检索结果-内蒙古大学图书馆

2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

来源：评论

学校读者我要写书评

暂无评论

A nested constraints based anti-disturbance collision-free formation control scheme for multi-mobile robot systems

A nested constraints based anti-disturbance collision-free f...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Wang, Guodong Wang, Xiangyu Li, Shihua Niu, Dan Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China

ISBN: (纸本)9781665465335

This paper investigates distributed formation control of multi-mobile robot systems with collision avoidance. A novel nested constraints based anti-disturbance formation control scheme is established, which contains two parts. In the first part, a formation signal generator is constructed on the communication network by using proper distributed cooperative control approaches and artificial potential field-based methods, such that it "completes"the desired formation control task in its outputs. In the second part, by combining proper disturbance estimations, some nonlinear tracking controllers are designed for the robots to track the corresponding outputs of the generator asymptotically. A "nested constraint mechanism"is put forward accordingly and applied to limit the generator's outputs and the robots' tracking errors. In this way, the studied multi-mobile robot systems realize the formation control goal with collision avoidance. Compared with existing results, the proposed method has a better plug-and-play feature to deal with the tight encapsulations of the practical robot products, and has better convergence performances with the existence of disturbances. Some experiments are given to validate the effects of the proposed methods. © 2022 IEEE.

关键词： Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Transformer Based Multi-modal Fusion For Place Recognition with Self-attention Mechanism

Transformer Based Multi-modal Fusion For Place Recognition w...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Pan, Yan Yu, Xiang Chang, Zeqing Fang, Fang Zhou, Bo School of Automation Southeast University Ministry of Education The Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9781665465335

Autonomous driving still leaves a challenging task that how to apply the complementary information captured from different sensors, i.e. cameras and LiDAR, to handle place recognition task. In this paper, a brand new pipeline was designed to tackle the retrieval problem with a multi-modal late fusion. The light-weighted convolutional blocks is applied to encode features from images, followed by converting them into pseudo point clouds. Inspired by the progress of the Transformer, the network employs a residual point transformer module to extract feature vectors for 3D points and pseudo point clouds respectively. Finally, the two corresponding local descriptors are fused to get a robust fused global descriptor, which is capable of place recognition task after end-to-end training. Experimental results collected from sequence 00, 02, 05, 06 of KITTI dataset validate that fusing information from two modalities is able to enhance performance. © 2022 IEEE.

关键词： Autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

Aircraft Middle and Final Stage Attitude control on Fully Actuated system Theory

Aircraft Middle and Final Stage Attitude Control on Fully Ac...

引用

Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Xinyu Liu Mingrui Hao Yu Fan Yan Zhen Wendi Sun National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This paper takes the attitude control of the middle and final stages of the aircraft as the research background, and explores a new nonlinear control method for the strong nonlinearity, strong coupling, fast time-varying and uncertainty characteristics of the aircraft. A second-order fully actuated system model of the aircraft is constructed, which is starting from the six degree of freedom mathematical model, including aerodynamic coupling and control coupling. It is a nonlinear model, including roll, yaw and pitch full three channels. Also, the paper designed an attitude controller on fully actuated system, which is based on the PD control method, and proved the stability of the controller through Lyapunov stability analysis method. Then, the controller is integrated into the aircraft simulation, and mathematical simulation verification is carried out under benchmark conditions, achieving good attitude control effect.

关键词： Couplings Attitude control Atmospheric modeling Benchmark testing Mathematical models Stability analysis Aircraft manufacture

来源：评论

学校读者我要写书评

暂无评论

Robust Velocity-Regulation control of Gimbal Servo systems Using a Predictive Comprehensive Disturbance Observer

Robust Velocity-Regulation Control of Gimbal Servo Systems U...

引用

2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Yang, Weifeng Jiang, Yuan Li, Shihua Nanjing Chenguang Group Co. Ltd Nanjing210008 China School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

A robust high-precision velocity-regulation controller is researched for gimbal servo systems (GSSs) in this paper, which aims to mitigate the impact of multiple adverse factors, including both the internal time-delay characteristics and external time-varying disturbances. First, to enable a more accurate estimation and compensation against disturbances of multifrequency-band under input time-delay, a generalized system modelling of GSS is developed with detailed classification and description of different uncertainties. On the basis of such a generalized model, a predictive comprehensive disturbance observer (PCDO) is designed to accurately predict both system states and multiple disturbances with multi-frequency-band. Based upon the predictions provided from PCDO, a composite controller is further constructed to ensure the closed-loop stability of GSS. A rigorous robust stability proof of the closed-loop system is presented. Simulation analysis under various uncertainties are conducted to thoroughly validate the efficacy of the proposed PCDO-based control approach. © The Institution of Engineering & Technology 2024.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

An Intelligent Ranking Evaluation Method of Simulation Models Based on Graph Neural Network 15th

An Intelligent Ranking Evaluation Method of Simulation Model...

引用

15th EAI International Conference on Simulation Tools and Techniques, SIMUTools 2023

作者： Yang, Fan Ma, Ping Zhang, Jianchao Cheng, Huichuan Li, Wei Yang, Ming Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Complex System Modeling and Simulation Harbin150080 China Chinese Aeroengine Research Institute Beijing101304 China

ISBN: (纸本)9783031575228

To validate the alternative simulation models and select the most credible one when the models have multivariate and correlated outputs, an intelligent ranking evaluation method of simulation models based on Graph Neural Network (GNN) is proposed. The process of ranking evaluation is divided into three parts: graph structure conversion for evaluation data, feature extraction based on Graph Representation Learning (GRL) and ranking evaluation based on feature distance. A graph structure modeling method is presented to provide the pre-define graph structure for further GRL primarily. Next the interdependencies and dynamic evolutionary patterns among variables are captured by GNN so that the graph representations of evaluation data can be obtained. Then ranking evaluation is achieved by similarity measurement of the graph representations. In the end, the effectiveness of the proposed method on feature extraction of evaluation data and simulation models ranking is illustrated through an application example on a prediction model for aerodynamic parameters of a certain flight vehicle. © ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2024.

