检索结果-内蒙古大学图书馆

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Fu, Yili Li, Xu Dong, Xinyu Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China Harbin Institute of Technology State Kay Laboratory of Robotics and System Heilongjiang Province Harbin China Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper. © 2023 IEEE.

关键词： Quadratic programming

来源：评论

学校读者我要写书评

暂无评论

A Client Selection Method Based on Loss Function Optimization for Federated Learning

引用

Computer Modeling in Engineering & Sciences 2023年第10期137卷 1047-1064页

作者： Yan Zeng Siyuan Teng Tian Xiang Jilin Zhang Yuankai Mu Yongjian Ren Jian Wan School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou310018China Key Laboratory of Complex System Modeling and Simulation Ministry of EducationHangzhou310018China Zhejiang Engineering Research Center of Data Security Governance Hangzhou310018China Intelligent Robotics Research Center Zhejiang LabHangzhou311100China HDU-ITMO Joint Institute Hangzhou Dianzi UniversityHangzhou310018China

Federated learning is a distributedmachine learningmethod that can solve the increasingly serious problemof data islands and user data privacy,as it allows training data to be kept locally and not shared with other *** trains a globalmodel by aggregating locally-computedmodels of clients rather than their ***,the divergence of local models caused by data heterogeneity of different clients may lead to slow convergence of the global *** this problem,we focus on the client selection with federated learning,which can affect the convergence performance of the global model with the selected local *** propose FedChoice,a client selection method based on loss function optimization,to select appropriate local models to improve the convergence of the global *** firstly sets selected probability for clients with the value of loss function,and the client with high loss will be set higher selected probability,which can make them more likely to participate in ***,it introduces a local control vector and a global control vector to predict the local gradient direction and global gradient direction,respectively,and calculates the gradient correction vector to correct the gradient direction to reduce the cumulative deviationof the local gradient causedby *** experiments to verify the validity of FedChoice on CIFAR-10,CINIC-10,MNIST,EMNITS,and FEMNIST datasets,and the results show that the convergence of FedChoice is significantly improved,compared with FedAvg,FedProx,and FedNova.

关键词： Federated learning model aggregation Non-IID

来源：评论

学校读者我要写书评

暂无评论

A MATLAB Multi-Body Simulation Platform Toward Multiple Flapping Wing Vehicles 42

A MATLAB Multi-Body Simulation Platform Toward Multiple Flap...

引用

42nd Chinese Control Conference, CCC 2023

作者： Yan, Jifu Jia, Fan Qian, Chen Fang, Yongchun Institute of Robotics and Automatic Information System Nankai University Tianjin300353 China Interdisciplinary Innovation Research Centers Intelligent Robotic Research Center Zhejiang Laboratory Hangzhou311100 China Institute of Intelligence Technology and Robotics Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

The article notices rare simulation implementations of multiple flapping wing vehicles(FWVs) with the complicate mechanisms, aerodynamics, and control systems. Moreover, we expect that one can research FWV flight by CAD model import, joint connection, and parameter setup. Therefore, we establish a general and simple simulation platform framework based on MATLAB/Simulink with Simscape Multibody Toolbox for FWV mechanism, aerodynamics, and formation control for hovering or forward flight. Inspired by Purdue Hummingbird design, we provided simplified flapping wing aerodynamics with passive rotation, virtual environment interaction, adaptive cascade control, and consensus formation algorithms in the MATLAB integration platform. This work is fundamental for the verification of research, and useful for the improvement of mechanic design, actuator selection, and control algorithms of the ontology or swarm thanks to its compatibility. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Simulation platform

来源：评论

学校读者我要写书评

暂无评论

Accurate Pose Tracking of Mobile Robot Using Entropy-based TrimICP in Dynamic Environment 48

Accurate Pose Tracking of Mobile Robot Using Entropy-based T...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Sun, Haodong Wang, Shuting Meng, Jie Liu, Yu Xie, Yuanlong Huazhong University of Science and Technology School of Mechanical Science and Engineering Wuhan China Guangdong Intelligent Robotics Institute Dongguan China Wuhan University of Technology Intelligent Transport System Research Center Wuhan China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Pose tracking is one of the most critical techniques in mobile robot navigation, but dynamic environments will greatly reduce its accuracy and robustness. For addressing the above problem, this paper proposes a pose tracking method based on Monte Carlo localization and Entropy-based trimICP (E-trimICP) to achieve accurate and robust robot localization. First, a hybrid noise filtering method that fuses distance filtering and radius filtering is presented to improve the reliability of observation data. Then, an E-trimICP is designed to improve the accuracy of scan matching in dynamic environments. The proposed method can not only enhance the adaptability by determining the trim ratio based on the dynamic degree of the environment, but also improve the operational efficiency through the improved heap sorting. Ultimately, the effectiveness of the proposed pose tracking method is verified by real experiments using a self-developed mobile robot. © 2022 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Modeling and hierarchical fuzzy control for locomotion control of the quadruped robot

