检索结果-内蒙古大学图书馆

IEEE Transactions on Intelligent Vehicles 2024年 1-12页

作者： Liang, Yiyou Zeng, Hui Zhang, Baoqing Ye, Yibin Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Beijing Institute of Electronic System Engineering Beijing China

Recent research has indicated the tremendous potential of self-supervised monocular visual odometry for various applications, owing to its reduced reliance on extensive training data. Nevertheless, many existing self-supervised visual odometry methods suffer from limitations in estimation accuracy and robustness, particularly under environmental illumination changes. Additionally, the comprehensive exploitation of temporal information within input image sequences remains underexplored for camera ego-motion estimation. To address these challenges, we introduce a novel coarse-to-fine self-supervised visual odometry approach in this paper. Specifically, we design a brightness-aligned pose estimation network aimed at enhance robustness against illumination changes. Moreover, we propose a bidirectional-LSTM-based pose optimization network and two motion-related loss functions to improve pose estimation accuracy by utilizing temporal information. Extensive experiments have been conducted to validate the efficacy of our proposed visual odometry method. IEEE

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Convolution Neural Network-based Load Model Parameter Selection Considering Short-term Voltage Stability

引用

CSEE Journal of Power and Energy systems 2024年第3期10卷 1064-1074页

作者： Ying Wang Chao Lu Xinran Zhang School of Technology Beijing Forestry UniversityBeijing 100083China State Key Laboratory of Control and Simulation of Power System and Generation Equipment Tsinghua UniversityBeijing 100084China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China IEEE

The recently proposed ambient signal-based load modeling approach offers an important and effective idea to study the time-varying and distributed characteristics of power ***,it also brings new *** the load model parameters of power loads can be obtained in real-time for each load bus,the numerous identified parameters make parameter application *** order to obtain the parameters suitable for off-line applications,load model parameter selection(LMPS)is first introduced in this ***,the convolution neural network(CNN)is adopted to achieve the selection purpose from the perspective of short-term voltage *** begin with,the field phasor measurement unit(PMU)data from China Southern Power Grid are obtained for load model parameter identification,and the identification results of different substations during different times indicate the necessity of ***,the simulation case of Guangdong Power Grid shows the process of LMPS,and the results from the CNNbased LMPS confirm its effectiveness.

关键词： Ambient signal CNN field PMU data load model parameter selection short-term voltage stability

来源：评论

学校读者我要写书评

暂无评论

Research on Digital Twin system Platform Framework and Key Technologies of Unmanned Ground Equipment

引用

Complex system Modeling and Simulation 2024年第2期4卷 109-123页

作者： Kunyu Wang Lin Zhang Cheng Xu Han Lu Zhen Chen Hongbo Cheng Rui Guo the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the State Key Laboratory of Intelligent Manufacturing System Technology Beijing 100854China the Beijing Institute of Electronic System Engineering Beijing 100854China

As an emerging technology,digital twin is expected to bring novel application modes to the whole life cycle process of unmanned ground equipment,including research and development,design,control optimization,operation and maintenance,*** highly dynamic,complex,and uncertain characteristics of unmanned ground equipment and the battlefield environment also pose new challenges for digital twin *** from the new challenges faced by the digital twin of unmanned ground equipment,this paper designs a service-oriented cloud-edge-end collaborative platform architecture of the digital twin system of unmanned ground equipment,and further analyzes several key technologies supporting the implementation of the platform architecture.

关键词： unmanned ground equipment digital twin native cloud platform Modeling and Simulation(M&S) artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

Fixed-time-synchronized control: a system-dimension-categorized approach

引用

science China(Information sciences) 2023年第7期66卷 177-194页

作者： Wanyue JIANG Shuzhi Sam GE Dongyu LI Institute for Future & Shandong Key Laboratory of Industrial Control Technology School of Automation Qingdao University Department of Electrical and Computer Engineering National University of Singapore School of Cyber Science and Technology Beihang University Shanghai Institute of Satellite Engineering

This study addresses the fixed-time-synchronized control problem of perturbed multi-input multioutput(MIMO) systems. In the task of fixed-time-synchronized control, different dimensions of the output signal in MIMO systems are required to reach the desired value simultaneously within a fixed time *** MIMO system is categorized into two cases: the input-dimension-dominant and the state-dimensiondominant cases. The classification is defined according to the dimension of system signals and, more importantly, the capability of converging at the same time. For each kind of MIMO system, sufficient Lyapunov conditions for fixed-time-synchronized convergence are explored, and the corresponding robust sliding mode controllers are designed. Moreover, perturbations are compensated using the super-twisting technique. The brake control of the vertical takeoff and landing aircraft is considered to verify the proposed method for the input-dimension-dominant case, which shows the essential advantages of decreasing the energy consumption and the output trajectory length. Furthermore, comparative numerical simulations are performed to show the semi-time-synchronized property for the state-dimension-dominant case.

