检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Biomimetics

作者： Xuan He Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science and Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

High-precision three-dimensional models of small celestial bodies are important for deep space exploration tasks. The homologous point cloud obtained from a single sensor has limitations in terms of accuracy and density. For example, the point cloud obtained by RGB camera has rich information and high density, but low precision. The point cloud obtained by laser scanning has high precision but low density. Therefore, we hope to register and fuse the point clouds obtained from different sensors, synthesize the advantages of cross-source point clouds obtained from different source domains, and improve the density, accuracy and other aspects of small celestial point clouds. To solve the common problems of cross-source point clouds, we adopt an end-to-end feature measurement point cloud registration framework, which does not need to search the corresponding points between two point clouds, and reduces the difficulty of processing cross-source point cloud data. Aiming at the problem that some stray points on the registered point cloud surface affect the accuracy of the point cloud, a point cloud fusion optimization method based on Euclidean distance is proposed. The stray points around the point cloud are removed to reduce the loss of normal points. The accuracy of point cloud is improved by the fusion after registration. Experiments show that the proposed method can effectively improve the density and accuracy of small celestial body models.

关键词： Point cloud compression Solid modeling Accuracy Three-dimensional displays Euclidean distance Feature extraction Data models Space exploration Laser fusion Surface treatment

来源：评论

学校读者我要写书评

暂无评论

Multiple Robots Autonomous Task Planning Based on Improved Genetic Algorithm

Multiple Robots Autonomous Task Planning Based on Improved G...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Zhiyuan Yang Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science and Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents an autonomous task planning method for multiple collecting robots on improved genetic algorithm. Considering the limited capacity of collecting robots and the suitability of hopping robots in the microgravity environment of small celestial bodies, we developed a task planning model based on the Capacitated Vehicle Routing Problem (CVRP) and proposed an improved genetic algorithm to simultaneously allocate tasks and plan paths for multiple collecting robots. During robot movement, the A * algorithm is employed for active obstacle avoidance when unknown obstacles are encountered. Experimental results demonstrated that our algorithm, can efficiently allocate tasks for the robot group, and each robot actively avoiding obstacles during movement.

关键词： Vehicle routing Wheels Path planning Planning Safety Resource management Mobile robots Robots Genetic algorithms Capacity planning

来源：评论

学校读者我要写书评

暂无评论

Landing location planning based on genetic cooperative particle swarm optimization

Landing location planning based on genetic cooperative parti...

引用

International Symposium on Autonomous Systems (ISAS)

作者： Xinyu Yao Qingjie Zhao Xingchen Lv Lei Wang Wangwang Liu School of Computer Science & Technology Beijing Institute of Technology Beijing China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

Being able to safely land on the surface is one of the primary challenges when a probe exploring an asteroid. In order to ensure landing safety, the landing location planning needs to comprehensively consider the terrain characteristics and avoid obstacles such as protruding rocks, craters and slopes. Relatively flat areas are suitable for landing. If multiple landers are landing together, in order to avoid collisions and maintain good communication, appropriate distance should be maintained between the landers. In this paper, we first establish a landing environment model, and then propose a landing location planning method for a lander-group using genetic cooperative particle swarm optimization (GCPSO), which ensures the autonomous movement of individual landers while maintaining a certain safe landing distance between them. Taking a group of three landers as an example, simulation experiments show that the algorithm proposed in this paper can ensure the group to achieve stable landing and keep safe distances between them.

关键词： Collaboration Land surface Genetics Rocks Planning Solar system Safety

来源：评论

学校读者我要写书评

暂无评论

Vascular Clog Loss Classification: An Advanced Alzheimer's Research Using ConvNets 26th

Vascular Clog Loss Classification: An Advanced Alzheimer's R...

