检索结果-内蒙古大学图书馆

Learning-based hierarchical control for fault-tolerant cooperation of networked marine surface vehicles

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2022年第9期32卷 5717-5740页

作者： Liang, Chang-Duo Ge, Ming-Feng Wang, Leimin Liu, Zhi-Wei Li, Bo China Univ Geosci Sch Mech Engn & Elect Informat Wuhan 430074 Peoples R China Hubei Normal Univ Sch Mechatron & Control Engn Huangshi Hubei Peoples R China Cent South Univ Sch Automat Changsha Peoples R China China Univ Geosci Sch Automat Wuhan Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan Peoples R China

In this article, an efficient hierarchical control framework is proposed to address the cooperation problems (e.g., consensus tracking, formation tracking, and time-varying formation tracking) for the networked marine surface vehicles in the presence of external disturbances, actuator faults and failures. Based on this framework, several learning-based hierarchical control algorithms are developed, involving an iterative learning-based estimator and a local observer-based finite-time controller. The estimator is designed to achieve sufficiently precise estimation of the leader states through enough iterations, while the observer-based finite-time controller is used to observe and compensate the dynamic uncertainties as well as stabilize the error states in a finite time. By using the theories of Hurwitz, Schur, and Lyapunov stability, the sufficient conditions for guaranteeing the convergence of these learning-based hierarchical control algorithms are derived. Finally, numerical simulations are performed on the Cyber-Ships II to verify the effectiveness of the presented algorithms.

关键词： actuator faults and failures fault-tolerant cooperation learning-based hierarchical control algorithm networked marine surface vehicles

来源：评论

学校读者我要写书评

暂无评论

Force sensorless admittance control of body weight support system

引用

ADVANCED ROBOTICS 2021年第7期35卷 425-436页

作者： Huo, Jun Huang, Jian Tu, Xikai Fu, Zhongzheng Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Minist Educ Image Proc & Intelligent Control Key Lab Wuhan Peoples R China Hubei Univ Technol Sch Mech Engn Wuhan Peoples R China Chongqing Univ Technol Coll Vehicle Engn Chongqing Peoples R China

The effectiveness of rehabilitation treatment with the Body Weight Support (BWS) system has been demonstrated in patients with stroke and spinal cord injury. Many recent studies used expensive force sensors to realize the force control, which plays an important role in a BWS system. To reduce the system cost and complexity, and overcome some shortcomings of force sensors like measurement noise and lag, a force sensorless admittance control method is proposed. Then, an active BWS platform has been designed to verify the effect of the sensorless control method. The robust stability of the BWS system was proved through the small gain theorem. Human walking experiments assisted by the BWS system were conducted. It turns out that the estimated force is in close agreement with the value measured by the force sensor. The proposed controller achieved a control deviation of less than 10% around a desired mass offload during the experiments. It was validated effective for the proposed controller in accurate force control.

关键词： BWS system force estimation admittance control stability analysis small gain theorem

来源：评论

学校读者我要写书评

暂无评论

MSSF: A Novel Mutual Structure Shift Feature for Removing Incorrect keypoint Correspondences between images

引用

REMOTE SENSING 2023年第4期15卷 926-926页

作者： Liu, Juan Sun, Kun Jiang, San Li, Kunqian Tao, Wenbing China Univ Geosci Sch Comp Sci Hubei Key Lab Intelligent Geoinformat Proc Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan 430074 Peoples R China Ocean Univ China Coll Engn Qingdao 266100 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automation Natl Key Lab Sci & Technol Multispectral Informat Wuhan 430074 Peoples R China

Removing incorrect keypoint correspondences between two images is a fundamental yet challenging task in computer vision. A popular pipeline first computes a feature vector for each correspondence and then trains a binary classifier using these features. In this paper, we propose a novel robust feature to better fulfill the above task. The basic observation is that the relative order of neighboring points around a correct match should be consistent from one view to another, while it may change a lot for an incorrect match. To this end, the feature is designed to measure the bidirectional relative ranking difference for the neighbors of a reference correspondence. To reduce the negative effect of incorrect correspondences in the neighborhood when computing the feature, we propose to combine spatially nearest neighbors with geometrically "good" neighbors. We also design an iterative neighbor weighting strategy, which considers both goodness and correctness of a correspondence, to enhance correct correspondences and suppress incorrect correspondences. As the relative order of neighbors encodes structure information between them, we name the proposed feature the Mutual Structure Shift Feature (MSSF). Finally, we use the proposed features to train a random forest classifier in a supervised manner. Extensive experiments on both raw matching quality and downstream tasks are conducted to verify the performance of the proposed method.

