检索结果-内蒙古大学图书馆

11th IEEE Data Driven control and Learning Systems Conference, DDCLS 2022

作者： Cheng, Xiaowei Liu, Shan College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

A dynamic obstacle avoidance planning algorithm based on deep reinforcement learning is proposed for rigid manipulators. After the neural network interacts with the environment and learns, it can give real-time action strategies to guide the manipulator to avoid dynamic obstacles. This paper proposes a new state space description method suitable for manipulators and dynamic environments, and designs the corresponding collision detection method and reward value calculation function for this state description method. The test results in the simulation environment demonstrate the effectiveness of the method. © 2022 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

A Discrete Multi-Objective Squirrel Search Algorithm for Energy-Efficient Distributed Heterogeneous Permutation Flowshop with Variable Processing Speed

引用

computers, Materials & Continua 2024年第10期81卷 1757-1787页

作者： Liang Zeng Ziyang Ding Junyang Shi Shanshan Wang School of Electrical and Electronic Engineering Hubei University of TechnologyWuhan430068China Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of TechnologyWuhan430068China Xiangyang Industrial Institute of Hubei University of Technology Xiangyang441100China

In the manufacturing industry,reasonable scheduling can greatly improve production efficiency,while excessive resource consumption highlights the growing significance of energy conservation in *** paper studies the problem of energy-efficient distributed heterogeneous permutation flowshop problem with variable processing speed(DHPFSP-VPS),considering both the minimum makespan and total energy consumption(TEC)as objectives.A discrete multi-objective squirrel search algorithm(DMSSA)is proposed to solve the *** makes four improvements based on the squirrel search ***,in terms of the population initialization strategy,four hybrid initialization methods targeting different objectives are proposed to enhance the quality of initial ***,enhancements are made to the population hierarchy system and position updating methods of the squirrel search algorithm,making it more suitable for discrete scheduling ***,regarding the search strategy,six local searches are designed based on problem characteristics to enhance search ***,a dynamic predator strategy based on Q-learning is devised to effectively balance DMSSA’s capability for global exploration and local ***,two speed control energy-efficient strategies are designed to reduce *** comparative experiments are conducted in this paper to validate the effectiveness of the proposed *** results of comparing DMSSA with other algorithms demonstrate its superior performance and its potential for efficient solving of the DHPFSP-VPS problem.

关键词： Distributed heterogeneous permutation flowshop problem squirrel search algorithm muli-objective optimization energy-efficient variable processing speed

来源：评论

学校读者我要写书评

暂无评论

Knowledge Graph Completion for industrial Robots Based on Graph Attention Network

Knowledge Graph Completion for Industrial Robots Based on Gr...

引用

2024 China Automation Congress, CAC 2024

作者： Li, Yong Yu, Jie Yu, Yang Liu, Zexing Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Network Control Ministry of Education Chongqing China Guizhou Medical University School of Biology and Engineering Guizhou China

ISBN: (纸本)9798350368604

The current state of the knowledge graph for industrial robots is confronted with several significant challenges. One issue is the insufficient fault data of industrial robots, which results in an inadequate number of nodes and edges in the knowledge graph and a pervasive problem of data sparsity. Additionally, industrial robots encompass a wide array of diverse and complex fault types, leading to intricate correlations and interactions among different fault types. In response to these challenges, this study proposes a method called BAKGAT for complementing the knowledge graph of industrial robot faults. BAKGAT leverages the semantic understanding and feature extraction capabilities of BERT, in conjunction with the multi-hop neighbor node information aggregation proficiency of KBGAT, thereby enhancing node and relation representation and capturing complex semantic relationship information more effectively. Furthermore, BAKGAT introduces an attention attenuation mechanism to mitigate the impact of distant nodes and amplify the attention weight of neighboring nodes, thereby facilitating the more precise capture of local structural information. To validate the efficacy of the proposed method, a series of comparative experiments was performed on two benchmark datasets, WN18RR and FB15k-237, as well as the industrial robot fault dataset IRF9K. The experimental results demonstrated that BAKGAT surpasses the performance of the baseline models, highlighting its superior effectiveness in addressing sparse and heterogeneous data. © 2024 IEEE.

