检索结果-内蒙古大学图书馆

Remaining Useful Battery Life Prediction for UAVs based on Machine Learning

IFAC-PapersOnLine 2017年第1期50卷 4727-4732页

作者： Mansouri S.S. Karvelis P. Georgoulas G. Nikolakopoulos G. Robotics Group Control Engineering Division of the Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden Laboratory of Knowledge and Intelligent Computing Department of Computer Engineering Technological Educational Institute of Epirus Arta Greece

Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries have a fixed capacity and after some time drain out. In order to extend the flying time window, the prediction of the time that the battery will no longer be able to support a flying condition is crucial. This in fact can be cast as a standard Remaining Useful Life prognostic problem, similarly encountered in many fields. In this article, the problem of Remaining Useful Life estimation of a battery, under different flight conditions, is tackled using four machine learning techniques: a linear sparse model, a variant of support vector regression, a multilayer perceptron and an advanced tree based algorithm. The efficiency of the overall proposed machine learning techniques, in the field of batteries prognostics, is evaluated based on multiple experimental data from different flight conditions. © 2017

关键词： Battery Machine Learning Prediction Remaining Useful Life UAVs

来源：评论

学校读者我要写书评

暂无评论

Application of Big Data Analysis in Flood control of Small Reservoirs -A Case study of Liaoning Province, China

引用

Journal of Physics: Conference Series 2020年第1期1693卷

作者： Xi Chen Tong Zhang Zeyu Zheng Tianran Wang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang 110016 China Liaoning Provincial Department of Water Resources Shenyang 110003 China Liaoning River and Reservoir Management Service Center Shenyang 110003 China

Small reservoirs play an important role in the safety of flood control and economic development. Their operation and management are characterized by a large number of objects and a large amount of information, which requires effective data analysis means support. Based on this, big data analysis technology has been gradually applied and popularized in the operation and management of small reservoirs. In this paper, we first set up a small reservoir flood reporting system based on the data collection and analysis of various aspects such as reservoir capacity, characteristic water level, real-time data of water and rain situation, meteorological data, and presented the results in the paper. Secondly, we analyzed the under-reporting situation during the flood control period of the reservoir, and explored the under-reporting factors and the time when the under-reporting occurred. Finally, we conduct a time series analysis on the situation of water level exceeding the limit of 50 reservoirs during the flood control period, so that we can find the key reservoirs and important time points of flood control more intuitively and provide reference for the smooth development of the management of small reservoirs.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-Person Pose Estimation via Learning Feature Integration

引用

Journal of Physics: Conference Series 2019年第3期1302卷

作者： Xiaomei Hu Jiahao Tian Huixiang Qiao Minjie Wang The Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Institute of Materials Technology and Engineering CAS Ningbo 315201 China School of Electronic Information and Control Engineering Chang'an University Xi'an 713100 Shaanxi China

Human pose estimation is a fundamental but challenging task in computer vision. Although batch normalization is widely used for deep learning, feature extraction in deep convolutional neural networks (DCNN) is still not well explored. In this work, we propose a pose encoding module (PEM) to enhance the learning ability and generalization ability of feature extraction. Given input images, PEM integration instance normalization and batch normalization, combining them in an appropriate way to learn to capture and eliminate appearance changes while maintaining the distinction between learning features can be seen as an integration and adjustment of global information. In addition, we use a simple and efficient up-sampling strategy to recover high-resolution representations for predicting more accurate human keypoint heatmaps, which has achieved better performance than the average network in recent missions. We studied our approach on a standard benchmark for human pose estimation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Introduction

Advances in Industrial Control

引用

Advances in Industrial control 2018年第9783319610207期 1-18页

作者： Orsag, Matko Korpela, Christopher Oh, Paul Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electrical Engineering and Computer Science United States Military Academy West PointNY United States Department of Mechanical Engineering University of Nevada Las Vegas Las VegasNV United States

Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones. © Springer International Publishing AG 2018.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

An intelligent Gripper Design for Autonomous Aerial Transport with Passive Magnetic Grasping and Dual-Impulsive Release

An Intelligent Gripper Design for Autonomous Aerial Transpor...

