检索结果-内蒙古大学图书馆

SSRN 2023年

作者： Jia, Shukun Song, Chen Cao, Yichao Lu, Xiaobo School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China Nanjing Enbo Technology Co. Ltd. Nanjing China

CenterNet-like object detectors are known for the concise post-processing method. But there are two bottlenecks that limit its further research and development. The first one is they merely encode one positive sample for each object in the classification task, failing to make full use of supervision information. And simply encoding more positive samples is not as effective as expectation. The other one lies in that they perform predictions on large-resolution feature maps, ignoring to utilize the insights of multi-level-feature object detection. The two shortcomings make their accuracy lag behind the detectors with one-to-many label assignment strategy and feature pyramids networks (FPN). To solve the two issues, we first find three rules based on Gaussian kernel to set proper target values for multiple positive samples, which are achieved uniformly and cost-free. Second, we devise a balanced and sufficient supervision network to ease the optimization of backbones. Both proposed methods inject more supervision signal to CenterNet-like detectors, and improve CenterNet-like detectors to a competitive performance. The effectiveness of each method is fully verified on large-scale datasets with different data distributions, i.e., the MS-COCO and PASCAL VOC dataset. © 2023, The Authors. All rights reserved.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

PCDH-based nonlinear H∞control of VSC-HVDC with wind power integrated

引用

Journal of control and Decision 2021年第1期8卷 41-49页

作者： Xingyu Lv Bangjun Lei Shumin Fei Foreign language Teaching Center Guizhou Institute of TechnologyGuiyangPeople’s Republic of China Key Laboratory of Power Dig Data of Guizhou Province School of Electrical and Information EngineeringGuizhou Institute of TechnologyGuiyang 550003People’s Republic of China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast UniversityNanjingPeople’s Republic of China

Based on the port-controlled dissipative Hamiltonian(PCDH)system,a novel nonlinear(NN)H∞control is designed for the wind farm side(WFS)voltage source converter(VSC)of VSC-based high-voltage direct current(VSC-HVDC)transmission system connected large wind ***,the uncertain nonlinear dynamical model of WFS VSC in the VSC-HVDC is established by taking external disturbances and parameter variations into ***,the dissipative Hamiltonian structure of the WFS VSC system is constructed by means of variable ***,on the basis of the obtained dissipative Hamiltonian structure,a NN H∞control is put ***,the simulation results show that the proposed NN H∞control gains the advantage over the interconnection and damping assignment passivity-based(IDA-PB)control.

关键词： VSC-HVDC large wind farm Hamiltonian function method nonlinear H∞control

来源：评论

学校读者我要写书评

暂无评论

Finite-time robust control for transformerless H-bridge cascaded STATCOM with star configuration

引用

Journal of control and Decision 2021年第2期8卷 106-115页

作者： Xingyu Lv Bangjun Lei Shumin Fei Foreign Language Teaching Center Guizhou Institute of TechnologyGuiyangPeople’s Republic of China Key Laboratory of Power Dig Data of Guizhou Province School of Electrical and Information EngineeringGuizhou Institute of TechnologyGuiyang 550003People’s Republic of China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast UniversityNanjingPeople’s Republic of China

This article presents a finite-time robust control(FTRC)of a transformerless STATCOM based on a cascaded multilevel H-bridge converter(CMHC)with star *** FTRC is first proposed for the current loop control of a CMHC-based transformerless STATCOM by using the finite time robust control *** the parameters,perturbations and external disturbances into account and using coordinate transformation method,the nonlinear dynamic model of the CMHC-based transformerless STATCOM is transformed into a standard nonlinear port-controlled dissipative Hamiltonian(PCDH)*** on the PCDH structure,an FTRC is designed for the CMHC-based transformerless STATCOM to improve the transient stability and oscillation damping of power ***,the simulation results demonstrate that the FTRC has better dynamic performance and strong robustness in comparison with the passivity-based control of the CMHC-based transformerless STATCOM.

关键词： Cascaded H-bridge converter transformerless STATCOM finite time robust control oscillations damping transient stability

来源：评论

学校读者我要写书评

暂无评论

Circular Formation Flight control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

引用

IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 505-516页

作者： Yangyang Chen Rui Yu Ya Zhang Chenglin Liu School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Advanced Process Control for Light Industry Ministry of EducationInstitute of AutomationJiangnan UniversityWuxi 214122China

This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles(UAVs)to perform coordinated circular tracking around a set of circles on a target *** from the previous results limited in bidirectional networks and disturbance-free motions,this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper *** from the design of a common Lyapunov fiunction for bidirectional cases,we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as *** the whole control system is regarded as a cascade connection of these two subsystems,which is proved to be stable by input-tostate stability(ISS)*** the purpose of encountering the external disturbance,the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere(say,the circular tracking control algorithm)with the help of the switching ***,the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere(say,the formation keeping control law)for formation *** validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

关键词： Directed network external disturbance flight control unmanned aerial vehicles(UAVs)

来源：评论

学校读者我要写书评

暂无评论

DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatial and Temporal Transformer Network

DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatia...

