检索结果-内蒙古大学图书馆

International Conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Cui Wei Ye-Hwa Chen Yanling Wei Institute of Intelligent Manufacturing Nanjing Tech University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA Key Laboratory of Measurement and Control of Complex System of Engineering School of Automation Southeast University Nanjing China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

This paper introduces an adaptive robust control approach tailored for underactuated mechanical systems encountering matched and mismatched uncertainty, employing a constraint-following methodology. The control strategy unfolds in two phases: initially, a nominal control scheme is devised neglecting uncertainty and deviations in initial conditions from constraints. Subsequently, uncertainty is categorized into matched and mismatched components, ensuring that mismatched uncertainties remain unobservable. Leveraging the structural characteristics of the uncertainty bound, a novel segmented adaptive law is proposed and seamlessly integrated into the adaptive robust control framework. By employing the Lyapunov minimax approach, the method ensures uniform boundedness and uniform ultimate boundedness simultaneously, thereby ensuring approximate adherence to constraints for underactuated mechanical systems facing both matched and mismatched uncertainties alongside initial condition deviations.

关键词： Robust control Uncertainty Adaptive systems Costs Automation Nonlinear dynamical systems Mechanical systems Closed loop systems Robots

来源：评论

学校读者我要写书评

暂无评论

MFANet: Mixed Feature Attention Network for Port Lane Detection

MFANet: Mixed Feature Attention Network for Port Lane Detect...

引用

Chinese Control Conference (CCC)

作者： Jinwei Zhang Jinya Su Dewei Yi Jun Yang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education and the School of Automation Southeast University Nanjing China Department of Computing Science University of Aberdeen Aberdeen U.K.

With the advancement of industrial automation and artificial intelligence technology, unmanned port autonomy has gained increasing attention. Port automatic driving technology is a critical component of unmanned autonomous systems, enabling rubber tire gantry cranes (RTGs) to autonomously navigate by detecting port lanes and implementing control commands. In this study, a deep learning-based method is proposed for detecting port lanes in complex port scenes. The method employs the Inception module and attention mechanism to enhance lane feature extraction, and a structural loss is introduced to explicitly constrain the detection results and incorporate the prior characteristics of port lanes. A novel Mixed Feature Attention Network (MFANet) is proposed to implement the method for port lane detection. Experimental results demonstrate that MFANet effectively improves the accuracy of port lane detection while maintaining high computational efficiency. Furthermore, the performance of MFANet is evaluated in a real-world application scenario.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Optimal Flying Location for Unmanned Aerial Vehicle Equipped with MF-RIS assisted Covert Wireless on Communication

引用

IEEE Transactions on Vehicular Technology 2025年

作者： Wang, Jie Li, Yunxiang Tian, Wen Dai, Yuewei Liu, Yinqiu Niyato, Dusit Nanjing University of Posts and Telecommunications School of Communications and Information Engineering Nanjing China Nanjing University of Information Science and Technology School of Electronic and Information Engineering Key Laboratory of Intelligent Support Technology In Complex Environment Ministry of Education Nanjing210044 China Nanyang Technological University College of Computing and Data Science Singapore

In the current information age, covert communication holds significant value owing to its advantages, such as heightened security, enhanced flexibility, and improved concealment, surpassing those of traditional communication methods. However, existing covert communication approaches approximate communication channel models by Line-of-Sight (LoS) links, which is insufficient due to neglecting the impact of multipath effects and applying inaccurate performance assessments. To better adapt to real-world communication channel conditions, we propose a novel covert communication model assisted by Unmanned Aerial Vehicles (UAV) equipped with Multi-Functional Reconfigurable intelligent Surface (MF-RIS), named UMCCM. Specifically, based on a mixed link of LoS and Non-Line-of-Sight (NLoS), UMCCM leverages MF-RIS as a flexible relay to enhance the signal-to-noise ratio (SNR) and effective throughput. We first derive the mixed channel model expression. Then, we transform covert constraints from incomplete gamma functions to those linked with relative entropy and accordingly optimize the UAV transmission power and block length. Finally, the optimal flying position of the UAV is obtained by analyzing the functional properties of SNR and effective throughput under these refined constraints. Extensive numerical results demonstrate the superiority of our proposed UMCCM for enhancing SNR and effective throughput over the existing works. © 2025 IEEE.

