. Then, using particle swarm optimization, optimize the sparrow search algorithm and obtain the population's optimal solution in order to obtain the optimal position. The simulation results show that, when compared to the existing algorithm, increasing the number of base stations increases the average accuracy of the sparrow search algorithm (SSA) positioning method by 18.54% and 4.5%, respectively, and, when compared to the proposed particle swarm optimization (PSO) positioning method, by 13.79% and 11.6% as the radius increases. The SSA hybrid positioning algorithm performs better in terms of positioning accuracy, convergence speed, and robustness. © 2023 Zhongyi Hu et al.

关键词： Time difference of arrival

来源：评论

学校读者我要写书评

暂无评论

A polynomial chaos approach to robust H∞ static output-feedback control with bounded truncation error

arXiv

引用

arXiv 2021年

作者： Wan, Yiming Shen, Dongying E. Lucia, Sergio Findeisen, Rolf Braatz, Richard D. Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States TU Dortmund University Dortmund44227 Germany Otto-von-Guericke University Magdeburg Magdeburg39106 Germany

This article considers the H∞ static output-feedback control for linear time-invariant uncertain systems with polynomial dependence on probabilistic time-invariant parametric uncertainties. By applying polynomial chaos theory, the control synthesis problem is solved using a high-dimensional expanded system which characterizes stochastic state uncertainty propagation. A closed-loop polynomial chaos transformation is proposed to derive the closed-loop expanded system. The approach explicitly accounts for the closed-loop dynamics and preserves the L2-induced gain, which results in smaller transformation errors compared to existing polynomial chaos transformations. The effect of using finite-degree polynomial chaos expansions is first captured by a norm-bounded linear differential inclusion, and then addressed by formulating a robust polynomial chaos based control synthesis problem. This proposed approach avoids the use of high-degree polynomial chaos expansions to alleviate the destabilizing effect of truncation errors, which significantly reduces computational complexity. In addition, some analysis is given for the condition under which the robustly stabilized expanded system implies the robust stability of the original system. A numerical example illustrates the effectiveness of the proposed approach. © 2021, CC BY.

关键词： Feedback control

来源：评论

学校读者我要写书评

暂无评论

Full-Length-Body CBCT Imaging in Upright Position with Robotic-arm System: A Simulation Study

Full-Length-Body CBCT Imaging in Upright Position with Robot...

引用

IEEE International Symposium on Biomedical Imaging

作者： Tong Lin Tianling Lyu Zhan Wu Yan Xi Wentao Zhu Yang Chen Laboratory of Image Science and Technology Southeast University Nanjing China Research Center of Augmented Intelligence Zhejiang Lab Hangzhou China Shanghai First-Imaging Tech Shanghai China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Southeast University Nanjing China Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Nanjing China

ISBN: (数字)9798350313338

ISBN: (纸本)9798350313345

Upright position CT scans make it possible for full-length-body imaging at conditions more relevant to daily situations, but the substantial weight of the upright CT scanners increases the risks to floor’s stability and patients’ safety. Robotic-arm CBCT systems are supposed to be a better solution for this task, but such systems still face challenges including long scanning time and low reconstruction quality. To address the above challenges, this paper proposes a novel method to calculate optimal scanning pitch based on data completeness analysis, which can complete the whole-body scan in the shortest time without a significant decline in image quality. Besides, an FDK-style reconstruction method based on normalized projections is proposed to obtain fast image reconstruction. Extensive experiments prove the effectiveness of the proposed optimal scanning trajectory. Qualitative and quantitative comparisons with FDK and iterative algorithms show that the proposed reconstruction method can obtain high imaging quality with reasonable computation costs. The method proposed in this paper is expected to promote the application of robotic-arm CBCT systems in orthopedic functional analysis.

