检索结果-内蒙古大学图书馆

第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Trajectory Optimization and control Method Based on Multistage Nonlinear Model Predictive control

Trajectory Optimization and Control Method Based on Multista...

引用

Artificial Intelligence, Networking and Information Technology (AINIT), International Seminar on

作者： Qingchun Zheng Zhi Peng Peihao Zhu Ran Zhai Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To improve the trajectory optimization efficiency of robot manipulators, this paper proposes a novel approach for trajectory optimization and control of manipulators based on multistage nonlinear model predictive control (msNLMPC). This approach is realized by using a neural state space model as the prediction model of nonlinear model predictive control (NLMPC). The simulation results show that the actual trajectory of the manipulator in our proposed scheme coincides with the desired trajectory. The manipulator achieves the control task of following the optimal trajectory. Our proposed method improves the trajectory optimization efficiency of the robot manipulator.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Small-Target Infrastructure Detection with Spatial Tracking and Multi-Level Feature Extraction of Railway Track Scenes

Small-Target Infrastructure Detection with Spatial Tracking ...

引用

intelligent Communication, Sensing and Electromagnetics (ICSE), International Conference on

作者： Heng Du Huaiming Cang Yiwen Bai Xinyi Wang Beijing Elephant Technology Co. Ltd Beijing China School of Transportation Science and Engineering Beihang University Beijing China The State Key Lab of Intelligent Transportation System Beijing China Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China

ISBN: (数字)9798350354935

ISBN: (纸本)9798350354942

In the field of railway transportation, with the continuous improvement of train running speed and the continuous increase of operating mileage, it becomes particularly important to ensure the safety and integrity of small-target infrastructure along the railway train. Although many small-target detection methods have been proposed, the research on small-target infrastructure detection along rail trains is very rare. To solve this problem, this paper proposes a small-target infrastructure detection network with spatial tracking and multi-level feature extraction based on Yolov8n. The experimental results show that ST-YOLO has a 3.6% mAP improvement on the OSDaR23 dataset compared to the baseline Yolov8n, and shows significant advantages over other state-of-the-art methods.

关键词： Rails Transportation Railway safety Switches Feature extraction Rail transportation Real-time systems Sensors Safety Monitoring

来源：评论

学校读者我要写书评

暂无评论

Research on Feedforward control Based on Robot Dynamics Parameters Identification

Research on Feedforward Control Based on Robot Dynamics Para...

引用

IEEE International Conference on Mechatronics and Automation

作者： Xingmao Shao Shoujun Wang Liusong Yang Nan Liu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China CITIC Heavy Industries Company Ltd. Luoyang China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Accurate robot dynamics model can effectively improve the motion control performance of robot, and accurate dynamics parameters are the basis for establishing dynamics model. This paper discusses the parameter identification method of the tandem manipulator and the feedforward control scheme based on dynamics. First, we deduced the basic parameters of the first three joints of the UR5 manipulator, and identified the parameters through experimental sampling and calculation. Secondly, we established a feedforward control mechanism based on dynamics using the Simulink platform, and simulated and verified the feedforward control of the robot three-axis system. The experimental results show that the feedforward control scheme based on robot dynamics can effectively improve the error convergence performance, which proves the effectiveness of the method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Machine-learning-enabled vectorial opto-magnetization orientation

arXiv

引用

arXiv 2021年

作者： Yan, Weichao Nie, Zhongquan Zeng, Xunwen Dai, Guohong Cai, Mengqiang Shen, Yun Deng, Xiaohua Institute of Space Science and Technology Nanchang University Nanchang330031 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China Department of Physics School of Science Nanchang University Nanchang330031 China Information Engineering School Nanchang University Nanchang330031 China

Manipulation of light-induced magnetization has become a fundamentally hot topic with a potentially high impact for atom trapping, confocal and magnetic resonance microscopy, and data storage. The control of the magnetization orientation mainly relies on the direct methods composed of amplitude, phase and polarization modulations of the incident light under the tight focusing condition, leaving the achievement of arbitrary desirable three-dimensional (3D) magnetization orientation complicated, inflexible and inefficient. Here, we propose a facile approach called machine learning inverse design to achieve expected vectorial opto-magnetization orientation. This pathway is time-efficient and accurate to produce the demanded incident beam for arbitrary prescribed 3D magnetization orientation. It is highlighted that the machine learning method is not only applied for magnetization orientations, but also widely used in the control of magnetization structures. © 2021, CC BY.

关键词： Polarization

来源：评论

学校读者我要写书评

暂无评论

基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

引用

Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

来源：评论

学校读者我要写书评

暂无评论

Tuning Electrical Conductivity and Ultrafast Optical Nonlinearity of R-Go Films Ablated by Femtosecond Laser Direct Writing

SSRN

引用

SSRN 2024年

作者： Tao, Youliang Nie, Zhongquan Zhang, Xuefeng Pan, Deng Wang, Han College of Aeronautics and Astronautics Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Institute of New Carbon Materials College of Materials Science and Engineering Taiyuan University of Technology Taiyuan030024 China Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui University 111 Jiu Long Road Hefei230601 China