关键词： fixed-time-synchronized convergence sliding mode control perturbed MIMO systems

来源：评论

学校读者我要写书评

暂无评论

Point-Voxel Based Geometry-Adaptive Network for 3D Point Cloud Analysis

引用

Journal of Computer science & Technology 2024年第5期39卷 1167-1179页

作者： Tian-Meng Zhao Hui Zeng Bao-Qing Zhang Hong-Min Liu Bin Fan Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrial Engineering University of Science and Technology BeijingBeijing 100083China Shunde Innovation School University of Science and Technology BeijingFoshan 528399China Beijing Institute of Electronic System Engineering Beijing 100854China School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China

Point cloud analysis is challenging because of the unordered and irregular data structure of point *** describe geometric information in point clouds,existing methods mainly use convolution,graph,and attention operations to construct sophisticated local aggregation *** operators work well in extracting local information but bring unfavorable inference latency due to high computation *** solve the above problem,this paper presents a novel point-voxel based geometry-adaptive network(PVGANet),which combines multiple representations of point and voxel to describe the point cloud from different granularities and can obtain features of different scales *** extract fine-grained geometric features,we design the position-adaptive pooling operator,which uses point pairs’relative position and feature similarity to weight and aggregate the point features at local areas of point *** extract coarse-grained local features,we design a depth-wise convolution operator,which conducts the depth-wise convolution on voxel *** an easy addition,fine-grained geometric and coarse-grained local features can be fused,and we can use the geometry-adaptive fused features to complete the efficient shape analysis of point clouds,such as shape classification and part *** experiments on ModelNet40,ScanObjectNN,and ShapeNet Part benchmarks demonstrate that our PVGANet achieves competitive performance compared with the related methods.

关键词： point cloud geometric feature multi-representation part segmentation shape classification

来源：评论

学校读者我要写书评

暂无评论

Region coverage control for multiple stratospheric airships with combined self-/event-triggered mechanism

引用

Defence Technology（防务技术） 2023年第6期24卷 254-268页

作者： Yi-fei Zhang Ming Zhu Tian Chen Ze-wei Zheng School of Aeronautic Science and Engineering Beihang UniversityBeijing100191China Institute of Unmanned System Beihang UniversityBeijing100191China School of Electronic and Information Engineering Beihang UniversityBeijing100191China School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China

The region coverage control problem of multiple stratospheric airships system is firstly addressed in this *** it,we propose a two-layer control framework with the artificial potential field(APF)-based region coverage control law and the adaptive tracking control *** APF-based region coverage control law ensures the coverage task is achieved until every single stratospheric airship ends up performing station keeping where near the respective global minimum point,in which an innovative solution to the local minimum problem is put *** adaptive tracking control law is designed to realize motion control using tracking the desired velocity and angular velocity given by coverage control law,with the consideration of several practical control problems as unknown individual differences and external *** save resources,the combined self-/event-triggered mechanism designed therein significantly reduces the times of state information transmission and control law *** effectiveness of the proposed control framework is verified through simulations.

关键词： Formation coverage control Combined self-/event-triggered control Improved artificial potential field

来源：评论

学校读者我要写书评

暂无评论

Flexible prescribed performance-based approaching control for UAV aerial recovery under multiwind disturbances

引用

Chinese Journal of Aeronautics 2025年第4期38卷 420-436页

作者： Yanxiang WANG Honglun WANG Junfan ZHU Yiheng LIU Menghua ZHANG Zikang SU School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China The Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China Shenyuan Honors College Beihang UniversityBeijing 100191China Beijing Institute of Astronautical Systems Engineering Beijing 100076China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 211106China

This article investigates the approaching control for fixed-wing Unmanned Aerial Vehi-cle(UAV)aerial recovery in the presence of pre-specified performance requirements,complex air-flows,maneuvering flight of transport aircraft,and different initial ***,a novelcontrol-oriented Six-Degree-Of-Freedom(6-DOF)UAV model considering airflow disturbancesis established for better consistency with the actual UAV ***,to achieve satisfactory per-formance in the approaching process,a Flexible Appointed-time Prescribed Performance control(FAPPC)algorithm,with the features of user-specified time convergence,no overshoot,indepen-dence from the initial value,and singularity-free,is ***,to solve the singularityissue encountered by the existing PPC methods in dealing with sudden disturbances,an adaptiveadjustment signal is introduced in FAPPC to perceive the threat of increasing error and relax thepreset boundaries ***,minimum learning parameter-based neural networkestimators are developed to approximate unknown lumped disturbances at a low ***,the stability of the closed system is analyzed via Lyapunov synthesis,and the effective-ness and advantages of the proposed control scheme are demonstrated via simulation andHardware-In-the-Loop(HIL)experimental validation.