关键词： structure shift feature mismatch removal image matching 3D reconstruction pose estimation

来源：评论

学校读者我要写书评

暂无评论

An enhanced fireworks algorithm and its application in fault detection of the displacement sensor

引用

Measurement: Sensors 2024年 34卷

作者： Hao, Tianlu Ma, Zhuang Wang, Yaping Computer Center of Tangshan University Tangshan063000 China Key Lab of Intelligent Data Information Processing and Control of Hebei Province Tangshan University Tangshan063000 China Tangshan No.1 Middle School in Hebei Province Tangshan063000 China

Regarding the fault detection problem of the displacement sensor, an enhanced fireworks algorithm with information crossover and conversion factor (EFWA-IC) is proposed in this paper. In EFWA-IC, an information crossover strategy is proposed to maintain population diversity. This strategy is based on the predatory behavior of carnivores in nature. In addition, a conversion factor is set to control whether the explosion operator is executed or not to provide a more reasonable search. To fully evaluate the performance of EFWA-IC, a range of tests are carried out based on the CEC2017 and 23 classical test functions. The results show that the performance of EFWA-IC is better than other state-of-the-art optimization algorithms in terms of solution accuracy, convergence speed, and stability. Finally, EFWA-IC is utilized to optimize the particle filter (PF) to establish a fault detection model of displacement sensor in the continuous casting mold. The simulation experiment result of field data manifests that EFWA–IC–PF can accurately detect faults in the displacement sensor. For bias faults, the RMSE of the EFWA–IC–PF model is 0.14468, and the false alarm rate (FAR) and missed detection rate (MDR) are 1 % and 0.5 %, respectively. For stuck faults, the RMSE is 1.00148, and the FAR and MDR are 0.88 % and 1 %, respectively. © 2024 The Authors

关键词： Fault detection

来源：评论

学校读者我要写书评

暂无评论

Multistability of Fractional-Order Neural Networks With Unbounded Time-Varying Delays

引用

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2021年第1期32卷 177-187页

作者： Zhang, Fanghai Zeng, Zhigang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Comp Sci & Technol Wuhan 430074 Peoples R China Educ Minist China Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

This article addresses the multistability and attraction of fractional-order neural networks (FONNs) with unbounded time-varying delays. Several sufficient conditions are given to ensure the coexistence of equilibrium points (EPs) of FONNs with concave-convex activation functions. Moreover, by exploiting the analytical method and the property of the Mittag-Leffler function, it is shown that the multiple Mittag-Leffler stability of delayed FONNs is derived and the obtained criteria do not depend on differentiable time-varying delays. In particular, the criterion of the Mittag-Leffler stability can be simplified to M-matrix. In addition, the estimation of attraction basin of delayed FONNs is studied, which implies that the extension of attraction basin is independent of the magnitude of delays. Finally, three numerical examples are given to show the validity of the theoretical results.

关键词： Delays Stability criteria Biological neural networks Asymptotic stability Numerical stability Attraction fractional-order neural networks (FONNs) Mittag-Leffler stability multistability unbounded time-varying delays

来源：评论

学校读者我要写书评

暂无评论

Fixed-Time Intra-/Inter-Layer Output Synchronization for Multiplex Networks Under Dynamic Event-Triggered control

引用

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2025年

作者： Liao, Boxiao Hu, Cheng Sheng, Yin Feng, Liang Zeng, Zhigang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Minist Educ China Key Lab Image Informat Proc & Intelligent Control Wuhan 430074 Peoples R China Xinjiang Univ Coll Math & Syst Sci Urumqi 830017 Peoples R China Xinjiang Univ Xinjiang Key Lab Appl Math Urumqi 830017 Peoples R China

In this paper, the fixed-time intra/inter-layer output synchronization problem of output-coupled multiplex networks is investigated utilizing a dynamic event-triggered control method. Firstly, to solve the issue of unavailability of node states resulting from uncontrollable factors, a multiplex networks model with observable intra/inter-layer output coupling information is constructed. Subsequently, two dynamic event-triggered control strategies based on output information are proposed, on the basis of which the fixed-time output synchronization criteria are established and Zeno behavior is excluded. The controllers proposed in this paper replace the common linear terms and multiple power-law terms in the existing fixed-time controllers with an exponential term based on the output errors, and also no longer include the intra/inter-layer coupling information of the nodes, making the form of the controllers more streamlined and easier to implement the control strategies. Finally, the effectiveness of the designed control protocols is verified by some numerical simulations based on Chua's circuit as well as spacecraft formation control.

关键词： Synchronization Couplings Protocols Event detection Multiplexing Aerodynamics Vectors Topology Symmetric matrices Correlation Multiplex networks fixed-time synchronization intra-/inter-layer output synchronization dynamic event-triggered control

来源：评论

学校读者我要写书评

暂无评论

Proximal nested primal-dual gradient algorithms for distributed constraint-coupled composite optimization

引用

APPLIED MATHEMATICS AND COMPUTATION 2023年第1期444卷

作者： Li, Jingwang An, Qing Su, Housheng Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Luoyu Rd 1037 Wuhan 430074 Peoples R China Wuchang Univ Technol Articial Intelligence Sch Wuhan 430223 Peoples R China

In this paper, we study a class of distributed constraint-coupled optimization problems, where each local function is composed of a smooth and strongly convex function and a convex but possibly non-smooth function. We design a novel proximal nested primal-dual gradient algorithm (Prox-NPGA), which is a generalized version of the exiting algorithm- NPGA. The convergence of Prox-NPGA is proved and the upper bounds of the step-sizes are given. Finally, numerical experiments are employed to verify the theoretical results and compare the convergence rates of different versions of Prox-NPGA.(c) 2022 Elsevier Inc. All rights reserved.

