检索结果-内蒙古大学图书馆

MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

来源：评论

学校读者我要写书评

暂无评论

A Meta-reinforcement Learning Framework for Adaptive Quadrotor UAV Attitude Control 25th

A Meta-reinforcement Learning Framework for Adaptive Quadro...

引用

25th International Conference on Parallel and Distributed Computing, Applications and Technologies, PDCAT 2024

作者： Zhao, Kaidong Li, Yanjie Liu, Zihan Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China School of Mechanical Engineering and Automation The Harbin Institute of Technology Shenzhen Shenzhen518055 China

ISBN: (纸本)9789819642069

This paper presents a meta-reinforcement learning approach for quadrotor UAV attitude control, addressing the limitations of traditional control methods in complex, dynamic, and uncertain environments. Our method integrates the advantages of context learning, Gaussian sampling, and multi-task training to rapidly adapt to diverse aircraft parameters and environmental conditions. Specifically, we utilize historical information quadruples as contextual data to accurately estimate current task characteristics through real-time observation and learning. In the latent space, we employ Gaussian sampling to effectively handle unknown UAV parameters. To validate the method’s efficacy, we conducted a series of experiments in the Bullet simulator, including single attitude tracking, resultant acceleration control, and continuous trajectory tracking. Experimental results demonstrate that our approach significantly outperforms traditional PID controllers and domain randomization-based SAC methods in terms of stability, rapid response, and trajectory tracking precision. Through multi-task training, our controller has developed the ability to swiftly adapt to novel situations. This research provides a robust and flexible solution for adaptive control of quadrotor UAVs, showing promise for more efficient and stable flight control in complex and dynamically changing environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

PPLIO: Plane-to-Plane LiDAR-Inertial Odometry with Multi-view Constraint in Real-time

引用

IEEE Access 2025年 13卷 76185-76197页

作者： Lee, Hanyeol Jung, Jae Hyung Chung, Won Young Lee, Suyong Park, Chan Gook Seoul Natioinal University Department of Aerospace Engineering Automation and Systems Research Institute Seoul08826 Korea Republic of Technical University of Munich Smart Robotics Lab School of Computation Information and Technology Germany Samsung Electronics Global Technology Research Korea Republic of

Recent feature-based LiDAR-inertial odometry (LIO) algorithms mainly adopt a point-to-plane model, which requires complex association between numerous feature points and planes. Since these methods only use distance as a parameter to associate feature points, they are prone to a mismatch of features in the presence of initial errors. In this study, we propose a LIO system based on a plane-to-plane model with a sliding window, named PPLIO. To extract high-quality plane features, the geometric and statistical properties are utilized and robust data association is performed with two parameters from the plane basis: distance and normal vector. In the state estimator part, we design two plane-to-plane measurement models using the plane features including the proposed plane RANSAC for outlier rejection. Each measurement model is formulated in the multi-state constraint Kalman filter framework for accurate estimation. For detailed verification, we conduct the Monte-Carlo simulation to evaluate the feature accuracy and the data association. In addition, we perform comparative evaluation against state-of-the-art LIO/LIO-mapping algorithms on both indoor and outdoor experiments, and present results that PPLIO outperforms other real-time algorithms in localization performance with detailed analysis. © 2013 IEEE.

关键词： Monte Carlo methods

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

引用

Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Frequency-Spatial Complementation: Unified Channel-Specific Style Attack for Cross-Domain Few-Shot Learning

引用

IEEE Transactions on Image Processing 2025年 34卷 2242-2253页

作者： Ji, Zhong Wang, Zhilong Liu, Xiyao Yu, Yunlong Pang, Yanwei Han, Jungong Tianjin University School of Electrical and Information Engineering Tianjin Key Laboratory of Brain-Inspired Intelligence Technology Tianjin300072 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110169 China Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Tsinghua University Department of Automation Beijing100084 China

Cross-Domain Few-Shot Learning (CD-FSL) addresses the challenges of recognizing targets with out-of-domain data when only a few instances are available. Many current CD-FSL approaches primarily focus on enhancing the generalization capabilities of models in spatial domain, which neglects the role of the frequency domain in domain generalization. To take advantage of frequency domain in processing global information, we propose a Frequency-Spatial Complementation (FSC) model, which combines frequency domain information with spatial domain information to learn domain-invariant information from attacked data style. Specifically, we design a Frequency and Spatial Fusion (FusionFS) module to enhance the ability of the model to capture style-related information. Besides, we propose two attack strategies, i.e., the Gradient-guided Unified Style Attack (GUSA) strategy and the Channel-specific Attack Intensity Calculation (CAIC) strategy, which conduct targeted attacks on different channels to provide more diversified style data during the training phase, especially in single-source domain scenarios where the source domain data style is homogeneous. Extensive experiments across eight target domains demonstrate that our method significantly improves the model’s performance under various styles. © 1992-2012 IEEE.

