检索结果-内蒙古大学图书馆

2021 China Automation Congress, CAC 2021

作者： Lv, Ke Yang, Ziwen Zhu, Shanying Wang, Lin Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665426473

This paper investigates the formation tracking control problem of nonholonomic agents in the leader's local frame, based on bearing measurements. Most of existing works on formation tracking are aimed at tracking a given formation in the global frame, which cannot meet the needs of many applications such as a fleet of cars driving on the highway. In this case, if the cars cannot keep a fixed formation in the leader's local frame, they may drive off the highway. Thus we propose an integrated approach consisting of a bearing-based estimator and a tracking controller, to track a given formation in the leader's local frame. In order to eliminate the estimation error in formation tracking, a persistently exciting leader is characterized by conditions. The stability of the integrated method is proved rigorously. Simulation results prove the effectiveness of the proposed approach. © 2021 IEEE

关键词： Integrated control

来源：评论

学校读者我要写书评

暂无评论

Adaptive Multi-Core Real- Time Scheduling Based on Reinforcement Learning

Adaptive Multi-Core Real- Time Scheduling Based on Reinforce...

引用

International Conference on control and Automation (ICCA)

作者： Yonghui Liang Hui Li Fei Shen Qimin Xu Shuna Hua Shanying Zhu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Re-search Center of Intelligent Control and Management Shanghai China Key Laboratory of Wireless Sensor Network and Communications Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai China North Information Control Research Academy Group Company Ltd. Nanjing China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

With the transformation towards industrial intel-ligence, multi-core processors are increasingly being applied in real-time networked control systems to ensure secure exe-cution of sensing, computing and actuating tasks under time constraints. However, existing scheduling methods result in either low CPU utilization or many missed task deadlines in dynamic systems. In this paper, we propose a two-layer scheduling architecture to address this issue by fully exploring the complex dependency between real-time tasks. To be specific, the local layer determines task execution priorities considering both dependency between tasks and deadline constraints by utilizing a reinforcement learning approach. Moreover, to better utilize the parallel capabilities of multi-core processors and reduce temporal collisions, this paper minimizes the requested core count for the task set based on a greedy strategy. The global layer designs a scheduling algorithm based on the pre-empt method and provides schedulability analysis of multiple task sets. Experimental results validate the correctness of the proposed scheduling approach, and efficiency is demonstrated through comparisons with baseline method.

关键词： Job shop scheduling Multicore processing Scheduling algorithms Networked control systems Reinforcement learning Real-time systems Sensors

来源：评论

学校读者我要写书评

暂无评论

Novel measuring techniques with applications in pattern classification and diagnostic process under Pythagorean fuzzy environment

Novel measuring techniques with applications in pattern clas...

引用

New Trends in Computational Intelligence (NTCI), International Conference on

作者： Paul Augustine Ejegwa Yanxiong Zhang Haiqing Li Yuming Feng Institute of Intelligent Information Processing South China Business College of Guangdong University of Foreign Studies Guangzhou Guangdong China Department of Mathematics Joseph Sarwuan Tarka University Makurdi Nigeria Key Laboratory of Intelligent Information Processing and Control Chongqing Three Gorges University Wanzhou Chongqing China

Distance and similarity measures are significant tools for information measure applicable in real-world under Pythagorean fuzzy domain. Some techniques for the computation of distance and similarity have been investigated between Pythagorean fuzzy sets (PFSs), notwithstanding with low performance indexes. To resolve these setbacks, this paper introduces some new measuring techniques with reliable performance in comparison to similar measures. The new techniques are confirmed with a number of theoretic results to illustrate their aptness as unfailing information measuring methods. Certain numerical experiments are carried out to ascertain the advantages of the proposed measures over the existing measures. We demonstrate the applications of the novel techniques in real-life decision-making situations pertaining to pattern recognition and disease diagnostic process where patterns and diseases are encapsulated in Pythagorean fuzzy pairs.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Bearing-only Formation control of Nonholonomic Agents with Unknown Dynamic Leaders

Bearing-only Formation Control of Nonholonomic Agents with U...