Modeling and hierarchical fuzzy control for locomotion contr...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Sun, Jingyu Zhou, Lelai Li, Yibin Xu, Honglin Geng, Binghou Center for Robotics School of Control Science and Engineering Shandong University Jinan Shandong250061 China Ministry of Education Engineering Research Center of Intelligent Unmanned System Shandong Jinan250061 China

ISBN: (纸本)9781665481090

In this paper, a stabilised motion method is proposed to control the different motions of a quadruped robot under different commands. By simplifying the motion model of the quadruped robot to a virtual spring damping driven model and analysing the variables affecting the change of the pitch angle of the body attitude in the motion state, the stable motion capability of the quadruped robot in different states is achieved by extracting and changing the variables to be controlled according to the given rules based on the concept of hierarchical fuzzy control. Several experiments are carried out in the simulation software to verify the feasibility of the proposed control method for stable control of the robot motion. © 2022 IEEE.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

Behaivor-aware Cooperation for UAV-UGV system 49

Behaivor-aware Cooperation for UAV-UGV System

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Liu, Junhui Ning, Zhaoyu Zhang, Bo Ma, Zhiqiang School of Astronautics Northwestern Poly Technical University Research Center for Intelligent Robotics Xi'an710072 China Civil Aviation Flight University of China Luoyang Beijiao Airport Luoyang471000 China Aerospace System Engineering Shanghai Shanghai201109 China

ISBN: (纸本)9798350331820

The cross-domain unmanned system represents a system that interacts with information between the unmanned ground vehicle (UGV) and the unmanned aerial vehicle (UAV) to accomplish cooperative behavior to dominate a span of air-ground domains. This paper presents a behavior-aware co-operative scheme based on backstepping control and master-slave structure with an admittance mechanism. According to the dynamics of cross-domain unmanned systems, backstepping controllers are designed for UAV and UGV, respectively, and the Lyapunov stability analyses ensure the theoretical feasibility. The master-slave structure-based cooperative scheme is presented, where the behavior-aware cooperative strategy is generated by an admittance mechanism to promote the leader's understanding of the follower's cooperation. The simulation results illustrate that the proposed cooperative scheme is effective in traceability and robustness with disturbances. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

Adaptive Adjustment of Factor's Weight for a Multi-Sensor SLAM 2

Adaptive Adjustment of Factor's Weight for a Multi-Sensor SL...

引用

2022 2nd International Conference on Computer, Internet of Things and Control Engineering, CITCE 2022

作者： Zhu, Zihan Zhang, Yi Wang, Weijun Feng, Wei Luo, Haowen Zhang, Yaojie Shenzhen Institute of Advanced Technology Chinese Academy of Sciences 518055 China University of Chinese Academy of Sciences Beijing100049 China Guangdong Provincial Key Lab of Construction Robotics and Intelligent Manufacturing Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial International Joint Research Center for Robotics and Intelligent Construction Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

A multi-sensor fusion simultaneous localization and mapping(SLAM) method based on factor graph optimization that can adaptively modify the weight of the graph factor is proposed in this study, to enhance the localization and mapping capability of autonomous robots in tough situations. Firstly, the algorithm fuses multi-lines lidar, monocular camera, and inertial measurement unit(IMU) in the odometry. Second, the factor graph is constructed using lidar and visual odometry as the unary edge and binary edge constraints, respectively, with the motion determined by IMU odometry serving as the primary odometry in the system. Finally, different increments of IMU odometry, lidar odometry and visual odometry are computed as favor factors to realize the adaptive adjustment of the factor's weight. The suggested method has greater location accuracy and a better mapping effect in complex situations when compared to previous algorithms. © Published under licence by IOP Publishing Ltd.

关键词： Optical radar

来源：评论

学校读者我要写书评

暂无评论

Spatial Pyramid Attention Based Two-Stream Network for Fish Behavior Recognition

Spatial Pyramid Attention Based Two-Stream Network for Fish ...

