检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO)

作者： Shen, Yi Hong, Yang Zhou, Wei Tai, Ruochen Yuan, Ye Ding, Han Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Peoples R China

ISBN: (纸本)9781665405355

Redundancy makes soft manipulators manage to complete a variety of tasks in complex environments. However, a pseudo-inverse kinematics controller for redundant soft manipulators simply maximizes the manipulability while ignoring some material constraints, e.g., actuation saturation and control noise. As manipulability is the indicator for the dexterity of motion in all directions of the redundant soft manipulators, this work proposes an optimization based controller, where the manipulability and robustness are optimized for a cable-driven redundant soft manipulator to adapt actuation saturation and control noise. Experiments are conducted to demonstrate the effectiveness of the proposed controller.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Stability of partially unstable discrete-time switched positive nonlinear systems with delays

引用

Applied Mathematics and Computation 2025年 507卷

作者： Ni, Jinyuan Sheng, Yin Xiao, Qiang Zeng, Zhigang Huang, Tingwen School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen China

This paper addresses the stability issue of discrete-time switched positive nonlinear systems (SPNSs) characterized by partial unstable subsystems and constant delays. Firstly, we use a parameter to constrain the ratio of active durations of the stable and unstable modes, and derive the exponential stability conditions for SPNSs based on a key function. Then we analyze the relationship between convergence speed and the constant delay. Additionally, we obtain a stability criterion of SPNSs under a particular sequence of switching signals. Finally, we validate the results through a numerical example. © 2025 Elsevier Inc.

关键词： Stability criteria

来源：评论

学校读者我要写书评

暂无评论

Visual SLAM Based on Dynamic Object Detection 33

Visual SLAM Based on Dynamic Object Detection

引用

33rd Chinese control and Decision Conference (CCDC)

作者： Chen, Bocheng Peng, Gang He, Dingxin Zhou, Cheng Hu, Bin Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Minist Educ Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Civil & Hydraul Engn Wuhan 430074 Peoples R China Shantui Construct Machinery Co Ltd Jining 272073 Peoples R China

ISBN: (纸本)9781665440899

On the one hand, traditional visual SLAM does not consider dynamic objects in the scene, on the other hand, deep learning technology has been widely used in computer vision. This paper combines the two organically, and proposes an algorithm that uses dynamic object detection to improve the robustness of visual SLAM in a dynamic environment. Firstly, we use the object detection network integrated into the attention mechanism to detect the dynamic target in the key frame. Then, we follow the optical flow detection to further determine the dynamic feature points in the scene and eliminate them. Finally, we use the static feature points for camera tracking to achieve highly robust monocular visual SLAM. The method described in this paper can not only eliminate dynamic feature points, but also retain as many static feature points as possible. The method described in this paper is compared with the original ORB-SLAM2 algorithm and DS-SLAM algorithm, and tested with public data sets. The results show that the method described in this paper can effectively eliminate the influence of dynamic objects on the visual SLAM algorithm.

关键词： Visual SLAM dynamic object detection deep learning optical flow detection attention mechanism

来源：评论

学校读者我要写书评

暂无评论

A New control System Based on An Improved PID Neural Network controller for Landslide System control 39

A New Control System Based on An Improved PID Neural Network...

引用

39th Chinese control Conference (CCC)

作者： Zhang, Ying Sun, Shu Lian, Cheng Wang, Xiaoping Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Wuhan Univ Technol Sch Automat Wuhan 430074 Peoples R China

ISBN: (纸本)9789881563903

In this paper, a new control system based on the improved PM neural network controller (PIDNNC) is designed to control the landslide displacement. In the control system, the fuzzy comprehensive judgement model of landslide system is established to judge whether the system needs to be controlled and give the expected displacement. To solve the problem of random initialization in PIDNNC, This paper proposed an improved PIDNNC based on fuzzy PID controller (F-PIDNNC). The fuzzy PID controller is used to obtain the proportional, integral and differential coefficients k(p), k(i) and k(d). Then the obtained parameters are taken as the initial weights of PIDNN. The effectiveness of the proposed control system is simulated on Baishuihe and Shiliushubao landslides. The results show that the proposed control system based on F-PIDNNC is much accurate and faster than the traditional one-dimensional fuzzy PID controller and PIDNNC.