关键词： Feature extraction

来源：评论

学校读者我要写书评

暂无评论

A Two-layer Adaptive control Strategy for Photovoltaic Power in Different Scenarios 3

A Two-layer Adaptive Control Strategy for Photovoltaic Power...

引用

3rd International Conference on Energy Engineering and Power systems, EEPS 2023

作者： Wan, Yanghui Yan, Jiahao Chu, Tianfeng Li, Yaping Yuan, Kun Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Nanjing China Power Automation Department Nanjing China State Grid Liaoning Electric Power Co. Ltd. Electric Power Research Institute Shenyang China

ISBN: (纸本)9798350313857

Currently, control strategies for distributed photovoltaic (PV) power generation are relatively single and rigid, and cannot flexibly adapt to the diverse demands of power grids in different scenarios. Firstly, this paper analyzes the adaptive relationship between different dispatching demands, the regulation ability of distributed PV, and the characteristics of the local voltage. Secondly, for different scenarios, the coordinated controller determines the reference values of active power and reactive power given to the inverter. Thus, distributed PV power control modes which can adapt to different scenarios have been established. Then, these control modes can be classified into single control modes and compound control modes according to the complexity of scenario demands. On this basis, a specific two-layer adaptive control strategy and process of distributed PV power generation in a low-voltage distribution network are further proposed, which takes into account both external demands of the distribution network and the regulation ability of distributed PV. Finally, a case study is given to verify the rationality and effectiveness of the two-layer adaptive scenarios control strategy. This strategy can effectively improve the comprehensive support ability of distributed PV power generation towards the power grid in multiple scenarios, and improve the stable operation level of the regional power grid. © 2023 IEEE.

关键词： Reactive power

来源：评论

学校读者我要写书评

暂无评论

Inverse Reinforcement Learning Integrated Reinforcement Learning for Single Intersection Traffic Signal control 5

Inverse Reinforcement Learning Integrated Reinforcement Lear...

引用

5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Gu, Shiyi Zhang, Tingting Zhang, Ya Southeast University School of Automation Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China Army Engineering University College of Command and Control Engineering Nanjing210017 China

ISBN: (纸本)9798350325294

Traffic Signal control (TSC) optimization is vital for efficient traffic flow in urban intersections. Recent research has explored the application of Reinforcement Learning (RL) agents to tackle TSC challenges. However, the selection of an appropriate reward function in RL agent training still relies on subjective judgment and experience. To address this issue, an Inverse Reinforcement Learning (IRL) integrated RL algorithm is proposed. In the IRL learning section, expert trajectory data are collected and analyzed by Relative Entropy IRL (REIRL). The latent reward of expert policy is reconstructed and utilized in RL agent training process. In the RL control section, a Double Dueling Deep Q Network is applied under a cycle control framework. As verified in simulations, the introduction of expert experience improves the performance of the RL agent to the expert level and concurrently enables robustness to expert policy noises. © 2023 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Requirement-Oriented TT&C Method for Satellite Based on BDS-3 Short-Message Communication system

引用

Space(Science & Technology) 2023年第1期3卷 311-324页

作者： Chao Li Peijie Liu Shiyuan Fu Yiwen Jiao Wei Zhang Department of Electronic and Optical Engineering Space Engineering UniversityBeijingChina Key Laboratory of Intelligent Space TT&C and Operation(Space Engineering University) Ministry of EducationBeijingChina State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System LuoyangChina Xi’an Satellite Control Center Xi’anChina

With the increasing number of satellites being launched in China,the demand for Telemetry,Tracking,and Command(TT&C)resources is also *** of the global coverage and resource requirements of TT&C management,this paper proposes a TT&C scheme based on the Global Short-Message Communication system(GSMCS)of the BeiDou-3 Navigation Satellite system(BDS-3).The system composition,workflow,and functions of satellite TT&C are analyzed using the GSMCS of *** the coverage analysis of the Medium Earth Orbit(MEO)constellation of BDS-3,scheme’s applicability is pointed out,and the correctness of the analysis results is verified via *** value range of the link distance is derived by calculating the range of the distance variation between any 2 satellites in the BDS-3 MEO constellation and combining the intersatellite routing *** calculation results show that the response time range of the autonomous request management application of in-orbit satellites based on the GSMCS of BDS-3 is 1.407 to 2.448 *** can meet the requirements of TT&C service.

关键词： Message Command service

来源：评论

学校读者我要写书评

暂无评论

Optimal Trajectory Planning and Safety-Critical control for Underactuated Overhead Cranes

Optimal Trajectory Planning and Safety-Critical Control for ...

引用

第43届中国控制会议

作者： Weihong Chen Zheng Tian Jun Yang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

As a kind of heavy cargo lifting equipment,it is very important to improve transportation efficiency,save energy and strictly ensure safety for overhead ***,many traditional control strategies can not meet these needs *** this end,a composite control framework made up of optimal trajectory planning and Safety-Critical tracking controller is studied in this ***,optimal trajectories are obtained by the optimal control *** analysis is used to obtain a tractable optimal solution for overhead crane ***,control Lyapunov functions(CLFs) and high-order control barrier functions(HOCBFs) are used to track the optimal states and account for constraints with arbitrary relative degrees,*** CBF method is computationally efficient while providing safety *** results show that the proposed method is effective.

关键词： Safety-Critical control Optimal control control Barrier Functions Overhead Cranes

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：