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Distributed containment control with dynamic leaders based on binocular vision

Journal of Information and Computational Science 2015年第4期12卷 1319-1327页

作者： Shao, Nuan Li, Huiguang Liu, Le Li, Guoyou Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

In this paper, we study the distributed containment control problem for multi-robot system with dynamic leaders in the presence of parametric uncertainties. The binocular vision system is used as the sensing device to provide real-time status information for the followers, so firstly, a new binocular visual model for dynamic target is established. Then RBF neural networks are employed to approximate the unknown nonlinear functions in the system model of followers, and the approximated values are introduced into the designed sliding mode controllers to make compensation. Finally, simulation results are presented to show the validity of the proposed control strategy. ©, 2015, Binary Information Press

关键词： Multipurpose robots

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Fuzzy support vector clustering

Fuzzy support vector clustering

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Zheng, En-Hui Yang, Min Li, Ping Song, Zhi-Huan College of Information and Electronic Engineering Zhejiang Gongshang University Hang Zhou 310035 China National Lab. of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hang Zhou 310027 China Computer School Hangzhou Dianzi University Hang Zhou 310018 China

ISBN: (纸本)354034439X

Support vector clustering (SVC) faces the same over-fitting problem as support vector machine (SVM) caused by outliers or noises. Fuzzy support vector clustering (FSVC) algorithm is presented to deal with the problem. The membership model based on k-NN is used to determine the membership value of training samples. The proposed fuzzy support vector clustering algorithm is used to determine the clusters of some benchmark data sets. Experimental results indicate that the proposed algorithm actually reduces the effect of outliers and yields better clustering quality than SVC and traditional centroid-based hierarchical clustering algorithm do. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Learning systems

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Classification of the green tea varieties based on Support Vector Machines using Terahertz Spectroscopy

Classification of the green tea varieties based on Support V...

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2011 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2011

作者： Xi-Ai, Chen Guang-Xin, Zhang Ping-Jie, Huang Di-Bo, Hou Xu-Sheng, Kang Ze-Kui, Zhou State Key Lab. of Industrial Control Technology Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China School of Mechanical and Electrical Engineering China Jiliang University Hangzhou 310018 China Zhejiang University City College Hangzhou 310015 China

ISBN: (纸本)9781424479351

Terahertz time-domain spectroscopy have been applied in research of four different varieties of Chinese green tea, the absorption and refractive Terahertz Spectrum of these tea were got in the range of 0.2 to 1.5 THz. Least Squares Support Vector Machines, Naive Bayes and Back Propagation Artificial Neural Network were applied to achieve Multi-class classification of these four kinds of tea, and the classification results of three algorithms were analyzed in detail. The results shows that support vector machine have better classification results in the experiment. This study demonstrated the feasibility of time-domain Terahertz Spectroscopy for the classification of difference kinds of tea. © 2011 IEEE.

关键词： Support vector machines

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Sparse online LS-SVM based on modified particle swarm optimization algorithm and application

Sparse online LS-SVM based on modified particle swarm optimi...

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2012 3rd International Conference on Intelligent control and Information Processing, ICICIP 2012

作者： Zhang, Weiping Niu, Peifeng Li, Guoqiang Institute of Electrical Engineering Yanshan University China Qinhuangdao Institute of Technology CO 066100 China Key Lab. of Industrial Computer Control Engineering of Hebei Province National Engineering Research Center for Equipment and Technology of Cold Strip Rolling CO 066004 China Institute of Electrical Engineering Yanshan University CO 066004 China

ISBN: (纸本)9781457721427

In this paper, A simple and effective mechanism is proposed to realize the parsimoniousness of the online least squares support vector machine. Hence, the response time is curtailed. Besides, a modified Particle Swarm Optimization (PSO) algorithm is proposed to ascertain the optimal model parameters. Simulation results show that it outperforms GA and common PSO algorithms and LS-SVM model based on the modified PSO algorithm has the best regression accuracy and generalization ability. The sparse online LS-SVM algorithm is applied to build a turbine heat rate forecasting model, which possesses dynamic prediction functions. © 2012 IEEE.