关键词： PID neural network Fuzzy PID controller Landslide control Stability evaluation

来源：评论

学校读者我要写书评

暂无评论

Observer-Based Consensus for Positive Multiagent Systems With Directed Topology and Nonlinear control Input

引用

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2019年第7期49卷 1459-1469页

作者： Wu, Han Su, Housheng Huazhong Univ Sci & Technol Sch Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Hubei Peoples R China

This paper studies the consensus problem for directed positive multiagent systems with nonlinear control input. The directed topology is supposed to be strongly connected. For the case of sector input nonlinearities, the non-negative global consensus conditions are presented by using a novel analysis method which directly considers the nonlinear input, and the feedback matrices are obtained with convex optimization method by solving the quadratic matrix inequalities subject to nonnegative constraints. For the case of saturation-type sector input nonlinearities, the global consensus and local consensus results are analyzed, respectively. With the properties of Metzler matrix, the non-negative consensus results are further extended to the strongly connected and balanced positive multiagent systems subject to (saturation-type) sector input nonlinearities and parameter uncertainties. The results are simplified, and the feedback matrices can be given by solving iterative linear matrix inequality with non-negative constraints. Two simulation examples and a practical electrical circuit model are finally carried out to verify the proposed control schemes.

关键词： Consensus convex optimization directed topology iterative linear matrix inequality nonlinear control input positive multiagent systems

来源：评论

学校读者我要写书评

暂无评论

Distributed Online Optimization for Charging and Discharging of Plug-in Electric Vehicles

Distributed Online Optimization for Charging and Discharging...

引用

4th IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Xiong, Haiming Chi, Ming Liu, Zhi-Wei Hu, Dandan Zhu, Liang -Liang Jiang, Cheng Gui, Jun -Ping Rao, Yao Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Wuhan 430074 Peoples R China South Cent Univ National Sch Management Wuhan 430074 Peoples R China Nari Grp Corp State Grid Elect Power Res Inst Nanjing 210000 Peoples R China Wuhan Efficiency Evaluat Co Ltd State Grid Elect Power Res Inst Wuhan Peoples R China

ISBN: (纸本)9781665490283

The increasing number of uncoordinated charging and discharging for plug-in electric vehicles (PEVs) poses new challenges to the operation of the distribution network. We introduce a dynamic price mechanism so that charging at peak load will lead to an increase in cost. Then, a distributed online charging and discharging scheduling scheme for PEVs based on the dynamic price mechanism is proposed, considering the minimization of charging cost and battery degradation cost. Unlike most of the existing studies that require the future information of PEVs to schedule charging, the proposed algorithm can solve the scheduling problem for PEVs by taking advantage of a distributed alternating direction method of multipliers (ADMM). Simulation results demonstrate the effectiveness and correctness of the proposed scheduling scheme.

关键词： Plug-in electric vehicles

来源：评论

学校读者我要写书评

暂无评论

Switching the activity of Taq polymerase using clamp-like triplex aptamer structure

引用

NUCLEIC ACIDS RESEARCH 2020年第15期48卷 8591-8600页

作者： Hu, Yingxin Wang, Zhiyu Chen, Zhekun Pan, Linqiang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Educ Minist China Key Lab Image Informat Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China Shijiazhuang Tiedao Univ Coll Informat Sci & Technol Shijiazhuang 050043 Hebei Peoples R China

In nature, allostery is the principal approach for regulating cellular processes and pathways. Inspired by nature, structure-switching aptamer-based nanodevices are widely used in artificial biotechnologies. However, the canonical aptamer structures in the nanodevices usually adopt a duplex form, which limits the flexibility and controllability. Here, a new regulating strategy based on a clamp-like triplex aptamer structure (CLTAS) was proposed for switching DNA polymerase activity via conformational changes. It was demonstrated that the polymerase activity could be regulated by either adjusting structure parameters or dynamic reactions including strand displacement or enzymatic digestion. Compared with the duplex aptamer structure, the CLTAS possesses programmability, excellent affinity and high discrimination efficiency. The CLTAS was successfully applied to distinguish single-base mismatches. The strategy expands the application scope of triplex structures and shows potential in biosensing and programmable nanomachines.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Zero-shot Text-driven Physically Interpretable Face Editing

arXiv

引用

arXiv 2023年

作者： Meng, Yapeng Yang, Songru Hu, Xu Zhao, Rui Li, Lincheng Shi, Zhenwei Zou, Zhengxia Image Processing Center School of Astronautics Beihang University Beijing100191 China Beijing Key Laboratory of Digital Media Beihang University Beijing100191 China State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China Shanghai Artificial Intelligence Laboratory China The Netease Fuxi AI Lab Hangzhou China The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

