检索结果-内蒙古大学图书馆

作者： Wu, Jin-Ping Peng, Zhi-Hong Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education China

ISBN: (纸本)9783902661937

Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method. © 2011 IFAC.

关键词： Military applications

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Prediction of wind power generation based on chaotic phase space reconstruction models

Prediction of wind power generation based on chaotic phase s...

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7th International Conference on Power Electronics and Drive systems, PEDS 2007

作者： Lei, Dong Lijie, Wang Shi, Hu Shuang, Gao Xiaozhong, Liao Department of Automatic Control Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education China Chu Kochen Honors College Zhejiang University China

ISBN: (纸本)1424406455

The development of wind generation has rapidly progressed over the last decade, but it must be integrated into power grids and electric utility systems. However, it cannot be dispatched like conventional generators because the pover generated by the wind changes rapidly because of the continuous fluctuation of wind speed and direction. So it is very important to predict the wind power generation. This paper discusses why the wind power generation can be predicted in short-term, and how to setup the construction of an ANN (Artificial Neural Network) prediction model of wind power based on chaotic time series. The analysis of modeling with low dimensions nonlinear dynamics indicates that time series of wind power generation have chaotic characteristics, and wind power can be predicted in short-term. Phase space reconstruction method can be used for ANN model design. The data from the wind farm located in the Saihanba China are used for this study. © 2007 IEEE.

关键词： Electric utilities

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Impedance control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Flow-rate Characteristics Measurement of Regulators Based on the Pressure Response in an Isothermal Tank

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Chinese Journal of Mechanical Engineering 2009年第5期22卷 633-638页

作者： FAN Wei ZHANG Hongli WANG Tao PENG Guangzheng ONEYAMA Naotake Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China School of Automation Beijing Institute of Technology Beijing 100081 China Electrical Engineering College Xinjiang University Urumchi 830046 China SMC Tsukuba Technical Center Ibaraki-ken 300-2493 Japan

Regulators are important components in pneumatic system, and their flow-rate characteristics are the key parameters for designers. According to the correlatively international standard and national standard of China, which describe the flow-rate characteristics measurement method of pneumatic regulators, the pressure and the flow are measured point by point, and then the flow-rate characteristics curve is plotted point to point. This method has some disadvantages, such as equipment complexity, much air consumption, and low efficiency. To settle the problems presented above, this paper puts forward a new high efficient and energy saving flow-rate characteristics measurement method of regulators, which is based on the pressure response when charging and discharging to an isothermal tank without any flow meters. The measurement principle, the system and the steps are introduced. And the tracking differentiator is used for the data processing of the pressure difference. Two typical kinds of regulators were experimentally investigated, and their flow-rate characteristics curves were obtained with the new and the conventional method, respectively. Comparatively, it＇s proved that this new method is feasible because it is not only able to meet the demand of the measurement precision, but also to save energy and improve efficiency. Compared to the conventional method, the new method takes only about 1/10 amount of time and consumes about only 1/30 amount of air. Hopefully it will be able to serve as an international standard of flow-rate characteristics measurement method of regulators.

关键词： regulator flow-rate characteristics isothermal tank charging and discharging once pressure response tracking differentiator energy saving and high efficiency

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment 43

Photoelectric Intelligent Detection Platform Based on Multif...

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43rd Chinese control Conference, CCC 2024

作者： Xu, Qianjing Chen, Wenjie Xue, Zhijun State Key Lab of Intelligent Control and Decision of Complex Systems Beijing10081 China Beijing Institute of Technology School of Automation Beijing100081 China

ISBN: (纸本)9789887581581

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson Series. The photoelectric intelligent platform can be used to run multiple target detection algorithms after design and implementation. Completed as follows. First of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing box. Secondly, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availability of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing equipment. Overall, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Program debugging

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Hand-eye servo and flexible control of an anthropomorphic arm

Hand-eye servo and flexible control of an anthropomorphic ar...

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2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

作者： Ma, Gan Huang, Qiang Yu, Zhangguo Chen, Xuechao Meng, Libo Sultan, Malik Saad Zhang, Wen Liu, Yan IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479927449

One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform. © 2013 IEEE.

关键词： Anthropomorphic robots

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Self-Attention based Temporal Intrinsic Reward for Reinforcement Learning

Self-Attention based Temporal Intrinsic Reward for Reinforce...

