检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Pereira, Ricardo Garrote, Luís Barros, Tiago Lopes, Ana Nunes, Urbano J. University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal Polytechnic Institute of Tomar Portugal

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification tasks achieved in recent years, provided by the use of deep-learning-based methods, limitations such as inter-category ambiguity and intracategory variation have been holding back their performance. To overcome such issues, gathering semantic information has been shown to be a promising source of information towards a more complete and discriminative feature representation of indoor scenes. Therefore, the work described in this paper uses both semantic information, obtained from object detection, and semantic segmentation techniques. While object detection techniques provide the 2D location of objects allowing to obtain spatial distributions between objects, semantic segmentation techniques provide pixel-level information that allows to obtain, at a pixel-level, a spatial distribution and shape-related features of the segmentation categories. Hence, a novel approach that uses a semantic segmentation mask to provide Hu-momentsbased segmentation categories' shape characterization, designated by Segmentation-based Hu-Moments Features (SHMFs), is proposed. Moreover, a three-main-branch network, designated by GOS2F2App, that exploits deep-learning-based global features, object-based features, and semantic segmentation-based features is also proposed. GOS2F2App was evaluated in two indoor scene benchmark datasets: SUN RGB-D and NYU Depth V2, where, to the best of our knowledge, state-of-the-art results were achieved on both datasets, which present evidences of the effectiveness of the proposed approach. © 2024, CC BY.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

VVoIP Quality Improvement Over IMS Network based on background subtraction 21

VVoIP Quality Improvement Over IMS Network based on backgrou...

引用

21st International Learning and Technology Conference, L and T 2024

作者： Ali, Hanafy M. Hussein, Aziza I. Ismail, Waled M. Hassan, Yahia B. Minia University Faculty of Engineering Computers and Systems Engineering Dept. El Minia Egypt Effat University College of Engineering Energy and Technology Research Center Saudi Arabia Telecom Egypt Co. Mobile Core Back Office Engineer Egypt Higher Institute of Engineering Electrical Eng. Dept Minia Egypt

ISBN: (纸本)9798350393569

The dependence on making Voice and Video over Internet Protocol (VVoIP) calls has increased dramatically in recent times. The use of VVoIP applications is not limited to social applications only but extended to business applications. The improvement of VVoIP call quality is one of the most important factors that enhance the spread of VVoIP services. In many cases, the high network traffic prevents the possibility of sending high data rate live video streams as sending high data rate live stream over high-traffic networks causes an increase in the data loss *** this paper, the codec switching techniques used to improve the quality under live networks with high traffic are discussed. In addition, A technique based on background subtraction to improve the quality of VVoIP calls using Python code to detect the moving pixels (foreground) and subtract them from the frame to discard the background is *** proposed technique was tested on large scale live network. The tested parameters impacting the Quality of Service (QoS) were packet loss and delay variation (Jitter). The study based on the comparison of packet loss and Jitter for the three common resolutions 480P, 720P and, 1080P over high traffic network without using background subtraction vs. using background subtraction. The results showed a significant improvement in different rates for each resolution and network condition. © 2024 IEEE.

关键词： Quality of service

来源：评论

学校读者我要写书评

暂无评论

Modeling and Planar Trajectory Tracking Control of an MJ-AUV 42

Modeling and Planar Trajectory Tracking Control of an MJ-AUV

引用

42nd Chinese Control Conference, CCC 2023

作者： Omar, Zakarya Liu, Ke-Xian Ren, Chao Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China Sana'a University Faculty of Engineering Sana'a Yemen

ISBN: (纸本)9789887581543

A Multi-Joint Autonomous Underwater Vehicle (MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the water. These joints allow the MJ-AUV to change its shape, orientation, and direction of movement, so it can access tight spaces or navigate in complex underwater environments, making it useful for a variety of tasks in the deep sea, such as surveillance, exploration, and maintenance. However, the multiple joint structure of the MJ-AUV complicates the dynamics of the system. Furthermore, the joints' rotation causes misalignment of the cabins, causing deviations in the desired forces and torques. To address these issues, this study focuses on the 2-dimensional (2D) modeling as well as the trajectory tracking controller of the MJ-AUV. In this setting, the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode approach. Hence, this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors, demonstrating its effectiveness and robustness. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Autonomous underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

