检索结果-内蒙古大学图书馆

第35届中国控制会议

作者： Can Wu Ting Zhang Yongqiang Liao Can Wang Guizhong Wu Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electro-mechanical Engineering Guangdong University of Technology Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

ISBN: (纸本)9781509009107

This paper presents a practical control strategy used on lower limb exoskeleton to help paraplegic patients to stand up and sit *** can make the process more comfortable and stable no matter the crutches are pressed heavy or *** is particularly efficient to the robots without drivable ankle joints such SIAT *** space was configured to ensure that the real time-generated trajectory won't break the balance of human-robot *** speed of each joint adjusts to the pressure under the crutches so as to relieve the impact from *** result of experiments shows that the self-adaptive control strategy can not only ensure the stability and fitness,but also form an incentive- "more effort paid,more time saved".

关键词： Exoskeleton Stable space Self-adaptive control Standing up process

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Shape Optimization of Magnetorheological Brake for Performance Enhancement

Shape Optimization of Magnetorheological Brake for Performan...

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IEEE International Conference on Robotics and Biomimetics

作者： Qiuyu Shi Fajiang Liu Xinyu Wu Fei Gao Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested.

关键词： Stator cores Torque Fluids Shape Magnetomechanical effects Prototypes Magnetic liquids Whale optimization algorithms Brakes Optimization

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Consensus-based Distributed Augmented Lagrangian Method for Nonconvex Optimization with Coupled Constraints

Consensus-based Distributed Augmented Lagrangian Method for ...

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Chinese Automation Congress (CAC)

作者： Yanxu Su School of Artificial Intelligence Anhui University Hefei P. R. China Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Southeast University Nanjing P. R. China

Abstract: In this paper, we study the nonconvex optimization problems with consideration of globally coupled constraints. The constrained optimization problem is converted into an augmented Lagrangian function, and a distributed primal-dual algorithm is exploited in the context of finite-time consensus for solving such a problem. Particularly, we do not require the globally coupled constraints to be separable. Instead, we introduce some local variables for estimating the constraint violations. Under some mild assumptions in the research of nonconvex optimization, we prove the convergence of the presented algorithm to a KKT point of the problem. The numerical experiment verifies the correctness and the effectiveness of the theoretical results.

关键词： Automation Heuristic algorithms Aggregates Numerical simulation Linear programming Optimization Lagrangian functions

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Three-Variable and Five-Variable Weng-Zhang Algorithms of Different Traversal Types Applied to UKHP Prediction

Three-Variable and Five-Variable Weng-Zhang Algorithms of Di...

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Chinese Automation Congress (CAC)

作者： Yunong Zhang Yining Zhang Lilian Li School of Compute Science and Engineering Sun Yat-sen University Guangzhou China Research Institute of Sun Yat-sen University in Shenzhen Shenzhen China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Guangzhou China Guangdong Key Laboratory of Modern Control Technology Guangzhou China School of Artificial Intelligence Sun Yat-sen University Zhuhai China

ISBN: (纸本)9781665426480

UK hung parliament (UKHP) prediction is a concern. It may not only cause political issues, but also lead to troubles in other fields such as economics. It is important to make predictions on UKHP. In this paper, we use three-variable and five-variable Weng-Zhang algorithms (also termed addition- subtraction and frequency [ASF] algorithms) of different traversal types to predict the risky time-intervals and years of UKHP to give an early alert for avoidance. Experiment results show that 2021-2023, 2047-2068, and 2098-2104 are more potentially risky, and 2023, 2053, 2055, 2061, 2068, and 2098 have a greater risk for the occurrence of UKHP.

关键词： Economics Time-frequency analysis Automation Human factors Prediction algorithms

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Self-triggered control of heterogeneous multiagent systems with input saturation

Self-triggered control of heterogeneous multiagent systems w...

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第37届中国控制会议

作者： Shengli Du Di Wu Yongfeng Gao Xu Li the College of Automation Faculty of Information Technology Beijing University of Technology the Beijing Key Laboratory of Computational Intelligence and Intelligent System the School of Control Science and Engineering Dalian University of Technology the School of Aeronautics and Astronautics Dalian University of Technology

This paper is concerned with the semi-global output synchronization problem of a heterogeneous network under selftriggered control. A distributed self-triggered control scheme in which only local information is used to compute the triggering instants is proposed. In addition, the Zeno behavior can be excluded in the designed scheme. By adopting the low-gain technique, it is shown that the input saturation nonlinearity can be avoided if the parameter of the parameterized feedback gain is chosen small enough. The algorithm for implementing the selftriggered rule is also presented in the paper.

关键词： Output synchronization input saturation selftriggered control multiagent system

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Research on Boot Problem and Automatic Repair of an Embedded Real-Time Operating system

Research on Boot Problem and Automatic Repair of an Embedded...