引用

2023 China Automation Congress, CAC 2023

作者： Zhang, Hao Ma, Xin Yu, Yining Wang, Liang Hao, Lin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Shandong Marine Group Ltd Jinan250000 China Shandong Deep Sea Green Farming Ltd Qingdao266000 China

ISBN: (纸本)9798350303759

In intensive aquaculture, achieving accurate monitoring of fish behavior is crucial for improving efficiency. Previous studies on fish behavior recognition have been limited to recognizing fish school behavior from a global perspective, disregarding the importance of recognizing behaviors that occur in local regions. In this study, a spatial pyramid attention based two-stream network (SPA-TSN) is proposed to recognize fish behavior from both global and local perspective. SPA-TSN is comprised of a spatial stream and a motion stream, both of which use a spatial pyramid attention module to obtain the spatial and temporal features of fish behavior respectively. Specifically, the spatial pyramid attention module aggregates the features from different levels of the baseline to capture the correlation between local and global information. Then, a fusion feature is obtained by adding the temporal feature to the spatial feature. The three features are assigned different weights through a learnable multiplier M for behavior recognition. To validate the effectiveness of the proposed method, experiments are conducted on our established fish behavior dataset which consists four common fish behaviors. The results demonstrate that the proposed method has the best performance with an accuracy of 95.904%, performing better than state-of-the-art methods. © 2023 IEEE.

关键词： Fish

来源：评论

学校读者我要写书评

暂无评论

Wearable multichannel pulse condition monitoring system based on flexible pressure sensor arrays

引用

Microsystems & Nanoengineering 2022年第1期8卷 249-258页

作者： Jie Wang Yirun Zhu Zhiyong Wu Yunlin Zhang Jian Lin Tao Chen Huicong Liu Fengxia Wang Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215123China Micro Nano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province&College of Information EngineeringTaiyuan University of TechnologyTaiyuan 030024China Suzhou Institute of Nano-tech and Nanobionics Chinese Academy of SciencesSuzhou 215123China

Pulse diagnosis is an irreplaceable part of traditional Chinese medical ***,application of the traditional pulse monitoring method was restricted in the modernization of Chinese medical science since it was difficult to capture real signals and integrate obscure feelings with a modern data ***,a novel multichannel pulse monitoring platform based on traditional Chinese medical science pulse theory and wearable electronics was *** pulse sensing platform simultaneously detected pulse conditions at three pulse positions(Chi,Cun,and Guan).These signals were fitted to smooth surfaces to enable 3-dimensional pulse mapping,which vividly revealed the shape of the pulse length and width and compensated for the shortcomings of traditional single-point pulse ***,the pulse sensing system could measure the pulse signals from different individuals with different conditions and distinguish the differences in pulse *** addition,this system could provide full information on the temporal and spatial dimensions of a person’s pulse waveform,which is similar to the true feelings of doctors’*** innovative,cost-effective,easily designed pulse monitoring platform based on flexible pressure sensor arrays may provide novel applications in modernization of Chinese medical science or intelligent health care.

关键词： multichannel system replace

来源：评论

学校读者我要写书评

暂无评论

Scene Modeling of Autonomous Vehicles Avoiding Stationary and Moving Vehicles on Narrow Roads

arXiv

引用

arXiv 2024年

作者： Zhang, Qianyi Guang, Jinzheng Cao, Zhenzhong Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China TBI Center Nankai University Tianjin300350 China

Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommodate two moving vehicles simultaneously due to the presence of stationary vehicles or limited road width. Autonomous vehicles must therefore profoundly comprehend their surroundings to identify passable areas and execute sophisticated maneuvers. To address this issue, this paper presents a comprehensive model for such an intricate scenario. The primary contribution is the principle of road width occupancy minimization, which models the narrow road problem and identifies candidate meeting gaps. Additionally, the concept of homology classes is introduced to help initialize and optimize candidate trajectories, while evaluation strategies are developed to select the optimal gap and most efficient trajectory. Qualitative and quantitative simulations demonstrate that the proposed approach, SM-NR, achieves high scene pass rates, efficient movement, and robust decisions. Experiments conducted in tiny gap scenarios and conflict scenarios reveal that the autonomous vehicle can robustly select meeting gaps and trajectories, compromising flexibly for safety while advancing bravely for efficiency. Visit https://*** for the video and code. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. © 2024, CC BY.

关键词： Trajectories

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：