检索结果-内蒙古大学图书馆

Event-triggered attitude tracking for rigid spacecraft

Science China(Information Sciences) 2019年第12期62卷 178-193页

作者： Deheng CAI Hengguang ZOU Junzheng WANG Yuan HUANG Dawei SHI State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology China Academy of Space Technology

This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.

关键词： spacecraft attitude tracking active disturbance rejection control event-triggered control extended state observer

来源：评论

学校读者我要写书评

暂无评论

Distributed stochastic projection-free solver for constrained optimization

arXiv

引用

arXiv 2022年

作者： Jiang, Xia Zeng, Xianlin Xie, Lihua Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore The School of Electronic and Information Engineering Tongji University Shanghai200082 China

This paper proposes a distributed stochastic projection-free algorithm for large-scale constrained finite-sum optimization whose constraint set is complicated such that the projection onto the constraint set can be expensive. The global cost function is allocated to multiple agents, each of which computes its local stochastic gradients and communicates with its neighbors to solve the global problem. Stochastic gradient methods enable low computational cost, while they are hard and slow to converge due to the variance caused by random sampling. To construct a convergent distributed stochastic projection-free algorithm, this paper incorporates a variance reduction technique and gradient tracking technique in the Frank-Wolfe update. We develop a sampling rule for the variance reduction technique to reduce the variance introduced by stochastic gradients. Complete and rigorous proofs show that the proposed distributed projection-free algorithm converges with a sublinear convergence rate and enjoys superior complexity guarantees for both convex and non-convex objective functions. By comparative simulations, we demonstrate the convergence and computational efficiency of the proposed algorithm. © 2022, CC BY.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Robust Output Synchronization of Discrete-Time Linear-Time-Invariant Multi-Agent systems Using Phase Tool

Robust Output Synchronization of Discrete-Time Linear-Time-I...

引用

European control Conference (ECC)

作者： Xin Mao Dan Wang Wei Chen Li Qiu School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Southern University of Science and Technology Shenzhen China Hong Kong University of Science and Technology Hong Kong S.A.R. China

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, the output synchronization in large-scale discrete-time networks is examined by utilizing the novel phase tool, where the agent dynamics are allowed to be significantly heterogeneous. The synchronization synthesis problem is formulated and thoroughly investigated, with the goal of characterizing the allowable heterogeneity among the agents to ensure synchronization under a uniform controller. The solvability condition is provided in terms of the phases of the residue matrices of the agents at the persistent modes. When the condition is satisfied, a design procedure is given, producing a low-gain synchronizing controller. Numerical examples are given to illustrate the results.

关键词： Sufficient conditions Europe Heterogeneous networks Synchronization Multi-agent systems

来源：评论

学校读者我要写书评

暂无评论

Cooperative Search Strategy of Multiple UAVs Based on Matrix Game 19

Cooperative Search Strategy of Multiple UAVs Based on Matrix...

引用

19th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2022

作者： Song, Dalei Wang, Xiaoqian Dai, Aoliang Ma, Hongjun Wei, Donghui Shenyang University of Technology School of Information Science and Engineering Shenyang China Northeastern University School of Information Science and Engineering Shenyang China South China University of Technology School of Information Science and Engineering Guangdong China Beijing Research Institute of Mechanical & Electrical Technology Key Laboratory of Complex System Control and Intelligent Collaboration Technology Beijing100074 China

ISBN: (数字)9781665460514

ISBN: (纸本)9781665460514

For the regional search problem of multiple unmanned air vehicles (UAVs) ,a cooperative search strategy of multiple UAVs is proposed based on action matrix game (AMG) for intelligent moving targets on the ground in this paper. Based on the proposed AMG, the yaw angle and position information of the target is described in probability matrix, and the matrix is updated by Nash equilibrium and receding horizon control in every control cycle. Simulation results show that this strategy deduces the searching time for revisiting the reference target, and improves the success rate for moving targets searching. © 2022 IEEE.

关键词： Game theory

来源：评论

学校读者我要写书评

暂无评论

Distributed Cooperative decision-Making of Cross-Domain Swarm

Distributed Cooperative Decision-Making of Cross-Domain Swar...