关键词： Zero-shot learning

来源：评论

学校读者我要写书评

暂无评论

Leakage Source Localization Based on Improved-Infotaxis 16th

Leakage Source Localization Based on Improved-Infotaxis

引用

16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Tao, Xiang Cheng, Lei Yao, Tianxiao Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Eduction Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (纸本)9789819617760

In recent years, with the rapid development of the chemical industry, the risks in this field are also increasing, in which the leakage of hazardous gases can cause serious harm to both people and the environment, so it is crucial to locate the leakage source quickly and accurately. For pollution source traceability, the traditional gradient algorithm is prone to fall into local optimization, and the infotaxis algorithm is biased towards exploration, which is prone to waste time cost and control cost. We propose a new strategy to balance the exploration and utilization in the search process by studying the effects of multiple algorithms and setting different experimental parameters (gas release rate and wind speed) on the overall performance, and the experimental results show that the algorithm has a strong performance under different environmental variables with strong robustness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Chemical industry

来源：评论

学校读者我要写书评

暂无评论

Few-Shot Object Detection via Dual-Domain Feature Fusion and Patch-Level Attention

引用

清华大学学报自然科学版（英文版） 2025年第3期30卷 1237-1250页

作者： Guangli Ren Jierui Liu Mengyao Wang Peiyu Guan Zhiqiang Cao Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics Peking UniversityBeijing 100871China

Few-shot object detection receives much attention with the ability to detect novel class objects using limited annotated *** transfer learning-based solution becomes popular due to its simple training with good accuracy,however,it is still challenging to enrich the feature diversity during the training *** fine-grained features are also insufficient for novel class *** deal with the problems,this paper proposes a novel few-shot object detection method based on dual-domain feature fusion and patch-level *** original base domain,an elementary domain with more category-agnostic features is superposed to construct a two-stream backbone,which benefits to enrich the feature *** better integrate various features,a dual-domain feature fusion is designed,where the feature pairs with the same size are complementarily fused to extract more discriminative ***,a patch-wise feature refinement termed as patch-level attention is presented to mine internal relations among the patches,which enhances the adaptability to novel *** addition,a weighted classification loss is given to assist the fine-tuning of the classifier by combining extra features from FPN of the base training *** this way,the few-shot detection quality to novel class objects is *** on PASCAL VOC and MS COCO datasets verify the effectiveness of the method.

关键词： few-shot object detection dual-domain feature fusion patch-level attention

来源：评论

学校读者我要写书评

暂无评论

Mechanical Properties Inside Origami-Inspired Structures: An Overview

引用

Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Distributed Adaptive Tracking Control for Fuzzy Nonlinear MASs Under Round-Robin Protocol

引用

IEEE Transactions on Fuzzy Systems 2025年第5期33卷 1488-1498页

作者： Fan, Sha Meng, Min Fu, Yukai Deng, Chao Nanjing University of Posts and Telecommunications College of Automation College of Artificial Intelligence Nanjing210023 China Tongji University Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai200070 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Nanjing University of Posts and Telecommunications Institute of Advanced Technology Nanjing210049 China

In this article, the cooperative fuzzy tracking control problem for a type of high-order nonlinear multi-agent systems under the Round-Robin (RR) communication protocol is solved. To effectively reduce the communication among agents, an RR communication protocol is first proposed, where each agent can communicate with only one neighbor at any given time. Based on the developed communication protocol, a hierarchical control approach is introduced, consisting of a distributed observer layer that utilizes information from both local and neighboring agents, and a decentralized control layer that operates solely based on local agent information. Specifically, a distributed observer is designed in the distributed observer layer to achieve the distributed observation objective by introducing a time-varying gain in the observer input. Furthermore, an improved distributed observer with the upper triangular form is constructed to produce a signal with high-order derivatives. In the decentralized control layer, fuzzy adaptive controllers are designed for all agents by using the backstepping technique. By using the Lyapunov stability theory, rigorous stability analysis shows that the cooperative fuzzy tracking control problem is solved under the developed hierarchical control approach. In the end, a simulation example is presented to demonstrate the validity of our proposed method. © 1993-2012 IEEE.

关键词： Protocols Observers Stability analysis Decentralized control Backstepping Vectors Symmetric matrices Network topology Telecommunications System dynamics

来源：评论

学校读者我要写书评

暂无评论

Impact of nano fillers on the mechanical and rheological behaviour of polydimethylsiloxane based nanocomposite elastomer

引用

Ceramics International 2025年第14期51卷 18852-18864页

作者： Mandal, Swaroop Kumar Kumar, Rahul Pradhan, Asisha Ranjan Kumar, Deepak Kumar, Satish Department of Automation and Robotics Dr. DY Patil Institute of Technology Pimpri Pune411018 India Advanced Composite and Smart Material Laboratory Department of Mechanical Engineering National Institute of Technology Jamshedpur 831014 India Department of Mechanical Engineering Parala Maharaja Engineering College Odisha 761003 India Rheology Lab Department of Mechanical Engineering National Institute of Technology Jamshedpur 831014 India

In this work, an advanced elastomer which is reinforced with nanocomposite of reduced graphene oxide and calcium carbonate (rGO/CaCO3) is fabricated. Its mechanical and rheological properties are investigated experimentally. The effect of rGO/CaCO3 nanocomposite was experimentally investigated using Dynamical Mechanical Analysis (DMA), Tensile test and Rheological test. The results indicate improved adhesion and physical strengthening effect between rGO/CaCO3 nanocomposite and the PDMS, that leads towards the decrement of extensional loss factor and hence increment in the extensional storage modulus. Also, the ultimate tensile stress and percentage elongation of the elastomers was found to be increased with increasing wt. % of rGO in CaCO3. It has been observed that 5 % rGO/CaCO3 nanocomposite in PDMS exhibits a higher tensile stress of 0.81 ± 0.040 MPa in comparison to pure PDMS (0.48 ± 0.024 MPa). The bare PDMS material has a maximum force of 12.94 ± 0.647 N, but the 5 % rGO/CaCO3/PDMS nanocomposite can tolerate a maximum force of 22.1 ± 1.105 N. Furthermore, the rheological properties of the material were altered, resulting in an increase in the viscosity of PDMS as the percentage (%) of rGO concentration in the rGO/CaCO3 nanocomposite increased. The presence of CaCO3 increases viscosity, however when 4 % (wt. %) rGO is added to CaCO3, the viscosity decreases compared to other filler concentrations in the elastomers. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Polydimethylsiloxane

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：