检索结果-内蒙古大学图书馆

第43届中国控制会议

作者： Qianjing Xu Wenjie Chen Zhijun Xue State Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

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 *** photoelectric intelligent platform can be used to run multiple target detection algorithms after design and *** as *** 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 ***, 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 ***, 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.

关键词： Multifunctional Edge Computing Equipment Photoelectric intelligent Platform Object Detection

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An Improved Segmentation Method for Porous Transducer CT Images

An Improved Segmentation Method for Porous Transducer CT Ima...

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2019第十一届数字图像处理国际会议

作者： Meiling Wang Ruoyu Guo Ke Ning Li Ming Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

The paper presents an improved image segmentation method with a straightforward workflow for porous transducer CT images,which can be used to establish porous transducer three-dimensional model and further study its *** distribution of CT images is firstly analyzed and Gaussian filtering is conducted to reduce divergence of CT *** improved fully convolutional neural network model based on U-Net,for which multi-channel images are set as network input,is trained using training *** proposed method improves pore connectivity of the segmentation *** of porosity and permeability relative errors as well as MIOU on test set shows that the proposed method is an effective and generic two-phase segmentation method for porous transducer CT images without need of adjusting any parameters.

关键词： Porous transducer image segmentation permeability pore connectivity fully convolutional neural network

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3D Semantic Mapping Based on Convolutional Neural Networks

3D Semantic Mapping Based on Convolutional Neural Networks

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第37届中国控制会议

作者： Jing Li Yanyu Liu Junzheng Wang Min Yan Yanzhi Yao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

As an important part of environmental perception, maps guarantee the accuracy of intelligent robots in navigation,localization and path planning. The traditional 3D maps mainly focus on the spatial structure of the objects, which lacks the semantic information. A method is proposed in the paper, this method combines convolutional neural networks（CNNs） and Simultaneous Localization and Mapping（SLAM） to create global dense 3D semantic maps for indoor scenes. The deep neural network that includes convolution and deconvolution is designed to predict semantic category of every pixel. RGB-D camera is used to obtain scene information, accomplish localization and build 3D maps simultaneously. The semantic information is integrated into the 3D scene, we present an octree map method to replace traditional point clouds method, which can reduce the error from pose estimation and single frame labeling. By this method, the accuracy of semantic information is greatly improved.

关键词： CNNs SLAM Semantic Map Octree Map

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Target tracking algorithm with adaptive learning rate complementary filtering

Target tracking algorithm with adaptive learning rate comple...

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第三十九届中国控制会议

作者： Yulei Pan Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

The Correlation filtering algorithm is not effective for fast deformation and fast movement. It is easy to lose when encountering problems such as occlusion. However, it has a good advantage of dealing with situations such as motion blur and lighting changes. A tracking algorithm based on color statistical features has a good effect on the rotation and translation of *** Staple algorithm combines the two algorithms to track using complementary fusion, but it also does not handle the occlusion and other issues well. In this paper, based on the Staple algorithm, the average peak correlation energy（APCE） and the maximum response are introduced. The value is used as the tracking confidence, and a detector using a support vector machine（SVM） is *** the tracking confidence is low, the target is blocked or moved violently. At this time, the detector works,and the search area is expanded around the original area for the target. At the same time, because the traditional tracking algorithm uses a fixed learning rate to update the template, this paper uses an adaptive tracking learning rate. When the tracking confidence is low, the update speed of the target model is reduced, which can effectively deal with the occlusion deformation in the tracking process. OTB100 benchmark experiments show that this method can solve the occlusion problem during target tracking. The degree of change is robust and stability.

关键词： Target Tracking Complementary Filtering Re-detection Adaptive Learning Rate

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From Unmanned systems to Autonomous intelligent systems

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Engineering 2022年第5期8卷 16-19页

作者： Jie Chen Jian Sun Gang Wang Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 200092China Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

*** Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century *** that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can *** attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].

关键词： frontier inert policy

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A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

A new control method of quadruped robot walking on rough ter...

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IEEE International Conference on Robotics and Biomimetics

作者： Xin Li Junyao Gao Qiang Huang Haojian Lu Zhe Xu Yi Liu Intelligent Robotics Institute Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.

关键词： Legged locomotion Foot Trajectory Mathematical model Robot sensing systems

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A Novel Soft Switching Two-Stage Heating Power Supply Topology for Silicon Growth Furnace 35

A Novel Soft Switching Two-Stage Heating Power Supply Topolo...

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第35届中国控制会议

作者： GUO Xin REN Hai-Peng LIU Ding SUO Jun PENG Shu-Tao School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Lab.of Complex System Control and Intelligent Information Processing Shaanxi Electric Power Research Institute

ISBN: (纸本)9781509009107

Mono-crystalline silicon is widely applied in the photovoltaic and the integrated circuit *** power supply,as the key element of the mono-crystalline silicon growth furnace,plays an important role in the performance of the whole *** this paper,we propose a new kind of two-stage silicon growth furnace heating power supply topology *** first stage three phase rectifier employs the compound active clamp zero voltage soft switching(CACZVS) three-phase power factor correction(PFC) converter to achieve unity power factor and DC bus voltage regulation,and the second stage DC/DC converter employs phase shifted full bridge zero voltage and zero current soft switching converter(FB-ZVZCS) to regulate the output *** with the heating power supply of non-controlled rectifier type or three-phase power factor correction circuit using hard switching,the proposed two-stage converter structure can achieve high power factor,high efficiency and more flexibility of *** simulation results show the correctness of the analysis.

关键词： Silicon Growth Furnace Heating Power Supply CACZVS three phase PFC converter FB-ZVZCS converter

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Observer-based output feedback control of networked control systems with non-uniform sampling and time-varying delay

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International Journal of systems Science 2017年第14期48卷 3118页

作者： Meng, Su Chen, Jie Sun, Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper investigates the problem of observer-based output feedback control for networked control systems with non-uniform sampling and time-varying transmission delay. The sampling intervals are assumed to vary within a given interval. The transmission delay belongs to a known interval. A discrete-time model is first established, which contains time-varying delay and norm-bounded uncertainties coming from non-uniform sampling intervals. It is then converted to an interconnection of two subsystems in which the forward channel is delay-free. The scaled small gain theorem is used to derive the stability condition for the closed-loop system. Moreover, the observer-based output feedback controller design method is proposed by utilising a modified cone complementary linearisation algorithm. Finally, numerical examples illustrate the validity and superiority of the proposed method.

关键词： Non-uniform sampling time-varying delay networked control systems output feedback control stability

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