引用

2021 China Automation Congress, CAC 2021

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665426473

In this paper, the problem of bearing-only formation tracking control of multiple nonholonomic agents is studied. A leader-follower structure is adopted, where the leaders are moving at an unknown constant linear velocity and time-varying orientation. To solve the problem using bearing-only measurements, a finite-time estimator is firstly proposed to estimate the leaders' orientation information. Then, an adaptation law for estimating the leaders' linear velocity is proposed, based on which control inputs for tracking the leaders in a predefined bearing-based formation are designed, so that formation tracking can be achieved asymptotically. Rigorous theoretical analysis of the closed-loop system is given. It is proved that both the estimation errors and formation errors converge to zero under the connectivity of the communication graph and conditions for bearing rigidity. Numerical simulations are presented to testify the effectiveness of the proposed method. © 2021 IEEE

关键词： Closed loop systems

来源：评论

学校读者我要写书评

暂无评论

Iterative-Reweighting-Based Robust Iterative-Closest-Point Method

引用

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 739-746页

作者： ZHANG Jianlin ZHOU Xuejun YANG Ming Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Noblelift Intelligent Equipment Co. Ltd.Huzhou 313100ZhejiangChina

In point cloud registration applications,noise and poor initial conditions lead to many false *** matches significantly degrade registration accuracy and speed.A penalty function is adopted in many robust point-to-point registration methods to suppress the influence of false ***,after applying a penalty function,problems cannot be solved in their analytical forms based on the introduction of ***,most existing methods adopt the descending *** this paper,a novel iterative-reweighting-based method is proposed to overcome the limitations of existing *** proposed method iteratively solves the eigenvectors of a four-dimensional matrix,whereas the calculation of the descending method relies on solving an eight-dimensional ***,the proposed method can achieve increased computational *** proposed method was validated on simulated noise corruption data,and the results reveal that it obtains higher efficiency and precision than existing methods,particularly under very noisy *** results for the KITTI dataset demonstrate that the proposed method can be used in real-time localization processes with high accuracy and good efficiency.

关键词： point cloud registration iterative reweighting iterative closest-point(ICP) robust localization

来源：评论

学校读者我要写书评

暂无评论

Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking control

引用

Journal of Shanghai Jiaotong university(Science) 2021年第4期26卷 446-453页

作者： ZHANG Lalu Xiangxiang Dong YAO Lixiu CAI Yunze Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong UniversityShanghai200240China

Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.

关键词： mobile sensor network velocity-varying target tracking flocking control Kalman-consensus filtering

来源：评论

学校读者我要写书评

暂无评论

Hybrid Relation Guided Set Matching for Few-shot Action Recognition

arXiv

引用

arXiv 2022年

作者： Wang, Xiang Zhang, Shiwei Qing, Zhiwu Tang, Mingqian Zuo, Zhengrong Gao, Changxin Jin, Rong Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology China Alibaba Group China

Current few-shot action recognition methods reach impressive performance by learning discriminative features for each video via episodic training and designing various temporal alignment strategies. Nevertheless, they are limited in that (a) learning individual features without considering the entire task may lose the most relevant information in the current episode, and (b) these alignment strategies may fail in misaligned instances. To overcome the two limitations, we propose a novel Hybrid Relation guided Set Matching (HyRSM) approach that incorporates two key components: hybrid relation module and set matching metric. The purpose of the hybrid relation module is to learn task-specific embeddings by fully exploiting associated relations within and cross videos in an episode. Built upon the task-specific features, we reformulate distance measure between query and support videos as a set matching problem and further design a bidirectional Mean Hausdorff Metric to improve the resilience to misaligned instances. By this means, the proposed HyRSM can be highly informative and flexible to predict query categories under the few-shot settings. We evaluate HyRSM on six challenging benchmarks, and the experimental results show its superiority over the state-of-the-art methods by a convincing margin. Copyright © 2022, The Authors. All rights reserved.