This paper proposes a novel and physically interpretable method for face editing based on arbitrary text prompts. Different from previous GAN-inversion-based face editing methods that manipulate the latent space of GANs, or diffusion-based methods that model image manipulation as a reverse diffusion process, we regard the face editing process as imposing vector flow fields on face images, representing the offset of spatial coordinates and color for each image pixel. Under the above-proposed paradigm, we represent the vector flow field in two ways: 1) explicitly represent the flow vectors with rasterized tensors, and 2) implicitly parameterize the flow vectors as continuous, smooth, and resolution-agnostic neural fields, by leveraging the recent advances of implicit neural representations. The flow vectors are iteratively optimized under the guidance of the pre-trained Contrastive Language-image Pretraining (CLIP) model by maximizing the correlation between the edited image and the text prompt. We also propose a learning-based one-shot face editing framework, which is fast and adaptable to any text prompt input. Our method can also be flexibly extended to real-time video face editing. Compared with state-of-the-art text-driven face editing methods, our method can generate physically interpretable face editing results with high identity consistency and image quality. Our code will be made publicly available. © 2023, CC BY-NC-SA.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

image Regularizations Based on the Sparsity of Corner Points

引用

IEEE TRANSACTIONS ON image processing 2019年第1期28卷 72-87页

作者： Liu, Haosen Tan, Shan Huazhong Univ Sci & Technol Sch Automat Minist Educ China Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China

Many analysis-based regularizations proposed so far employ a common prior information, i. e., edges in an image are sparse. However, in local edge regions and texture regions, this prior may not hold. As a result, the performance of regularizations based on the edge sparsity may be unsatisfactory in such regions for image-related inverse problems. These regularizations tend to smooth out the edges while eliminating the noise. In other words, these regularizations' abilities of preserving edges are limited. In this paper, a new prior that the corner points in a natural image are sparse was proposed to construct regularizations. Intuitively, even in local edge regions and texture regions, the sparsity of corner points may still exist, and hence, the regularizations based on it can achieve better performance than those based on the edge sparsity. As an example, by utilizing the sparsity of corner points, we proposed a new regularization based on Noble's corner measure function. Our experiments demonstrated the excellent performance of the proposed regularization for both image denoising and deblurring problems, especially in local edge regions and texture regions.

关键词： Corner detection image restoration nonlocal method regularization structure tensor

来源：评论

学校读者我要写书评

暂无评论

Causal Invariant Hierarchical Molecular Representation for Out-of-distribution Molecular Property Prediction

Causal Invariant Hierarchical Molecular Representation for O...

引用

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xinlong Wen Yifei Guo Shuoying Wei Wenhan Long Lida Zhu Rongbo Zhu Huazhong Agricultural University Wuhan China College of Informatics Huazhong Agricultural University Wuhan China Shenzhen Institute of Nutrition and Health Huazhong Agricultural University Shenzhen China Shenzhen Branch Guangdong Laboratory for Lingnan Modern Agriculture Genome Analysis Laboratory of the Ministry of Agriculture and Agricultural Genomics Institute at Shenzhen Chinese Academy of Agricultural Sciences Shenzhen China Engineering Research Center of Intelligent Technology for Agriculture Ministry of Education Wuhan China Huazhong University of Science and Technology Wuhan China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Molecular representation learning is widely used in the field of drug discovery, due to its ability to accurately capture the complex features of compounds in high-dimensional space. However, existing molecular representation learning models are prone to be influenced by spurious parts during distribution shifts (also known as out-of-distribution, or OOD), which results in models mistakenly treating these spurious parts as crucial features of molecules, thereby limiting the generalization capability of the models. To tackle this issue, a novel invariant molecular representation learning model, called Causal Invariant Hierarchical Molecular Representation Graph Neural Networks (CHiMoGNN), is proposed for OOD molecular property prediction. In CHiMoGNN, a Feature Enhancement (FE) module is designed to leverage the multi-level molecular parts to enhance the expression of invariant features, thereby enhancing the model’s capability to capture key molecular information. In addition, a Cartesian Product based Environmental Impact (EI) module is adopted to generate counterfactual samples with environmental diversity. Consequently, these samples are utilized to train a classifier that maintains consistent performance across various environments. Extensive experiments on seven real-world datasets demonstrate that CHiMoGNN outperforms 9 state-of-the-art models, achieving a 5.73% increase in average ROC-AUC, and the results also show that CHiMoGNN can effectively maintain generalization in various distribution shifts. Code and datasets are available at https://***/Chertuion/CHiMoGNN.

关键词： Representation learning Limiting Codes Predictive models Feature extraction Iron Graph neural networks Drug discovery Data mining Compounds

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：