关键词： Particle swarm optimization (PSO)

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Hierarchy-based extended CBBA for multi-robot task assignment

Hierarchy-based extended CBBA for multi-robot task assignmen...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Jiajun Xia, Weiguo Li, Fuqiang Wang, Peng China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9781665465335

This paper studies the task assignment problem of a multi-robot system with complex constraints including the robot speed limit, the task execution time window constraints, the arrival time, the trip cost, and different priorities of the tasks. A new bidding function is then designed for each robot. Based on the k-means algorithm, a hierarchy-based extended consensus-based bundle algorithm (CBBA) is proposed to find the optimal solution for the task allocation problem. Finally, simulation examples are presented to show the feasibility of the proposed algorithm and comparisons with existing algorithms show that the proposed algorithm can reduce the task assignment time with guaranteed reward values. © 2022 IEEE.

关键词： Multipurpose robots

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VTube: Towards the media rich city life with autonomous vehicular content distribution

VTube: Towards the media rich city life with autonomous vehi...

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Annual IEEE Communications Society Conference on Sensor and Adhoc Communications and Networks

作者： Luan, Tom H. Cai, Lin X. Chen, Jiming Shen, Xuemin Bai, Fan Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada State Key Lab. of Industrial Control Technology Zhejiang University Hangzhou 310027 China Electrical and Controls Integration Lab. General Motors Global R and D Warren MI 48105 United States

ISBN: (纸本)9781457700934

The copious social and user generated contents, like Facebook and Youtube, are re-shaping the way people share, access, and digest information. Although flourishing in Internet, content sharing services are still considered expensive and not ready for mobile users of vehicular networks. In this paper, we propose VTube, an autonomous and cost-effective infrastructure, to facilitate the localized content publish/subscribe in an urban area. VTube relies on the distributed low-cost light-weight storage buffers, namely roadside buffer, installed in the city facilities, such as stores, museums, cafeteria, etc., to cache and publish contents for mobile users. The contents at different storage buffers are then transported to different locations by moving vehicles and cached collab.ratively in both vehicles and storage buffers across the city. In this work, we unfold the design of VTube by first presenting the detailed design principles and practices of VTube. Given the content availab.lity and capacity of the buffer storage, we then develop a mathematical model to evaluate the mean download delay of mobile users. Using the delay as an input, we formulate the content replication problem in roadside buffers as a stochastic programming problem to attain the mean system-wide minimum download delay. Finally, we propose a fully distributed random walk based algorithm to solve the optimization problem. Extensive simulations demonstrate that VTube can minimize the download delay of users because of the exploitation of vehicle mobility and distributed buffer storage at different locations. © 2011 IEEE.

关键词： Buffer storage

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BEVTransFusion: LiDAR-Camera Fusion under Bird's-Eye-View for 3D Object Detection with Transformers 4

BEVTransFusion: LiDAR-Camera Fusion under Bird's-Eye-View fo...

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4th IEEE International Conference on Pattern Recognition and Machine Learning, PRML 2023

作者： Feng, Kaiqi Zhang, Yu Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China Zhejiang University State Key Lab. of Indust. Contr. Technol. Key Lab. of Collab. Sensing and Autonomous Unmanned Syst. of Zhejiang Prov. Coll. of Contr. Sci. and Eng. Hangzhou China

ISBN: (纸本)9798350324303

Recently, there is growing research interest in extracting Bird's-Eye-View (BEV) features from images and LiDAR to improve 3D object detection. However, existing methods mainly combine the features mechanically, which limits the utilization of BEV features. To address this limitation, we draw inspiration from TransFusion and design a two-layer transformer decoder to fuse LiDAR and camera BEV features. By doing so, we can omit the steps of reference point backprojection and feature sampling, which results in better correlation between the fused LiDAR and image features and higher robustness to the calibration matrix. Furthermore, we add 3D position encoding to the BEV features to compensate for the lack of height information. We also propose an length-width-height modulated attention mechanism to incorporate scale information. We also perform comprehensive experiments to verify the effectiveness of our methods. © 2023 IEEE.

关键词： Object detection

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Research on Dynamic Maintenance Strategy of Complex Equipment System 11

Research on Dynamic Maintenance Strategy of Complex Equipmen...