关键词： Machine learning

来源：评论

学校读者我要写书评

暂无评论

An Assist-as-Needed Variable Admittance controller for Adaptive Support of Mobile Walking Assistive Robots

An Assist-as-Needed Variable Admittance Controller for Adapt...

引用

International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Xinxing Chen Yue Zheng Zongming Su Yuquan Leng Jian Huang Chenglong Fu Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Technology Planning Department Huawei Technologies Shenzhen China Key Laboratory for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

Mobile walking assistive robots have been widely used for monitoring patients’ gait patterns and providing support to prevent falls. Traditional approaches often separate the operational modes of these robots into human-following and supporting modes, which can lead to discontinuities in assistance and potentially compromise safety. This paper proposes a novel assist-as-needed control strategy that incorporates a Balance Index (BI) to dynamically adjust the robot’s support based on the user’s balance capability. The BI is calculated using the interaction force between the user and the robot along the z-axis and the gait symmetry index (GSI). The proposed variable admittance controller modifies its parameters based on the BI, ensuring seamless transitions between compliance and support modes. Experimental validation was conducted with a healthy subject walking both with and without a knee fixation brace. The results demonstrate that the robot provides minimal interference during natural gait and increased support during impaired gait, validating the effectiveness of the proposed control strategy in enhancing user safety and promoting natural walking patterns.

关键词： Legged locomotion Force Stability criteria Interference Assistive robots User experience Safety Admittance Indexes Robots

来源：评论

学校读者我要写书评

暂无评论

Identification of Prognostic Signature in Esophageal Cancer Based on Network Analysis 15th

Identification of Prognostic Signature in Esophageal Cancer ...

引用

15th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2020

作者： Ma, Jianfei Huang, Yabing Key Laboratory of Image Information Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Luoyu Road 1037 Wuhan430074 China Department of Pathology Renmin Hospital of Wuhan University Wuhan430060 China

ISBN: (纸本)9789811613531

Esophageal cancer is the 6th most common cancer in the world with a five-year survival among 15 % to 25 % patients. It’s of great significance to identify prognostic signature for precise prediction of patient survival. In this work, we use a network-based approach to identify the disease genes of esophageal cancer. We construct the co-expression networks of normal and cancer samples by interpreting the gene expression profile and further divide the networks into inactivated subnetwork and enhanced subnetwork. Functional enrichment analysis shows that phosphoprotein and acetylation are both enriched in the inactivated genes and enhanced genes. Furthermore, 5 kinesin family members, KIF11, KIF23, KIF18A, KIF18B, and KIF2A, are all found to be significantly enhanced, suggesting that kinesin is crucial in promoting the formation of esophageal cancer. The 11 genes both inactivated and enhanced in the process of tumor development are found to be prognosis-associated and perform well in evaluating the survival of esophageal cancer patients. This study provides us fundamental recognition about the functional dysregulation in esophageal cancer and help to identify the biomarker for the further development of therapeutic targets. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Diseases

来源：评论

学校读者我要写书评

暂无评论

Links Between HX-Groups and Hypergroups

引用

Algebra Colloquium 2021年第3期28卷 441-452页

作者： Irina Cristea Michal Novák Babatunde Oluwaseun Onasanya Centre for Information Technologies and Applied Mathematics University of Nova Gorica Slovenia Faculty of Electrical Engineering and Communication Brno University of Technology Czech Republic Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges University Chongqing 404000China Department of Mathematics University of IbadanNigeria

The concept of an HX-group is an upgrade of the concept of a group,in which a new operation is defined on the family of non-empty subsets of a *** this new support set together with the new operation is a group,then we call it an *** the other hand,a hyperoperation is a mapping having the same codomain as the operation of an HX-group,i.e.,the family of non-empty subsets of the initial set,but a different domain-the set *** could be(and was indeed)a source of confusion,which is clarified in this ***,HX-groups naturally lead to constructions of *** links between these two algebraic concepts are presented,with the aim of reviving the old notion of an HX-group in the current research on algebraic *** of such existing links and one newly established link are also discussed.

关键词： HX-group hyperstructure theory Chinese hypergroupoid EL-hyperstructure power set

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：