引用

Chinese Automation Congress (CAC)

作者： Xingyu Liu Cheng Yuwen Wangcheng Zhang Mingyang Sun Ding Jian Ziyang Zhen State Key Laboratory of Mechanics and Control for Aerospace Structures College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China CASIC Research Institute of Intelligent Decision Engineering Wuhan China UAV System Company Limited Aviation Industry Corporation of China Chengdu China

This paper investigates a cooperative decision-making problem of the cross-domain swarm system involving unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs). Different from the distributed optimization of multi-agent systems, the cooperative decision-making problem considers the payoff functions that depend on the states of all agents. Each agent can only adjust its own state. To address the cooperative decision-making problem, a two-time scale system is constructed, where the fast model includes an average consensus for gradient estimation of the global function and the slow model incorporates a feedback control of all USVs and UAVs. By the Lyapunov analysis, the optimal solution is globally exponentially stable. Finally, a cooperative encirclement task is utilized to verify the effectiveness of the proposed algorithm.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

引用

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Yajun Liu Ru Li Aimin Li Rong Fei Xie Guo Fang-Xiang Wu Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an University of Technology Xi'an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Department of Computer Science Department of Mechanical Engineering Division of Biomedical Engineering University of Saskatchewan Saskatoon Canada

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

Adaptive Estimation for Environmental Monitoring Using an Au...

引用

IEEE Conference on decision and control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Fast Vision Decoder: A Robust Automatic Target Recognition Model for Sar Images

SSRN

引用

SSRN 2022年

作者： Ayodeji, Abiodun Wang, Wenhai Su, Jianzhong Yuan, Jianquan Liu, Xinggao State Key Laboratory of Industrial Control Technology Control Department Zhejiang University Hangzhou310027 China Tianjin Jinhang Technical Physics Institute Tianjin300192 China Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing100074 China

The synthetic aperture radar (SAR) is the recent all-weather technology used to monitor areas with low to moderate penetration. However, the scarcity of SAR imagery, and the high-level noise in the images makes it difficult for real-time image interpretation. This work presents a novel fast vision decoder (FViD), a target recognition model with a frozen backbone and stack dilated autoencoder. The autoencoder architecture is introduced to learn the compressed latent representation. Moreover, a robust backbone selection method is introduced to select a task-specific optimal backbone. The proposed FViD is extensively evaluated using the Chinese TerraSAR-X ship images, and the US MSTAR datasets. Evaluation results show that the proposed method has significant improvement over the conventional models. The speed and accuracy of the proposed FViD are further compared with five state of the art models previously used for SAR target recognition tasks, and the comparison result shows that the FViD performs better. Moreover, an ablation study is performed to provide insights into the contribution of FViD architecture. The results of the ablation study as well as the performance improvement of FViD are discussed in this paper. © 2022, The Authors. All rights reserved.

关键词： Computer vision

来源：评论

学校读者我要写书评

暂无评论

Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

来源：评论

学校读者我要写书评

暂无评论

TDCNet: Transparent Objects Depth Completion with CNN-Transformer Dual-Branch Parallel Network

arXiv

引用

arXiv 2024年

作者： Fan, Xianghui Ye, Chao Deng, Anping Wu, Xiaotian Pan, Mengyang Yang, Hang Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun130033 China University of Chinese Academy of Sciences Beijing101408 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin Institute of Technology Harbin150001 China College of Physics Northeast Normal University Changchun130024 China

The sensing and manipulation of transparent objects present a critical challenge in industrial and laboratory robotics. Conventional sensors face challenges in obtaining the full depth of transparent objects due to the refraction and reflection of light on their surfaces and their lack of visible texture. Previous research has attempted to obtain complete depth maps of transparent objects from RGB and damaged depth maps (collected by depth sensor) using deep learning models. However, existing methods fail to fully utilize the original depth map, resulting in limited accuracy for deep completion. To solve this problem, we propose TDCNet, a novel dual-branch CNN-Transformer parallel network for transparent object depth completion. The proposed framework consists of two different branches: one extracts features from partial depth maps, while the other processes RGB-D images. Experimental results demonstrate that our model achieves state-of-the-art performance across multiple public datasets. Our code and the pre-trained model are publicly available at https://***/XianghuiFan/TDCNet. Copyright © 2024, The Authors. All rights reserved.

关键词： HTTP

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：