关键词： image quality Computed tomography Reconstruction algorithms Stability analysis Trajectory Safety Iterative methods

来源：评论

学校读者我要写书评

暂无评论

FULL-LENGTH-BODY CBCT IMAGING IN UPRIGHT POSITION WITH ROBOTIC-ARM SYSTEM: A SIMULATION STUDY

arXiv

引用

arXiv 2023年

作者： Lin, Tong Lyu, Tianling Wu, Zhan Xi, Yan Zhu, Wentao Chen, Yang Laboratory of Image Science and Technology Southeast University Nanjing China Research Center of Augmented Intelligence Zhejiang Lab Hangzhou China Shanghai First-Imaging Tech Shanghai China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Southeast University Nanjing China Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Nanjing China

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Performance of combined artificial neural networks for forecasting landslide displacement

Performance of combined artificial neural networks for forec...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Cheng Lian Zhigang Zeng Wei Yao Huiming Tang School of Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan Hubei China School of Computer Science South-Central University for Nationalities Wuhan China Faculty of Engineering China University of Geo-sciences Wuhan China

An efficient and accurate method for landslide displacement prediction is very important to reduce the casualties and property losses caused by this type of natural hazard. In recent years, many kinds of artificial neural networks (ANNs) have been widely applied to landslide displacement prediction. But we can't know which type of ANN is the best until we have calculated the prediction error. An improper choice of ANN may result in bad prediction results. In this paper, we use a neural networks combination prediction method based on the discounted MSFE (mean squared forecast error) to reduce the risk of selecting the types of ANNs. Four popular ANNs, radial basis function neural network (RBFNN), support vector regression (SVR), least squares support vector machine (LSSVM) and extreme learning machine (ELM), are selected as candidate neural networks. The performance of our model is verified through two case studies in Baishuihe landslide and Bazimen landslide. Experimental results reveal that the combining neural networks can improve the generalization abilities of ANNs.

关键词： Terrain factors Artificial neural networks Monitoring Predictive models Kernel Training

来源：评论

学校读者我要写书评

暂无评论

Locating and Sizing Charging Station in Multi-Period to Promote Electric Vehicles Adoption in Urban Areas

SSRN

引用

SSRN 2023年

作者： Hu, Dandan Huang, Liu Liu, Chen Liu, Zhi-Wei The School of Management South-central Minzu University Wuhan430074 China The School of Engineering RMIT University MelbourneVIC3001 Australia The School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China The Key Laboratory of Image Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan430074 China

The layout of public fast charging stations often fails to meet the charging demand of electric vehicle (EV) users, resulting in charging anxiety. To address this issue and promote the widespread use of EVs in urban areas, this paper presents a multiperiod locating and sizing optimization model under dynamic demand. The model incorporates GPS trajectory extraction data to identify potential charging demand points and considers the mobile load characteristics of EVs for fusion modeling. A multiperiod change formula is proposed to reflect the interaction between public fast charging stations and EV market penetration, incorporating charging opportunity and waiting time satisfaction as measures of charging service quality. To solve the model, a heuristic algorithm combining genetic algorithm (GA) and k-medoids clustering algorithm is designed. We apply the model to an actual case of Shenzhen and find that increasing investment in charging infrastructure can boost EV market penetration in the later planning period. Moreover, the gap between charging opportunity and waiting time satisfaction tends to narrow as the planning progresses. Our findings highlight the importance of optimizing the location and size of public fast charging stations to improve the charging service quality and promote the adoption of EVs. © 2023, The Authors. All rights reserved.

关键词： Location

来源：评论

学校读者我要写书评

暂无评论

T-S Fuzzy Logic control with Genetic Algorithm Optimization for Pneumatic Muscle Actuator

T-S Fuzzy Logic Control with Genetic Algorithm Optimization ...

引用

International Conference on Modelling, Identification and control (ICMIC)

作者： Cheng Chen Jian Huang Dongrui Wu Zhikang Song Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Beijing Advanced Innovation Center of Intelligent Robots and Systems Beijing China School of Automation Huazhong University of Science and Technology Wuhan China

Based on the three elements model of pneumatic muscle actuators(PMA), this paper proposed a T-S fuzzy logic control with genetic algorithm optimization and achieved the trajectory tracking control of PMA. To guarantee the stability of control system, the Lyapunov direct method was used. And the LMI Toolbox of Matlab was used in this paper to solve linear matrix inequalities(LMls) and calculate the state feedback gains. Finally, the results of experiment demonstrated that, T-S fuzzy logic control with genetic algorithm optimization can achieve desired control performance, which overcome the chattering of trajectory tracking, reduced tracking error effectively and improved the accuracy of control.

关键词： Genetic algorithms Fuzzy logic Mathematical model Optimization Muscles Actuators Stability analysis

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：