关键词： Knowledge graph

来源：评论

学校读者我要写书评

暂无评论

Modeling of Fluid Catalytic Cracking System Based on Improved ELM-Hammerstein Model

Modeling of Fluid Catalytic Cracking System Based on Improve...

引用

2023 China Automation Congress, CAC 2023

作者： Zhang, Enhao Zhu, Haibo Zhou, Fan Zhao, Jun Dalian University of Technology Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education Dalian China School of Control Science and Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9798350303759

The complex process mechanism of fluid catalytic cracking (FCC) and the strong nonlinearity of multi-variable coupling bring significant challenges to the model predictive control (MPC) of FCC production process models. This study presents a modeling method of FCC system based on improved extreme learning machine Hammerstein (IELM-Hammerstein). Aiming at the nonlinear characteristics of FCC process, the Hammerstein model's static nonlinear subsystem is constructed using an extreme learning machine (ELM). Considering the instability of the algorithm caused by random weights and thresholds in the ELM, the sparrow search algorithm (SSA) is adopted to calculate the parameters, then one recursive least square (RLS) method is derived from calculating the linear subsystem regression parameters of Hammerstein model. To prove the effectiveness of this method, the comparative experiments with the traditional identification method are carried out, and this method is applied to modeling and control of the fractionating system in a petroleum refinery. The experimental results indicates that the proposed method guarantees the modeling accuracy of the fractionating system, and improves the tracking control performance. © 2023 IEEE.

关键词： Fluid catalytic cracking

来源：评论

学校读者我要写书评

暂无评论

Knowledge Distillation on Driving Intention Generator: Learn Human-like Semantic Reasoning

Knowledge Distillation on Driving Intention Generator: Learn...

引用

2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wang, Hejun Dong, Jiajun Wang, Yunkai Jiao, Yanmei Xiong, Rong Zhejiang University The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou China Hangzhou Normal University The School of Information Science and Engineering Hangzhou China

ISBN: (纸本)9798350327182

Semantic information plays a significant role in autonomous vehicles. However, it has remained open how to economically compute and efficiently incorporate semantic information into other frequently applied processes, such as construction of local navigation map, driving decision making and trajectories planning. To address this issue, we introduce Knowledge Distillation to convey semantic reasoning capability. Following the existing intention-guided framework, a semantically incorporated module associates given navigation instruction with acquired visual perception to synthesize driving intention. Our major contribution is to teach the driving intention generator how to propagate considering semantics implicitly. Specifically, we construct a semantic supervisor identical to the driving intention generator. The supervisor transfers semantic reasoning ability to the generator during training process, with which the generator is expected to perform stably and reliably even in extremely sophisticated surroundings or under frequently inaccurate navigation instruction. Through exhaustive experimental validation, our model demonstrates a superior robustness and adaptability compared to the state-of-the-art. Finally, we explain the intrinsic mechanism of our model with visualization. © 2023 IEEE.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

QAQA-SS: An Improved Fuzzing Approach with Seed Scheduling Based on the UCB Algorithm for QA Systems 24

QAQA-SS: An Improved Fuzzing Approach with Seed Scheduling B...