关键词： Approaching control UAV aerial recovery Flexible prescribed performance control Sudden disturbances Neural network estimator

来源：评论

学校读者我要写书评

暂无评论

On the optimality of uniform velocity-deceleration separation scheme for tethered satellite systems

引用

control Theory and Technology 2024年第4期22卷 503-516页

作者： Peng Yu Ji-Feng Zhang Shuping Tan Jin Guo Yanlong Zhao School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing100083China Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing100190China Beijing Institute of Control Engineering Beijing100094China

For mitigating the libration angle fluctuation of the tethered satellite system,this paper discusses how to make the uniform velocity-deceleration separation scheme achieve the best ***,a judgment condition is established to determine the tether state by comparing the tether length and the relative distance of the sub-satellite and the parent *** on the tethered satellite system dynamics equation and Clohessy-Wiltshire equation,dynamic models are given for four cases of tether ***,the influence of the uniform velocity-deceleration separation scheme on the libration angle is analyzed by taking the libration angle at the separation ending time and the mean absolute value of the libration angle as index ***,the optimality problem of the uniform velocity-deceleration separation scheme is formulated as an optimization problem with constraints,and an approximate solution algorithm is given by combining the back propagation neural network and Newton-Raphson method of multiple initial ***,the effectiveness of the proposed method is verified by a numerical simulation.

关键词： Tethered satellite systems Libration angle Uniform velocity-deceleration separation Neural network

来源：评论

学校读者我要写书评

暂无评论

Wireless Protocol-Based control of Smart Electric Drive Using Sampled Time Secure Communication of Chaotic systems

引用

IEEE Access 2025年 13卷 86218-86234页

作者： Dang, Nhat Quang Thi, Huyen Chau Phan Nguyen, Quang Dich Giap, van Nam Hanoi University of Science and Technology School of Electrical and Electronic Engineering Hanoi100000 Viet Nam Institute for Control Engineering and Automation Hanoi University of Science and Technology Hanoi100000 Viet Nam

This paper presents a novel smart electric drive control system that enables fully wireless bidirectional communication between the controller, power supply, and sensors to facilitate real-time data sharing. The primary challenge in such systems arises from cybersecurity threats in wireless communication, requiring secure encryption and synchronization mechanisms to prevent data interception and tampering. To ensure secure transmissions, a chaos-based encryption scheme is implemented using the Liu chaotic system, formulated in the Takagi-Sugeno fuzzy (TS fuzzy) model to simplify computational complexity in synchronization control. A sliding mode control (SMC) strategy is designed to provide robust tracking performance, ensuring system stability under parameter variations and disturbances. To further enhance the control precision, a homogeneous super-twisting algorithm (HSTA)-based disturbance observer (DO) is introduced, effectively compensating for external perturbations and ensuring smooth operation. The DO also allows the use of a smaller SMC gain, which helps reduce chattering while maintaining control robustness. The Lyapunov stability theory is applied to rigorously analyze the system’s stability, confirming the reliability of the proposed approach in wireless motor control applications. The system is experimentally validated on ESP32 microcontrollers, demonstrating fast response times, minimal steady-state error, and real-time secure motor control. Performance evaluation using speed response signals confirms the effectiveness of the proposed control and encryption techniques, making it suitable for industrial automation and IoT-driven motor control systems. © 2013 IEEE.

关键词： Lyapunov methods

来源：评论

学校读者我要写书评

暂无评论

Event-triggered consensus control of heterogeneous multi-agent systems: model-and data-based approaches

引用

science China(Information sciences) 2023年第9期66卷 151-167页

作者： Xin WANG Jian SUN Fang DENG Gang WANG Jie CHEN School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This article addresses the model-and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems(MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities(LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering *** collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an H∞-consensus control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.

关键词： data-driven control multi-agent system consensus looped-functional LMI

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：