Quadruped robot has gained its popularity due to the adaptation ability of rough *** improve the walking stability and balance of quadrupeds,separate static walking methods are discussed based on specific known *** so...
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ISBN:
(纸本)9781467397155
Quadruped robot has gained its popularity due to the adaptation ability of rough *** improve the walking stability and balance of quadrupeds,separate static walking methods are discussed based on specific known *** some unknown terrains,a uniform terrain model is established in this paper.A fuzzy logic based terrain estimation method is then proposed to estimate the terrain *** on the criterion of maximum working space,a body posture and center of gravity(COG) position adjusting strategy is proposed,and a method to adjust the posture and COG position is derived based on the kinematic *** show that the proposed methods can deal with different terrains and body posture and COG position can be tuned according to the terrain.
In this paper, we study a distributed state estimation problem for Markov jump systems (MJS) over sensor networks, in which each sensor node connects with each other through wireless networks with communication delays...
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In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
In recent years,the introduction of Siamese network has brought new vitality to the object tracking ***,high-performance Siamese trackers cannot run at a real-time speed on mobile devices due to their complex and huge *** distillation is a common and effective model compression method,but it is difficult to be applied to the challenging task like object *** find out the fundamental cause is that the imbalance between the foreground and background in the object tracking task,which aggravates the problem of insufficient feature extraction ability of small ***,we propose the attention mask distillation(AMD) to help the student tracker focus on the foreground area faster and more *** attention mask can be easily obtained from the feature maps and brings fine-granularity to the traditional binary *** experimental results on OTB100 and VOT2018 show that our method enables the student tracker perform as well as the teacher *** the same time,it's able to run on the CPU at a hyper-real-time of 66 fps and achieves nearly 9 times model compression *** low computational and storage costs make it possible to deploy high-performance trackers on resource-constrained platforms.
Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most p...
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Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most previous research works on multi-agent systems studied the first- and second-order dynamics. However, in engineering, many systems are modeled by higher-order dynamics. This paper reviews the major results and progress in distributed high-order multi-agent *** the review, a short discussion section is included to summarize the existing research and propose several promising research directions along with some open problems that are deemed important for further investigations.
Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear p...
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Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site...
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ISBN:
(纸本)9781467374439
Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(input-to-state stability) method and numerical simulations are given to show the effectiveness.
There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often ha...
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ISBN:
(纸本)9781479900305
There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.
This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers m...
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ISBN:
(纸本)9781509009107
This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composit...
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ISBN:
(纸本)9781479947249
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established i...
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ISBN:
(纸本)9781467374439
This paper presents a new method for optimal design of controllers based on a "library" thought and differential *** first an extensible component library and a performance criteria library are established in the *** component library contains different types of system components which may be essential for controller *** components can be selected from the library and then combined to form a controller with richer *** performance criteria library includes some common control performance *** can choose one from it according to performance ***,the differential evolution algorithm is utilized to optimize the parameters of each component in order to find the optimal solution and ultimately obtain the controller structure and parameters which meet *** were done on different types of control *** results show that the controllers designed by the proposed method for different types of control objects generally have better comprehensive performance than the PID controllers designed by conventional methods,differential evolution and genetic ***,stability and generalizability of the proposed method were also tested and verified.
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