引用

24th IEEE International Conference on Software Quality, Reliability and Security Companion, QRS-C 2024

作者： Chen, Jinfu Wu, Yucheng Chen, Haibo Chen, Jingyi Akpaku, Ernest School of Computer Science and Communication Engineering Jiangsu University Zhenjiang212013 China Jiangsu University Jiangsu Key Laboratory of Security Technology for Industrial Cyberspace Zhenjiang212013 China

ISBN: (纸本)9798350365658

Question Answering (QA) system is a type of artificial intelligence application designed to comprehend natural language questions and provide accurate, meaningful natural language answers. However, there are errors in the QA system, which can cause inconvenience for users and even lead to economic losses and security issues. In response to these challenges, QAQA showed up. QAQA designs several metamorphic relations (MRs) and achieves precise automatic testing through semantic-guided search and enhanced test oracles. However, QAQA fairly selects each seed (initial test input) in sequential order and assigns them a fixed number of mutations, which leaves many seeds that could produce quality test inputs neglected. This paper proposes an improved version named QAQA-SS (QAQA-Seed Schedule), where we enhance QAQA with a seed scheduling module and a fuzzing framework featuring iterative feedback. We combine the Upper Confidence Bound (UCB) algorithm with perplexity to devise a novel seed scheduling algorithm. QAQA-SS selects superior seeds and allocates appropriate mutation counts (energy) to generate more error-inducing test inputs within a limited energy budget. Additionally, we introduce a text paraphrasing operation to improve the performance of finding errors in the QA system. We conducted experiments following the experimental setup of QAQA on three datasets: BoolQ, SQuAD2, and NarrativeQA. Our experimental results reveal a noteworthy enhancement in the error discovery rate for QAQA-SS, achieving 81,777 error discoveries compared to 64,354 error discoveries with QAQA. © 2024 IEEE.

关键词： Semantics

来源：评论

学校读者我要写书评

暂无评论

Robust Car-Following control of Connected and Autonomous Vehicles: A Stochastic Model Predictive control Approach

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Zhang, Peiyu Tian, Daxin Zhou, Jianshan Chang, Mai Duan, Xuting Zhao, Dezong Cao, Dongpu Leung, Vicor C.M. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China James Watt School of Engineering University of Glasgow Glasgow U.K Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Computer Science and Software Engineering Shenzhen University Shenzhen China

Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive control (SMPC) for a vehicle platoon system to enhance the robustness and safety of the vehicles in uncertain traffic environments. In particular, considering the similarity between the acceleration or deceleration behaviour of neighbouring vehicles and the spring-scale properties, we use a two-mass spring system for the first time to construct an uncertain dynamic model of a formation system. In the presence of uncertain perturbations with known distributional attributes (expectation, variance), we propose an objective function in the form of expectation along with probabilistic chance constraints. Subsequently, a state feedback control mechanism is devised accordingly. Under the cumulative probability distribution function of stochastic perturbations, we theoretically derive a computationally tractable equivalent of the SMPC model. Finally, simulation experiments are designed to validate the control performance of the SMPC platoon controllers, along with an analysis of the stability performance under varying probabilities. The experimental findings demonstrate that the model can be efficiently solved in real-time with appropriately chosen prediction horizon lengths, ensuring robust and safe longitudinal vehicle formation control. IEEE

关键词： Random processes

来源：评论

学校读者我要写书评

暂无评论

Degradation of o-dichlorobenzene by DBD-NTP co-modified titanium gel catalyst

引用

Journal of Environmental Sciences 2024年第9期143卷 71-84页

作者： Wenbo Zhang Yi Xing Wei Su Jiaqing Wang Haoqi Jia Yongkang Cui Jing Chen Hui Zhang School of Energy and Environmental Engineering University of Science and Technology BeijingBeijing 100083China Beijing Key Laboratory of Resource-oriented Treatment of Industrial Pollutants University of Science and Technology BeijingBeijing 100083China Guangdong Province Engineering Laboratory for Air Pollution Control Guangzhou 510530China College of Environmental and Resource Sciences Shanxi UniversityTaiyuan 030006China Sinosteel Maanshan Mine Research Institute Co.Ltd. Anhui 243071China