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11th International Conference on Prognostics and System Health Management, PHM-Jinan 2020

作者： Li, Yingshun Wang, Aina Yi, Xiaojian Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian China Beijing Institute of Technology The School of Mechatronical Engineering Department of Overall Technology Beijing China

ISBN: (纸本)9781728151816

In recent years, the complex equipment system presents the rapid development of integration and intelligence, and it is easy to break down when it works in bad environment for a long time. The maintenance support ability and comprehensive maintenance economic benefit of the complex equipment system play an important role in the defense ability. Therefore, in order to improve the combat readiness of equipment, solve the current situation of economic loss and low operation ability caused by insufficient or excessive maintenance. In this paper, a dynamic maintenance strategy for complex equipment system is proposed. The goal of this maintenance strategy is to minimize the average cost in a short period of time,to update the running state of the system and the execution time of fault maintenance in real time. Finally, the effectiveness of the dynamic maintenance strategy proposed in this paper is verified by the analysis of maintenance model parameters. The dynamic maintenance strategy proposed in this paper considers the operation state and economic cost of complex equipment system, which is more applicable to practical engineering application. © 2020 IEEE.

关键词： Maintenance

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Enhanced power density and decolorization of air-cathode single-chamber microbial fuel cells with microfiltration membranes

Enhanced power density and decolorization of air-cathode sin...

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International Conference on Measuring Technology and Mechatronics Automation

作者： Hou, Bin Sun, Jian Hu, Yong-You Min. of Educ. Key Lab. of Poll. Control and Ecological Remediation for Industrial Agglomeration Area Department of Environmental Science and Engineering South China University of Technology Guangzhou 510006 China

ISBN: (纸本)9780769542966

In order to increase the power output and reduce the cost of MFCs, microfiltration membrane (MFM) aircathode MFC (MFM-MFC) and proton exchange membrane (PEM) air-cathode MFC (PEM-MFC) were compared in the performance of the simultaneous decolorization of azo dye and power generation. Batch test results showed that the PEMMFC produced a maximum power density of 272 mW/m 2. The using the MFM in stead of the PEM increased the maximum power density to 310 mW/m2. The coulombic efficiencies were 7.25% and 19.9% in the MFM-MFC and PEM-MFC, respectively. An accelerated decolorization of Congo red was observed in the MFM-MFC which was due to its lower internal resistance. The HPLC chromatogram of anode solution indicated that the decolorization of Congo red can be achieved and the docolorization products were accumulated and could not be further degraded in the MFC. This study suggests that it is feasible for the MFC using MFM in place of PEM in the operation of the simultaneous decolorization of azo dye and power generation. © 2011 IEEE.

关键词： Azo dyes

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Behavioral Recognition of Mice Based on a Deep Network 11

Behavioral Recognition of Mice Based on a Deep Network

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11th IEEE Annual International Conference on CYBER Technology in Automation, control, and Intelligent Systems, CYBER 2021

作者： Wang, Xingqi Du, Chen Wang, Ying Hu, Sheng Zhao, Yuliang Key Lab of Industrial Computer Control Engineering of Hebei Province School of Electrical Engineering Yanshan University Qinhuangdao066004 China School of Biomedical Engineering Beijing University of Aeronautics and Astronautics at Beijing Beijing100000 China School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao066004 China

ISBN: (纸本)9781665425278

In recent years, mouse behavior recognition has been widely used in animal behavior experiments, which is great significance to study ethology, research of animal learning and memory and analysis of drug action. However, how to quickly and accurately determine and recording the behavior of mice is still a challenge. Using manual record of mouse behavior is not only time consuming but also low accuracy;the model obtained by training C3D convolutional neural network is used for prediction and the accuracy of the obtained results cannot meet the requirements. In this paper, according to an 'open field' experiment scheme in animal behavior experiments, an image preprocessing method that integrates multi-Temporal mouse action pictures is proposed. With the theoretical research of deep learning convolutional neural network, the target of mouse behavior classification is finally completed. The preliminary analysis results show that this method has the characteristics of accurate classification, high accuracy and low cost. This method can obtain mouse behavior sequence by continuous batch recognition, which greatly improves the recognition efficiency. © 2021 IEEE.

关键词： Image fusion

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