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2021 China Automation Congress, CAC 2021

作者： Jiang, Zhuo Tian, Daiying Yang, Qingkai Peng, Zhihong The School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Peng Cheng Laboratory Guangdong Shenzhen China

ISBN: (纸本)9781665426473

This paper proposes a self-attention based temporal intrinsic reward model for reinforcement learning (RL), to synthesize the control policy for the agent constrained by the sparse reward in partially observable environments. This approach can solve the problem of temporal credit assignment to some extent and deal with the low efficiency of exploration. We first introduce a sequence-based self-attention mechanism to generate the temporary features, which can effectively capture the temporal property of the task for the agent. During the training process, the temporary features are employed in each sampled episode to elaborate the intrinsic rewards, which is combined with the extrinsic reward to help the agent learn a feasible policy. Then we use the meta-gradient to update this intrinsic reward model in order that the agent can achieve better performance. Experiments are given to demonstrate the superiority of the proposed method. © 2021 IEEE

关键词： Reinforcement learning

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Modified gain-based lower bounds computation for the real structured singular value 7

Modified gain-based lower bounds computation for the real st...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Gao, Linjie Song, Zhuoyue Zhang, Xuenan Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education of China China Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, a modified gain-based algorithm (GBA) is presented to calculate the lower bound for the real structured singular Value (μ) problem. The basic idea of GBA is reformulating the real μ problem into a related worst-case disturbance-error performance problem, then the standard lower bound algorithm for worst-case performance assessment is used for calculation of maximizer uncertainty which maximizes the disturbance-error gain, and next this maximizer uncertainty can be used to obtain the lower bound for real μ. In the initial gain-based algorithm previously suggested by Pete Seiler etal, the way disturbance inserted and the error pulled off is from one channel to one channel. In this proposed modified algorithm, the error signal is still pulled off from one channel, however, the disturbance is inserted into from a linear combination (summation) of all channels, hence the effect of signals from all channels are reflected into the error signal. Several test problems indicate that the modified gain-based algorithm has a better performance for pure real μ problems. © 2016, Fuji Technology Press. All rights reserved.

关键词： Errors

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Aeromagnetic Compensation Based on Tikhonov Regularization with Limited L-Curve Parameter-Choice Algorithm 37

Aeromagnetic Compensation Based on Tikhonov Regularization w...

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37th Chinese control Conference, CCC 2018

作者： Mengyin, Fu Jie, Li Tailin, Wu Tong, Liu Meiling, Wang Kai, Wang Jiapeng, Kang Beijing Institute of Technology Beijing100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing100081 China Nanjing University of Science and Technology Nanjing210094 China

ISBN: (纸本)9789881563941

Magnetic anomaly detection has great application value to national economic development and national defense construction, while the presence of various interference magnetic fields on the aircraft will affect the detection of magnetic anomaly. Therefore, it is very important to compensate the aircraft interference magnetic field. In order to solve the problem that the accuracy of the parameters is poor by using ridge estimation in the process of solving the parameters of aircraft interference magnetic field model, we propose a method based on Tikhonov Regularization (TR). Firstly, the optimal regularization parameter is obtained by the limited L-curve method in our work. Secondly, the aircraft interference magnetic field model parameters are obtained by using the TR method. Finally, we use the model parameters to calculate the aircraft interference magnetic field in the real flight, and complete the compensation. The effectiveness of this method is validated by simulation experiments. The results show that the method proposed in this paper has the advantages of high precision and convenient application, so it can be used to compensate the aircraft interference magnetic field effectively. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Parameter estimation

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Robust stability for a class of nonlinear Lurie systems with unmatched uncertainties 35

Robust stability for a class of nonlinear Lurie systems with...

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第35届中国控制会议

作者： GUO Yang GUO Shuli HAN Lina Key Lab of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Department of Cardiovascular Internal Medicine.Chinese PLA General Hospital

ISBN: (纸本)9781509009107

In this paper, a strategy is established to design the robust controller for a class of continuous-time nonlinear systems with Lurie *** uncertainty is decomposed into matched and unmatched components, and an augmented control is introduced for the unmatched uncertainty. An optimal control algorithm based on Hamilton-Jacobi-Bellman(HJB) equation is proposed for the design of a bounded robust controller and finite-time-horizon nonlinear systems. In this case, the robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainties,regulation, and control. The bounded controller no longer requires the knowledge of the upper bound of systems uncertainty.A computable sufficient condition is also derived to ensure that the solution to the corresponding optimal control problem is a solution to the robust control problem. A simulation example is provided to verify the effectiveness under the present robust control scheme.

关键词： Robust control Uncertain Nonlinear systems Optimal control HJB Equation Lyapunov Stability

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