Human Detection Combining RGB and Thermal Modalities

Human Detection Combining RGB and Thermal Modalities

引用

Intelligent Reality (ICIR), IEEE International Conference on

作者： Chaymaa Fakrane Kennedy O. S. Mota Cristiano Premebida Rui P. Rocha Dept. of Electrical and Computer Engineering (DEEC) Institute of Systems and Robotics (ISR) University of Coimbra Portugal

ISBN: (数字)9798331534424

ISBN: (纸本)9798331534431

This paper addresses a late-fusion approach that combines RGB and thermal (long-wave IR) modalities to enhance human detection in indoor environments for robotic perception domains. The study explores multimodal human detection using YOLO series (v5s-6s and v8s-11s models), demonstrating significant improvements in detection accuracy under challenging lighting conditions on a dataset collected by a mobile robot. The use of a Weighted-Mean (WM) as a late-fusion approach demonstrates favorable results over more complex methods such as neural networks or SVM. The WM approach is simple to implement and has a low computational cost. Additionally, it is more interpretable and modular and allows straightforward adjustments to the weights of the YOLO models and thresholds, facilitating adaptation to the target system's specific needs. The experimental results indicate that the implemented late-fusion approach improves the baseline performance in terms of mean average precision.

关键词： YOLO Support vector machines Adaptation models Accuracy Computational modeling Neural networks Lighting Indoor environment Computational efficiency Mobile robots

来源：评论

学校读者我要写书评

暂无评论

E-Nose-Based Cross-Domain Recognition of Combustion-Supporting Agents via M-BFFNet 42

E-Nose-Based Cross-Domain Recognition of Combustion-Supporti...

引用

42nd Chinese Control Conference, CCC 2023

作者： Wang, De-Xiu Meng, Qing-Hao Han, Rui-Xue Li, Hong-Yue Hou, Hui-Rang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Process Measurement and Control Tianjin300072 China Tianjin Navigation Instruments Research Institute Tianjin300131 China

ISBN: (纸本)9789887581543

Identification of the type of combustion-supporting agents (CSAs) by an electronic nose (e-nose) is severely limited due to the absence of untested gas concentration in the e-nose training set. In order to solve this problem, this study designs an e-nose for classifying four CSAs (Diesel, Gasoline, Ethanol and Thinner), and builds cross-concentrations data set. This study uses Gramian Angular Field method that converts one-dimensional time series data to two-dimensional data, and proposes an algorithm named the Multi-Branch Feature Fusion Network (M-BFFNet). This algorithm passes the one-dimensional and two-dimensional data through two different networks and obtains two types of features. First, the algorithm can strength the one-dimensional raw data, integrate the advantages of different networks, and fuse the characteristics of different networks. Second, it can learn the characteristics of volatile gas with specific concentrations to identify the unknown concentrations. Last, a feature fusion module is designed to improve the algorithm ability of learning odor fingerprint. In order to verify the superiority of the algorithm, this study tests the recognition performance of the e-nose based systems and compares the proposed M-BFFNet with traditional algorithms. The results show that the proposed M-BFFNet improves the identification accuracy compared to other algorithms. According to the analysis of this work, the M-BFFNet can be used to identify CSAs with unknown concentrations. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Electronic nose

来源：评论

学校读者我要写书评

暂无评论

Numerical study on the flow field for deep-sea hydrothermal plume tracking simulation 17

Numerical study on the flow field for deep-sea hydrothermal ...