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Computer Technologies (ICCTech), International Conference on

作者： Haoshang Zhou Zhaoling Gao Zhongfu Wang Xiaopeng Wang State Key Laboratory for Traction and Control System of EMU and Locomotive CRRC Dalian Electric Traction R&D Center Co. Ltd. School of Intelligence and Electronic Engineering Dalian Neusoft University of Information

At present, in the communication between Electric Multiple Units (EMU) and locomotive network control system, in order to ensure the stability of vehicle control and the accuracy and reliability of data recording, its key components - Central control Unit (CCU) and Event Record machine (ERM) adopt an embedded real-time operation system. In order to facilitate debugging, the system needs to start Microsoft's DOS system before being called to start. Based on the feedback of the embedded real-time operating system startup failure from each locomotive and rolling stock depot, this paper will elaborate on its startup process and propose a solution that can automatically repair the startup problem, which has been tested in the laboratory to prove that this method can effectively avoid the system startup failure.

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Environment exploration and recognition for mobile robot using immune algorithm and objectness measure

Environment exploration and recognition for mobile robot usi...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbin Qu Songmin Jia Xue Zhao College of Electronic Information & Control Engineering Beijing University of Technology Beijing China Engineering Research Center of Digital Community Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (纸本)9781479970995

In order to complete a service task more efficiently, robot needs to create a map quickly and recognize objects during this process. In this paper, a novel mapping method is proposed to address this problem. Firstly, Admissible Space Tree is generated to acquire possible node. Then, immune algorithm is applied for its advantages such as diversity, dynamic, parallel management and self-adaptation. And antibody affinity is constructed to select optimal path. Meanwhile, robot recognizes key objects on its way to get the semantic information. To achieve this purpose, normed gradients feature has been extracted to describe the object windows. It is based on just a few training images and also has the ability to learn incrementally. Subsequently, three support vector machines are respectively used for objectness estimation and object types detection. Experimental results demonstrate that the presented method can build a semantic map more efficient, which verifies the feasibility of proposed algorithm.

关键词： Immune system Support vector machines Semantics Robot sensing systems Algorithm design and analysis Object recognition

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Development of an Adaptive Prosthetic Hand *

Development of an Adaptive Prosthetic Hand *

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IEEE International Conference on Robotics and Biomimetics

作者： Xu Yong Xiaobei Jing Xinyu Wu Jiang Jiang Hiroshi Yokoi Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences (CAS) CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences (CAS) Shenzhen China Department of Mechanical Engineering and Intelligent Systems The University of Electro-communications

Inspired by biomechanics, an adaptive prosthetic hand which not only considered the function of the motion of the digits but also the palm, is presented in this paper. The human hand consists of different kinds of bones, the phalanges in the digits and the metacarpals in the palm, which cooperate to perform adaptable and dexterous motions. Many existent prosthetic hands focus mainly on the movements of the digits, ignoring the palm. The proposed hand has 15 movable joints in the fingers and the thumb, and 2 movable metacarpals in the palm. The thumb and the four fingers are able to flex independently and adaptively wrap along with the shape of the object. The palm could perform an adaptive holding to some extent through the grasping process, due to the movable metacarpals. Furthermore, the hand design is also considered the weight and size limitations for being used as a prosthesis.

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Wei Li Junfei Qiao Xiao-Jun Zeng College of Electronic Information and Control Engineering Beijing University of Technology Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China School of Computer Science University of Manchester Manchester U.K

ISBN: (纸本)9781467376839

This paper provides a complete solution for the problem how to accurately compute the similarity between fuzzy sets with Gaussian membership functions, which is a fundamental issue for the identification and simplification of FNNs. It is shown that there are three different types of similarities between a pair of Gaussian membership functions dependent on the relative positioning between the given pair of membership functions, and the accurate and detailed computing formulas are given in each type. A simulation example is given to compare the proposed accurate similarity analysis method with the existing approximation approaches and to show how much more accuracy can be obtained than the approximation one in terms of absolute percentage approximation error.

关键词： Fuzzy sets Fuzzy neural networks Shape Computational modeling Bismuth Knowledge discovery

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A New Image Quality Database for Multiple Industrial Processes

arXiv

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arXiv 2024年

作者： Ma, Xuanchao Jiang, Yanlin Liu, Hongyan Zhou, Chengxu Gu, Ke Faculty of Information Technology Beijing University of Technology Beijing China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing Laboratory of Smart Environmental Protection China Beijing Key Laboratory of Computational Intelligence and Intelligent System China Beijing Artificial Intelligence Institute China School of Electronic & Information Engineering Liaoning University of Technology Liaoning China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology China

Recent years have witnessed a broader range of applications of image processing technologies in multiple industrial processes, such as smoke detection, security monitoring, and workpiece inspection. Different kinds of distortion types and levels must be introduced into an image during the processes of acquisition, compression, transmission, storage, and display, which might heavily degrade the image quality and thus strongly reduce the final display effect and clarity. To verify the reliability of existing image quality assessment methods, we establish a new industrial process image database (IPID), which contains 3000 distorted images generated by applying different levels of distortion types to each of the 50 source images. We conduct the subjective test on the aforementioned 3000 images to collect their subjective quality ratings in a well-suited laboratory environment. Finally, we perform comparison experiments on IPID database to investigate the performance of some objective image quality assessment algorithms. The experimental results show that the state-of-the-art image quality assessment methods have difficulty in predicting the quality of images that contain multiple distortion types. Copyright © 2024, The Authors. All rights reserved.

关键词： Database systems

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