关键词： Aircraft communication

来源：评论

学校读者我要写书评

暂无评论

Field-Free Current-Induced Switching of L10-FePt Using Interlayer Exchange Coupling for Neuromorphic computing

引用

Physical Review Applied 2023年第2期19卷 024034-024034页

作者： Kaifeng Dong Zhe Guo YiYi Jiao Ruofan Li Chao Sun Ying Tao Shuai Zhang Jeongmin Hong Long You School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan 430074 China

L10-phase FePt is well known for its unusually robust perpendicular magnetic anisotropy (PMA) properties arising from strong conduction-electron spin-orbit coupling (SOC) with the Fe orbital moment. The strong PMA enables stable magnetic storage and memory devices with ultrahigh capacity. Meanwhile, SOC is also the premise of the recently discovered spin-orbit-torque (SOT) effect, which opens avenues for possible electrical manipulation of magnetization for L10-FePt. The bulk SOT of the L10-FePt single layer was discovered recently; this leads to the magnetization of L10-FePt reversibly switching on itself. However, deterministic SOT switching of bulk perpendicularly magnetized FePt magnets relies on an external magnetic field to break the symmetry. Here, the symmetry-breaking issue is resolved by interlayer exchange coupling, where the FePt layer is coupled with an in-plane magnetized NiFe layer through a TiN spacer layer. Furthermore, our device also presents memristive or gradual switching behaviors, even without an external field, offering the potential for constructing spin synapses and spin neurons for neuromorphic computing. An artificial neural network with high accuracy (∼91.17%) is realized based on the constructed synapses and neurons. Our work paves the way for field-free SOT switching of single bulk PMA magnets and their potential applications in neuromorphic computing.

关键词： Exchange interaction Magnetic anisotropy Magnetization switching Spin-orbit torque Spintronics

来源：评论

学校读者我要写书评

暂无评论

Bayesian Exponential Regularized Tensor Based Approach for Sparse Geomagnetic Data Completion

Bayesian Exponential Regularized Tensor Based Approach for S...

引用

Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD), International Conference on

作者： Guoyu Li Junchi Bin Huan Liu Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation China University of Geosciences Wuhan China School of Engineering University of British Columbia Okanagan BC Canada

Geomagnetic data is vital for predicting earthquakes and magnetic storms. In this regard, a new Bayesian exponential regularized tensor completion framework for sparse geomagnetic data, i.e. BERTC, is proposed to address this problem in the study. First, the spatiotemporal geomagnetic data is reshaped into a 3D tensor with days and hours that features random missing elements. Second, a Gibbs sampling algorithm is developed to achieve probabilistic inference on matrices' factors and corresponding parameters in this model. Thus, the sparse tensor can be gradually optimized to fill the missing entries during iterations. Third, an exponential regularizer is proposed to reduce oscillations before and after iterations to enhance imputation quality further. Finally, the derived factor matrices are aggregated from Gibbs sampling to complete the sparse tensor. Numerical geomagnetic datasets from 13 cities are employed, and extensive comparison experiments are conducted to evaluate the imputation performance of the BERTC. The results show the superiority of the proposed BERTC compared to the state-of-the-art methods in terms of imputation accuracy, with an approximate improvement of the imputation accuracy as no less than 20%.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Gait Planning and Motion Control Based on Vrep Simulation for Quadruped Robot

Gait Planning and Motion Control Based on Vrep Simulation fo...

引用

WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Linqi Zhou Zhihua Chen Jun Liu Zhi Liu Yumeng Chen Liting Zhang key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology Nanchang Hangkong University Nanchang China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot’s foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on Urban Air Quality Prediction Method Based on the Fusion of Wide-area Spatiotemporal Distribution Data

Research on Urban Air Quality Prediction Method Based on the...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Zixing Tao Weihua Cao Chao Gan School of Future Technology China University of Geosciences (Wuhan) Wuhan China School of Future Technology School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences (Wuhan) Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

Air quality data exhibit nonlinearity, sensitivity to environmental factors, and long-term dependencies. Numerous factors influence air quality, making accurate predictions based on a single-dimensional dataset impractical. This study proposes a method for urban air quality prediction that integrates wide-area spatiotemporal data, designed to address the unique characteristics of air quality datasets. First, relevant wide-area spatiotemporal data are selected, and their correlations with air quality are systematically analyzed. Second, a Long Short-Term Memory (LSTM) network-based Transformer model is utilized to capture the long-term dependencies in the air quality sequences. Finally, the model successfully generates hourly multi-step predictions for six air pollutants. The experimental results show that the proposed method outperforms the method that relies on air quality data alone for multi-step air quality prediction.