关键词： Constraint-coupled optimization Non-smooth function Proximal operator Primal-dual gradient algorithm

来源：评论

学校读者我要写书评

暂无评论

Self-supervised Multi-frame Monocular Depth Estimation with Pseudo-LiDAR Pose Enhancement

Self-supervised Multi-frame Monocular Depth Estimation with ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Wenhua Wu Guangming Wang Jiquan Zhong Hesheng Wang Zhe Liu MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Insititute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Depth estimation is one of the most important tasks in scene understanding. In the existing joint self-supervised learning approaches of depth-pose estimation, depth estimation and pose estimation networks are independent of each other. They only use the adjacent image frames for pose estimation and lack the use of the estimated geometric information. To enhance the depth-pose association, we propose a monocular multi-frame unsupervised depth estimation framework, named PLPE-Depth. There are a depth estimation network and two pose estimation networks with image input and pseudo-LiDAR input. The main idea of our approach is to use the pseudo-LiDAR reconstructed from the depth map to estimate the pose of adjacent frames. We propose depth re-estimation with a better pose between the image pose and the pseudo-LiDAR pose to improve the accuracy of estimation. Besides, we improve the reconstruction loss and design a pseudo-LiDAR pose enhancement loss to facilitate the joint learning. Our approach enhances the use of the estimated depth information and strengthens the coupling between depth estimation and pose estimation. Experiments on the KITTI dataset show that our depth estimation achieves state-of-the-art performance at low resolution. Our source codes will be released on https://***/IRMVlabIPLPE-Depth.

关键词：

来源：评论

学校读者我要写书评

暂无评论

3D Instances as 1D Kernels

arXiv

引用

arXiv 2022年

作者： Wu, Yizheng Shi, Min Du, Shuaiyuan Lu, Hao Cao, Zhiguo Zhong, Weicai Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of AIA Huazhong University of Science and Technology China Huawei CBG Consumer Cloud Service Search & Maps BU China

We introduce a 3D instance representation, termed instance kernels, where instances are represented by one-dimensional vectors that encode the semantic, positional, and shape information of 3D instances. We show that instance kernels enable easy mask inference by simply scanning kernels over the entire scenes, avoiding the heavy reliance on proposals or heuristic clustering algorithms in standard 3D instance segmentation pipelines. The idea of instance kernel is inspired by recent success of dynamic convolutions in 2D/3D instance segmentation. However, we find it non-trivial to represent 3D instances due to the disordered and unstructured nature of point cloud data, e.g., poor instance localization can significantly degrade instance representation. To remedy this, we construct a novel 3D instance encoding paradigm. First, potential instance centroids are localized as candidates. Then, a candidate merging scheme is devised to simultaneously aggregate duplicated candidates and collect context around the merged centroids to form the instance kernels. Once instance kernels are available, instance masks can be reconstructed via dynamic convolutions whose weights are conditioned on instance kernels. The whole pipeline is instantiated with a dynamic kernel network (DKNet). Results show that DKNet outperforms the state of the arts on both ScanNetV2 and S3DIS datasets with better instance localization. Code is available: https://***/W1zheng/DKNet. Copyright © 2022, The Authors. All rights reserved.

关键词： Pipelines

来源：评论

学校读者我要写书评

暂无评论

Vehicle Scheduling with Exact Minimum Fleet-Size

SSRN

引用

SSRN 2022年

作者： Shen, Yindong Li, Yuanyuan School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Ministry of Education China

Vehicle scheduling plays a profound role in public transit planning. Vehicle scheduling problem (VSP) addresses the task of assigning vehicles to cover timetabled trips to minimize the fleet-size as well as operating costs. The fixed cost of acquiring and maintaining vehicles is much more expensive than the operating cost. It is of great theoretical and practical significance to construct the vehicle schedules with the exact minimum fleet-size (EMF). The theorem that the EMF is equal to the maximum incompatible degree of the timetabled trips is first proposed and proved. Based on the theorem and time compatibility between any two trips, this paper theoretically examines vehicle scheduling with EMF. Specifically, construction procedures of schedules with EMF are provided for VSP in a specific case as well as the general case. Furthermore, sensitivity analysis of the EMF and the schedule with EMF are carried out. The EMF is possible to decrease by 1 if a trip is deleted or the start/end time of a trip is changed in the timetable. © 2022, The Authors. All rights reserved.

关键词： Sensitivity analysis

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

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

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：