引用

26th annual International Conference on Advanced Computing and Communications, ADCOM 2020

作者： Anand, Mansimran Singh Kedia, Chirag Moharil, Ambarish Sonavane, Nikhil Department of Computer Science Vellore Institute of Technology Vellore India Department of Instrumentation and Control Vishwakarma Institute of Technology Pune India Department of Electronics and Telecommunication Vishwakarma Institute of Technology Pune India

ISBN: (纸本)9789811900181

As of today, no cure has been found that can fully treat Alzheimer's disease. One in three people above the age of 60 die from Alzheimer's disease or either dementia. Alzheimer's disease (AD) kills more people than Breast Cancer and Prostate Cancer combined. It is predicted that, by the year 2050, the total number of people being affected by Alzheimer’s will be around 14 million worldwide. Diagnosis of Alzheimer's disease at early stage would help in facilitating family planning and cost control and further reduce additional cost that might be involved in long-term care. The purpose of this study is to classify restricted and normal flowing cranial vessels in the brain using convolution neural networks (AlexNet, ResNet 50, 101, 152). Convolution neural networks have proven to have a robust architecture that can be used for extracting high-level features and further assist in image recognition and analysis. Using the AlexNet technique, we have been able to successfully classify a video (of blood flowing in a blood vessel) as stalled or flowing with an astonishing accuracy of 98.59%. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Blood vessels

来源：评论

学校读者我要写书评

暂无评论

Multi-objective Optimal Operation of Centralized Battery Swap Charging System with Photovoltaic

引用

Journal of Modern Power Systems and Clean Energy 2022年第1期10卷 149-162页

作者： Yuanzheng Li Yihan Cai Tianyang Zhao Yun Liu Jian Wang Lei Wu Yong Zhao School of Artificial Intelligence and Automation Ministry of Education Key Laboratory of Image Processing and Intelligence ControlHuazhong University of Science and TechnologyWuhanChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore College of Mechatronics and Control Engineering Shenzhen UniversityShenzhenChina Department of Electrical&Computer Engineering Stevens Institute of TechnologyHobokenUSA

Electric vehicles(EVs)are widely deployed throughout the world,and photovoltaic(PV)charging stations have emerged for satisfying the charging demands of EV *** paper proposes a multi-objective optimal operation method for the centralized battery swap charging system(CBSCS),in order to enhance the economic efficiency while reducing its adverse effects on power *** proposed method involves a multi-objective optimization scheduling model,which minimizes the total operation cost and smoothes load fluctuations,***,we modify a recently proposed multi-objective optimization algorithm of non-sorting genetic algorithm III(NSGA-III)for solving this scheduling ***,simulation studies verify the effectiveness of the proposed multi-objective operation method.

关键词： Multi-objective optimization electric vehicle battery swap charging system scheduling photovoltaic

来源：评论

学校读者我要写书评

暂无评论

Bayes and Biased Estimators Without Hyper-Parameter Estimation: Comparable Performance to the Empirical-Bayes-Based Regularized Estimator

引用

IEEE control Systems Letters 2025年 9卷 294-299页

作者： Yue Ju Bo Wahlberg Håkan Hjalmarsson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Division of Decision and Control Systems and the Competence Centre for Advanced BioProduction by Continuous Processing AdBIOPRO School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Regularized system identification has become a significant complement to more classical system identification. It has been numerically shown that kernel-based regularized estimators often perform better than the maximum likelihood estimator in terms of minimizing mean squared error (MSE). However, regularized estimators often require hyper-parameter estimation. This letter focuses on ridge regression and the regularized estimator by employing the empirical Bayes hyper-parameter estimator. We utilize the excess MSE to quantify the MSE difference between the empirical-Bayes-based regularized estimator and the maximum likelihood estimator for large sample sizes. We then exploit the excess MSE expressions to develop both a family of generalized Bayes estimators and a family of closed-form biased estimators. They have the same excess MSE as the empirical-Bayes-based regularized estimator but eliminate the need for hyper-parameter estimation. Moreover, we conduct numerical simulations to show that the performance of these new estimators is comparable to the empirical-Bayes-based regularized estimator, while computationally, they are more efficient.