Carbon-based nanomaterials with excellent electrical and optical properties are highly sought after for a plethora of hybrid applications ranging from advanced opto-electronic components to sustainable energy storage devices. In this contribution, we examine in detail the dependence of electrical conductivity and ultrafast optical nonlinearity of graphene oxide (GO) films on their degrees of reduction, as well as the link between the two properties. The GO films are first synthesized through the vacuum filtration method and then reduced partially controllably by the femtosecond laser direct writing with varying power doses. Subsequently, the 4-point probe measurements of the reduced GO (r-GO) films are demonstrated to exhibit superior resistivity and electrical conductivity compared with the pristine GO counterpart. It was found that the conductivity of the film increases and then decreases with increasing ablation laser power (P), GO was completely reduced at P = 100 mW with resistivity and electrical conductivity of 1.09 × 10-3Ω·m and 9.19 × 102s/m, respectively. GO was over reduced at P = 120 mW with resistivity and electrical conductivity being 3.72 × 10-3Ω·m and 2.69 × 102s/m, respectively. We further test the ultrafast optical nonlinearity (ONL) of the as-prepared pristine and reduced GO with the femtosecond Z-scan technique. The results show that the behavior of ONL is reversed whenever GO is reduced in a controlled manner. More interestingly, the higher the ablation laser power is, the stronger the optical nonlinearity of r-GO is. In particular, the nonlinear absorption and refraction coefficients of the r-GO films reach up to 3.26 × 10-8 m/W and -1.12 × 10-13 m2/W when P = 120 mW. The nonlinear absorption and refraction coefficients reach 1.9 × 10-8 m/W and -3 × 10-13 m2/W, respectively, for P = 70 mW. The GO/r-GO films endowing tunable electro-optical responses are potential building blocks for wide-ranging applications in microelectronic circuits, optoele

关键词： Femtosecond lasers

来源：评论

学校读者我要写书评

暂无评论

Design of deep-water omnidirectional spirit level

引用

Journal of Measurement Science and Instrumentation 2021年第4期12卷 472-478页

作者： ZHAO Lianyu LI Shuo ZHAO Xiaolei LI Maolin CHEN Jinyu WANG Chenglin Tianjin Key Laboratory of Advanced Mechatronic System Design and Intelligent Control National Demonstration Center of Experimental Mechanical and Electrical Engineering EducationSchool of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China Offshore Oil Engineering Co. Ltd.Tianjin 300461China

Attitude adjustment is a key link in the installation process of underwater facilities in deep *** solve this problem,an omnidirectional spirit level for deep water was *** sealing principle of the spirit level and the principle of deep-water pressure resistance are analyzed,and the threaded connection strength is *** mechanical simulation verifies that the spirit level can withstand the pressure of 2000 m water depth,and the water pressure test is carried out for 30 min in a 20 MPa hyperbaric *** the experiment is completed,the appearance of the spirit level is intact and there is no *** experiment results show that the deep-water omnidirectional spirit level can be used in the deep sea within 2000 m.

关键词： deep water omnidirectional spirit level attitude adjustment pressure test underwater pressure

来源：评论

学校读者我要写书评

暂无评论

Design of Underwater Vehicle for Ship Draft Observation

Design of Underwater Vehicle for Ship Draft Observation

引用

Mechatronics and Robotics Engineering (ICMRE), International Conference on

作者： Jingyuan Zhu Meng Han Hongliang Zhang Lan Qi Lianyu Zhao Chenglin Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Deepinfar Ocean Technology Inc Tianjin China

Underwater Vehicles are very important underwater operation equipment, and a new underwater vehicle is designed in order to realize the measurement of the ship draft. The design is based on the ROV(Remote Operated Vehicle) structure, and the mobile power supply and the upper computer are mounted on the underwater vehicle body, aiming to accomplish the task of disconnecting the underwater vehicle from the cable under complex sea conditions. In this paper, the system communication and power supply scheme design, thruster arrangement, the center of gravity and floating center position design, and 3D model design are completed in turn to obtain a structural design scheme of the underwater vehicle based on the actual engineering background. Subsequently, the strength check of the overall frame was carried out based on ANSYS WORKBENCH, which proved that the material selection and structural design met the reliability requirements. Finally, the hydrodynamic characteristics of the robot were analyzed using ANSYS CFD.

关键词： Weight measurement Underwater cables Solid modeling Three-dimensional displays Power supplies Hydrodynamics Finite element analysis

来源：评论

学校读者我要写书评

暂无评论

An Improved Chimp Optimization Algorithm for Short-term Hydrothermal Scheduling

IAENG International Journal of Computer Science

引用

IAENG International Journal of Computer Science 2022年第3期49卷 666页

作者： Chen, Gonggui Wang, Shumin He, Yongsheng Shang, Wanfeng Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Shenzhen518055 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

The short-term hydrothermal scheduling (STHS) is a complex non-linear, non-convex and high-dimensional mathematical optimization problem. Due to the fact that the original chimp optimization algorithm (ChOA) is likely to fall into local optimum and has the disadvantage of low population diversity, an improved chimp optimization algorithm (IChOA) is proposed to solve the STHS problem. Firstly, Logistic-Tent chaotic mapping is employed to initialize the population and increase the population diversity. Then a new nonlinear convergence factor is introduced to make the optimization search process more applicable to STHS problems. Next, particle swarm algorithm (PSO) and gravitational search algorithm (GSA) are combined to enhance the shortcoming and balance the global search ability and local exploration ability of ChOA. Moreover, Cauchy mutation and opposition-based learning strategy are supplemented as perturbation interference when the optimal position is not updated to improve the ability to leap out of the local optimum. Finally, a graded optimization strategy is adopted for the constraint handing of dynamic reservoir balance and thermal power balance. Three standard hydrothermal power systems are utilized to verify the practicability and validity of the proposed method. Results of simulations reveal that IChOA has significant competitive advantages in addressing the STHS problem. © 2022, IAENG International Journal of Computer Science. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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：