引用

IEEE/ASME International Conference on Advanced intelligent Mechatronics

作者： Usman A. Fiaz M. Abdelkader Jeff S. Shamma Department of Electrical & Computer Engineering University of Maryland(UMD) College Park. MD USA KAUST The Robotics Intelligent Systems & Control (RISC) Laboratory Thuwal KSA

We present a novel gripper design for autonomous aerial transport of ferrous objects with unmanned aerial vehicles (UAVs). The proposed design uses permanent magnets for grasping, and a novel dual-impulsive release mechanism, for achieving drop. The gripper can simultaneously lift up to four objects of arbitrary shape, in fully autonomous mode, with a 100% rate of successful drops. We optimize the system subject to realistic constraints, such as the simplicity of design and its sturdiness to aerial maneuvers, payload limits for multi-rotor UAVs, reliability of autonomous grasping irrespective of the environment of operation, active power consumption of the gripper, and its comparison with the existing technologies. We describe the design concepts, and the hardware, and perform extensive experiments in both indoor and outdoor environments, with two multi-rotor configurations. Several results, showcasing superior performance of the proposed system are provided as well.

关键词： Grasping Force Servomotors Grippers Payloads Torque Magnetic separation

来源：评论

学校读者我要写书评

暂无评论

Enhanced Geometric Map:a 2D&3D Hybrid City Model of Large Scale Urban Environment for Robot Navigation

引用

机器人 2016年第3期38卷 311-321页

作者： LI Haifeng HU Zunhe LIU Jingtai College of Computer Science and Technology Civil Aviation University of China Tianjin 300300 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Fuzhou 350121 China Institute of Robotics and Information Automatic System Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Tianjin 300071 China

To facilitate scene understanding and robot navigation in large scale urban environment, a two-layer enhanced geometric map(EGMap) is designed using videos from a monocular onboard camera. The 2D layer of EGMap consists of a 2D building boundary map from top-down view and a 2D road map, which can support localization and advanced map-matching when compared with standard polyline-based maps. The 3D layer includes features such as 3D road model,and building facades with coplanar 3D vertical and horizontal line segments, which can provide the 3D metric features to localize the vehicles and flying-robots in 3D space. Starting from the 2D building boundary and road map, EGMap is initially constructed using feature fusion with geometric constraints under a line feature-based simultaneous localization and mapping(SLAM) framework iteratively and progressively. Then, a local bundle adjustment algorithm is proposed to jointly refine the camera localizations and EGMap features. Furthermore, the issues of uncertainty, memory use, time efficiency and obstacle effect in EGMap construction are discussed and analyzed. Physical experiments show that EGMap can be successfully constructed in large scale urban environment and the construction method is demonstrated to be very accurate and robust.

关键词：被提高的几何学的地图都市模型机械手航运同时发生的定位而且映射局部的包裹调整

来源：评论

学校读者我要写书评

暂无评论

An Improved Registration Algorithm based on Geometric Feature for the Calibration of Workpiece Coordinate 35

An Improved Registration Algorithm based on Geometric Featur...

引用

第35届中国控制会议

作者： LV Liang SUN Lei Institute of Robotics and Automatic Information System College of Computer and Control engineeringNankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781509009107

Since target points could be generated quickly and accurately by off-line programming in the industrial robot machining,it is used widely in industrial *** to installation error and mismachining tolerance which causes the offset of processing paths in the actual machining process,the registration algorithms for path calibration would be *** the traditional approach would converge to local optimal solution,an improved registration algorithm based on geometric properties of point clouds is proposed in the ***,feature point sets are acquired by the curvature of point clouds and matched by traditional PCA algorithm,an initial value for precise registration is ***,the improved ICP algorithm by curvature is utilized to modify the former result and reduce the execution time of precise registration,the path calibration can be *** experimental result of the approach is validated in this paper which is significative for calibration of processing paths.

关键词： Registration Curvature Feature Point Sets Path Calibration

来源：评论

学校读者我要写书评

暂无评论

On active decoupling control for horizontal-lateral direction of hypersonic flight based on HIFOO 21

On active decoupling control for horizontal-lateral directio...

引用

21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

引用

2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

来源：评论

学校读者我要写书评

暂无评论

Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism

引用

IOP Conference Series: Materials Science and Engineering 2019年第5期677卷

作者： Zhuang Ge Leichao Xie Shangkui Yang Shuyun Zhu Yongzhan Cao Yuwang Liu School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Liaoning China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang Liaoning China

Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.

关键词：

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：