关键词： Bayes methods Maximum likelihood estimation Covariance matrices Vectors System identification Noise measurement Linear regression Probability density function Contracts Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

引用

Journal of Systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

来源：评论

学校读者我要写书评

暂无评论

Mono camera-based GPS spoofing detection for aerial vehicles

引用

IFAC-PapersOnLine 2024年第4期58卷 126-131页

作者： Peter Petro Peter Bauer Budapest University of Technology and Economics Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control (HUN-REN SZTAKI) HUN-REN Budapest Hungary

This paper presents mono camera-based GPS spoofing detection for aerial vehicles utilizing only image information besides the initial orientation of the vehicle. Orientation information is propagated and motion direction is estimated solely from the mono camera images through the estimation of the essential matrix. Histograms of Oriented Displacements and their correlation are considered to detect spoofing considering GPS and image-based data. Straight and turning simulated fight trajectories of a fixed wing research drone with different turbulence levels are compared to evaluate the method. The results are promising with timely detection of every spoofing scenario and without false alarm. The exploration of real fight data is the topic of future development.

关键词： GPS spoofing detection mono camera relative motion UAV

来源：评论

学校读者我要写书评

暂无评论

Hierarchical Retrieval of High-Resolution Fingerprints Based on Pore Feature

Hierarchical Retrieval of High-Resolution Fingerprints Based...

引用

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Jing Ma Yuanrong Xu Suyu Dong Wei Wang School of Computer Science and Technology Harbin Institute of Technology Shenzhen China School of Computer Science and Technology Harbin Institute of Technology Weihai China College of Computer and Control Engineering Northeast Forestry University Harbin China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Faced with an escalating number of fingerprint images, most existing retrieval approachs suffer from a common problem: diminishing computational efficiency. This paper presents a hierarchical retrieval system tailored for high-resolution fingerprint images that utilizes abundant pore features and robust recognizability to improve retrieval performance. The framework comprises two core components. Firstly, a CNN-based feature extraction network is established, incorporating an attention mechanism to capture pore features in fingerprint images comprehensively. Subsequently, a hierarchical fingerprint retrieval approach is introduced, involving connection graph construction and a hierarchy of jump table structures for efficient retrieval of query pores. Empirical experiments conducted on high-resolution fingerprint image datasets underscore the system’s effectiveness. Compared with other advanced pore-based fingerprint retrieval methods, the proposed method exhibits a notable rise in the hit rate with reduced penetration rates, significantly reducing the retrieval time.

关键词： Accuracy Image recognition Attention mechanisms Image matching Fingerprint recognition Feature extraction Robustness Computational efficiency Bioinformatics

来源：评论

学校读者我要写书评

暂无评论

Event-Triggered Sampled-Data Iterative Learning control for Linear Time-Varying Switched Systems

Event-Triggered Sampled-Data Iterative Learning Control for ...

引用

2023 China Automation Congress, CAC 2023

作者： Ma, Xin Dai, Xisheng Zhou, Rusheng School of Automation Guangxi University of Science and Technology Liuzhou China School of Automation Institute of Intelligent Systems and Control Guangxi University of Science and Technology Liuzhou China School of Computer Science and Technology Guangxi University of Science and Technology Liuzhou China

ISBN: (纸本)9798350303759

Consider a class of continues linear time-varying switched systems and study its sampled-data iterative learning control output tracking problem under event triggering. Firstly, in order to reduce the update batch of the control input in the direction of the iteration axis, an event-triggered sampled-data iterative learning control law is designed and the event-triggered conditions are derived by the Lyapunov function method. Secondly, a fixed threshold method is proposed to accelerate the convergence of the system. Then, according to the activation intervals of the switched subsystem,triggered and untriggered are analyzed for convergence, and the sufficient conditions for consistent convergence of the system are derived by the compression mapping method. Finally, the effectiveness of the algorithm is verified by the numerical simulation. © 2023 IEEE.

关键词： Learning algorithms

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：