In order to study the degradation process of dioxins in industrial flue gas,the decomposition of o-dichlorobenzene(o-DCB)in a DBD plasma catalytic reactor was *** results showed that an NTP-catalyzed system,especially using the Cu Mn Ti Oxcatalyst,had better o-DCB degradation performance compared to plasma *** combination of the Cu Mn Ti Oxcatalyst with NTP can achieve a degradation efficiency of up to 97.2%for o-DCB;the selectivity of CO and CO_(2)and the carbon balance were 40%,45%,and 85%,*** dielectric constant and electrical property results indicated that the surface discharge capacity of the catalysts played a major role in the degradation of o-DCB,and a higher dielectric constant could suppress the plasma expansion and enhance the duration of the plasma discharge per discharge *** to the O1s XPS and O_(2)-TPD results,the conversion of CO to CO_(2)follows the M-v-K mechanism;thus,the active species on the catalyst surface play an important ***,the Cu Mn Ti Oxand NTP mixed system exhibited excellent stability,which is probably because Cu doping improved the lifetime of the *** work can provide an experimental and theoretical basis for research in the degradation of o-DCB by plasma catalyst systems.

关键词： o-dichlorobenzene(o-DCB) Non-thermal plasma catalysis Ozone concentration

来源：评论

学校读者我要写书评

暂无评论

A Comprehensive Review of Humanoid Robots

SmartBot

引用

SmartBot 2025年第1期1卷 86-120页

作者： Qincheng Sheng Zhongxiang Zhou Jinhao Li Xiangyu Mi Pingyu Xiang Zhenghan Chen Haocheng Xu Shenhan Jia Xiyang Wu Yuxiang Cui Shuhao Ye Jiyu Yu Yuhan Du Shichao Zhai Kechun Xu Yifei Yang Zhichen Lou Zherui Song Zikang Yin Yu Sun Rong Xiong Jun Zou Huayong Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhouChina State Key Laboratory of Industrial Control Technology School of Control Science and EngineeringZhejiang UniversityHangzhouChina

Humanoid robots,increasingly recognized for their potential to drive economic and social development,have garnered significant attention in recent *** paper aims to provide a comprehensive overview of the progress,challenges,and future directions in humanoid robotics,with a particular emphasis on essential system components and key technological *** a review of historical milestones,this paper explores critical aspects such as the design of the head and body,and examines state-of-the-art technologies in areas like locomotion control,perception,and intelligent *** presenting a thorough analysis of the field,this work aims to serve as a valuable resource for researchers and inspire future innovations that will drive the continued evolution of humanoid robots.

关键词： challenges and trends humanoid robot humanoid robot components key technologies

来源：评论

学校读者我要写书评

暂无评论

User Satisfaction-Aware Edge Computation Offloading in 5G Multi-Scenario

引用

Journal of Communications and Information Networks 2023年第3期8卷 271-282页

作者： Xiaochuan Sun Xiaoyu Niu Yutong Wang Yingqi Li College of Artificial Intelligence North China University of Science and TechnologyTangshan 063210China Hebei Key Laboratory of Industrial Intelligent Perception Tangshan 063210China School of Computer and Communication Engineering University of Science and Technology BeijingBeijing 100083China

Edge computation offloading has made some progress in the fifth generation mobile network(5G).However,load balancing in edge computation offloading is still a challenging ***,with the continuous pursuit of low execution latency in 5G multi-scenario,the functional requirements of edge computation offloading are further *** the above challenges,we raise a unique edge computation offloading method in 5G multi-scenario,and consider user *** method consists of three functional parts:offloading strategy generation,offloading strategy update,and offloading strategy ***,the offloading strategy is generated by means of a deep neural network(DNN),then update the offloading strategy by updating the DNN ***,we optimize the offloading strategy based on changes in user *** summary,compared to existing optimization methods,our proposal can achieve performance close to the *** simulation results indicate the latency of the execution of our method on the CPU is under 0.1 seconds while improving the average computation rate by about 10%.

关键词： DNN user satisfaction 5G multi-scenario edge computation offloading

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：