关键词： Deep learning Sensitivity Atmospheric modeling Time series analysis Predictive models Air quality Transformers Environmental factors Spatiotemporal phenomena Long short term memory

来源：评论

学校读者我要写书评

暂无评论

Parallel Theory-Based Risk Assessment for Networked Manufacturing systems 4

Parallel Theory-Based Risk Assessment for Networked Manufact...

引用

4th IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2024

作者： Tao, Zhikun Xiong, Gang Peng, Shaoming Shen, Zhen Yang, Fan Han, Yunjun University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Guangdong Engineering Center of 3D Printing and Intelligent Manufacturing Dongguan523808 China Shandong Jiaotong University School of Rail Transportation Jinan250357 China

ISBN: (纸本)9798350349252

The increasing applications of robots and other automated machines into intelligent manufacturing poses great requirement of timely risk evaluation and recognition, which is critical to the stable operation of a factory. However, only a little previous work is centered on this problem. In this paper, we present a close-loop manufacturing situation management framework base on parallel theory to address the challenge of risk recognition in real time. A graph illustrates the relationships between various factors in networked manufacturing, followed by the introduction of corresponding risk measurement indices. And then the fuzzy analytic hierarchy process (FAHP) method is applied to assess the risk of the manufacturing. The factor with the maximum risk is selected out with max-max algorithmic operators and is input into the real system for checking out. The innovation of this paper lie in the proposition of a real time risk analytic framework for operational streamlines base on parallel theory and the integration of network graph with FAHP method for risk evaluation. The numerical testing results show that the model is valid, and its corresponding evaluation method can quickly recognize the highest risk occurred in the manufacturing. The risk evaluation framework and method can be generalized to other networked and complex systems, e.g., transportation systems. © 2024 IEEE.

关键词： Smart manufacturing

来源：评论

学校读者我要写书评

暂无评论

Hand Gesture Recognition from an Open-Set Perspective

引用

IEEE Transactions on Multimedia 2025年

作者： Zhou, Jun Xu, Chi Cheng, Li China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Vision and Learning Laboratory Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada

Existing hand gesture recognition methods predominantly rely on a close-set assumption, which in essence limits the viewpoints, gesture categories, and hand shapes at test time to closely resemble those seen during training. This requirement is however rarely met in practice, as images are often captured from unconstrained viewpoints, with novel gestures and unseen hand shapes that can differ significantly from the training data. This motivates us to investigate an open-set hand gesture recognition problem, where hand gestures are still recognizable from unconstrained viewpoints, and novel gesture classes and hand shapes can be incrementally learned with just a few examples. To address this, we propose a viewpoint influence elimination network that extracts view-independent features, significantly improving performance in scenarios with unconstrained viewpoints. Moreover, a joint-weighted classification scheme is introduced to augment the cosine similarity metric for evaluating few-shot incremental learning of novel gestures and shapes. Finally, as existing hand gesture recognition datasets primarily adhere to the close-set assumption, a new hand gesture recognition dataset, OHG, is introduced in this paper, that includes a wide range of viewpoints, diverse gesture classes, and distinct hand shapes. Experimental hand gesture recognition results demonstrate the superior performance of our approach in both unconstrained viewpoint and few-shot incremental learning scenarios. The source code and the OHG dataset are to be made available at https://***/zhoujun-7/OSHGR. © 1999-2012 IEEE.

关键词： Palmprint recognition

来源：评论

学校读者我要写书评

暂无评论

Dual arm coordination with coordination diagram based on teleoperation demonstration

Dual arm coordination with coordination diagram based on tel...

引用

2021 IEEE International Conference on Real-Time computing and Robotics, RCAR 2021

作者： Zuo, Guoyu Xu, Zichen Liu, Lu Gong, Daoxiong Li, Jianfeng Faculty of Information Technology Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China Faculty of Materials and Manufacturing Beijing University of Technology Beijing100124 China

ISBN: (纸本)9781665436786

Efficient and collision-free coordination of two robot arms is increasingly needed in various service-oriented robotic applications. This paper proposes a dual-arm coordination algorithm to improve the efficiency of coordination by considering both robot's actions and operating sequences for tasks that require multiple operations with both arms. Teleoperation demonstration is performed to obtain the robot's human-like motion trajectories, so as to reduce the probability of collisions of the two robotic arms. The coordination diagram in time domain is designed to more clearly represent the situations of trajectory collisions and find the collision-free coordination action law. Simultaneously, a coordination pair generator (CPG) is designed to reorganize the operating sequences according to the characteristics of input trajectories in addition to the action coordination. The effectiveness and efficiency of our method are verified on the experiment of the drug sorting task in nursing homes on the ABB YuMi robot model. © 2021 IEEE.

关键词： Remote control

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：