引用

17th Asian Congress of Fluid Mechanics, ACFM 2023

作者： Xu, Xue-Han Liu, Jing-Cheng Hou, Hui-Rang Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin300072 China Laboratory for High-speed Aerodynamics Department of Mechanics Tianjin University Tianjin300072 China

In this paper, the distribution of hydrothermal buoyancy plume in the deep-sea environment is studied numerically. Submarine hydrothermal vents are prominent manifestations of hydrothermal activities and are of great scientific and engineering importance. It is an important basis to obtain the temporal and spatial distribution information of different hydrothermal plumes for tracking and locating the source of hydrothermal plumes. Based on Reynolds-averaged Navier-Stokes equations and Realizable k-ϵ turbulence model, the plumes of hydrothermal vents at depths of 800 m, 1200 m, and 1400 m were calculated and studied to obtain the spatial distribution of variables such as velocity field, temperature field and turbulent kinetic energy. The research results of this paper provide an important basis for the simulation of deep-sea hydrothermal plume tracking based on autonomous underwater vehicles. © The Institution of engineering & Technology 2023.

关键词： Flow fields

来源：评论

学校读者我要写书评

暂无评论

A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

引用

Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research Center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

来源：评论

学校读者我要写书评

暂无评论

The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

引用

IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

来源：评论

学校读者我要写书评

暂无评论

Three-Dimensional Trajectory Planning for Quadrotor UAV Based on Simplified PSO Algorithm 3rd

Three-Dimensional Trajectory Planning for Quadrotor UAV Base...

引用

3rd International Conference on Machine Learning, Cloud Computing and Intelligent Mining, MLCCIM 2024

作者： Yin, Ruhui Jiang, Han Shu, Zilin Ren, Ziang Lin, Qinghao Huang, Zixin School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China

ISBN: (纸本)9789819624676

Aiming to address the requirements of Quadrotor Unmanned Aerial Vehicle (QUAV) for conducting mission cruises in three-dimensional complex environments, this paper introduces an optimization algorithm for trajectory planning. By analyzing the motion of the QUAV, the dynamics model is established, along with the constraint model for its flight trajectory. Based on the basic Particle Swarm Optimization (PSO) algorithm, simplified Particle Swarm Optimization (sPSO) removes the particle velocity term from the evolution equation. This adjustment helps prevent slower convergence and lower accuracy in the later stages, which can occur due to the dispersion of particles caused by the particle velocity term. The trajectory is smoothed by using the Minimum Snap principle to ensure that it meets the flight constraints of the QUAV. The simulation results demonstrate that the sPSO algorithm is effective and feasible for application in QUAV three-dimensional trajectory planning. In comparison to the PSO algorithm, the trajectory is more optimal, and the convergence accuracy is higher. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Particle swarm optimization (PSO)

来源：评论

学校读者我要写书评

暂无评论

Modeling and Robust Control of Single Board Heater System with Arduino based Implementation 2

Modeling and Robust Control of Single Board Heater System wi...

引用

2nd IEEE International Conference on Intelligent Technologies, CONIT 2022

作者： Miyani, Piyush B. Thakar, Parth S. Markana, Anilkumar Gujarat Power Engineering and Research Institute Electrical Engineering Department Mehsana India Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Pandit Deendayal Energy University Electrical Engineering Department Gandhinagar India

ISBN: (数字)9781665484077

ISBN: (纸本)9781665484077

In this paper, a new discrete-time implementation of sliding mode control is proposed through open-source Arduino-based hardware for a single board heater system (SBHS). The designed control input with discrete-time sliding mode control (DSMC) is realized by proposing a MOSFET-based current control circuit. This designed hardware will provide a plat-form for researchers and practitioners to validate their control algorithms with ease of use through Arduino-based control implementation. Besides, the proposed strategy also features the first of its kind practical application of DSMC for temperature control using Arduino which is not reported before. The designed control is validated in terms of setpoint tracking for temperature control through the simulation studies in MATLAB and also through hardware implementation with the Arduino controller. The obtained simulation and experimental results showcase the efficacy of the proposed methods. © 2022 IEEE.

关键词： Temperature control

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：