引用

International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Shaokun Zhang Xinde Li Chuanfei Hu Jianping Xu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Science and Technology on Information Systems Engineering Laboratory Nanjing China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Recent transformer-based methods for estimating 3D human pose have gained widespread attention, achieving state-of-the-art results. Previous methods have primarily focused on capturing motion patterns of the human body at a single scale or cascading multiple scales, such as joints, bones, and body-parts. However, they are difficult to simultaneously capture spatial-temporal motion patterns of the human body at different scales due to the complex motion patterns. To address this issue, we propose Dual-scale Spatial and Temporal transFormer (DSTFormer), which can concurrently explore the spatial dependencies and temporal motion patterns of human joints and bones. Additionally, we introduce a Gcn-Spatial Transformer Block (GSTB), which introduces Graph Convolutional Networks (GCN) into transformer to enhance the exploitation of local relationships and global information between adjacent joints or bones. Extensive experiments are conducted on the Human3.6M benchmark dataset, and superior results are reported when comparing to other state-of-the-art methods. More remarkably, our model achieves to-date the best published performance, with P1 errors of 37.9 mm and 15.6 mm, respectively.

关键词： Solid modeling Three-dimensional displays Mechatronics Graph convolutional networks Computational modeling Pose estimation Transformers Bones Joints Robots

来源：评论

学校读者我要写书评

暂无评论

Joint Radar-Communication Beamforming for CRB-Based Target Localization

Joint Radar-Communication Beamforming for CRB-Based Target L...

引用

IEEE Conference on Vehicular Technology (VTC)

作者： Tianhao Mao Jie Yang Le Liang Shi Jin National Mobile Communications Research Laboratory Southeast University Nanjing China Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China Purple Mountain Laboratories Nanjing China

ISBN: (数字)9798350387414

ISBN: (纸本)9798350387421

This paper studies the beamformer design for an integrated sensing and communication system where simultaneous communication for multiple downlink users and bistatic sensing for a point target are realized. Firstly, to avoid self-interference in monostatic settings, we establish the bistatic sensing model where the sensing performance is measured by the Cramér-Rao bound (CRB) for the target's coordinates and the communication performance by the signal-to-interference-plus-noise ratio (SINR). We aim to minimize the CRB while ensuring a predefined SINR for each user. Then, we derive a closed-form beamformer for the single-user case that proves near-optimal. For the multi-user case, we introduce a beamformer design algorithm based on semidefinite relaxation and a suboptimal design algorithm based on successive convex approximation with reduced complexity. Finally, numerical results are provided to validate the solutions.

关键词： Location awareness Vehicular and wireless technologies Interference cancellation Coordinate measuring machines Downlink Approximation algorithms Integrated sensing and communication

来源：评论

学校读者我要写书评

暂无评论

GPIO Based Iterative Learning control for Manipulators with Time-Varying Disturbances

GPIO Based Iterative Learning Control for Manipulators with ...

引用

第42届中国控制会议

作者： Huangyuwei Lu Zuo Wang Jiankun Sun Xi Xiao Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University School of Artificial Intelligence and Automation Huazhong University of Science and Technology Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration

To improve the disturbance rejection ability and repetitive tracking accuracy of manipulators,a composite iterative learning control(ILC) scheme via generalized proportional integral observer(GPIO) is proposed.A high-order polynomial is first employed to model the time-varying disturbances that include unmodeled dynamics,parameter uncertainties and load fluctuations.A GPIO is then designed to estimate the disturbances and high-order time *** introducing estimations into a PD-type ILC at each iteration,a composite control scheme is obtained,such that the undesirable influence of time-varying disturbances can be effectively attenuated in the repetitive tracking process of *** this paper,the rigorous stability analysis of the closed-loop system is presented to guarantee that the tracking error exponentially converges to zero as the iteration number tends to *** effectiveness of the proposed control scheme is finally verified by simulation results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Finite-Time Continuous Terminal Sliding-Mode Speed control of Micro Gas Turbine System with Mismatched Disturbances

Finite-Time Continuous Terminal Sliding-Mode Speed Control o...

引用

2021 China Automation Congress, CAC 2021

作者： Sun, Yanjun Xu, Long Chen, Ning Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China China Electric Power Research Institute Nanjing210036 China

ISBN: (纸本)9781665426473

The micro gas turbine system acts as a key role in distributed renewable generation systems due to its flexibility, versatility, and low emissions. This paper focuses on the micro gas turbine speed control problem, which primarily determines the fuel flow for the turbine under variable load conditions. Due to nonlinear factors in MGTS, such as the coupling between systems parameters, and external disturbances such as electric load variation, it is a challenge to realize accurate speed control. In this paper, a continuous terminal sliding-mode control law based on a finite-time disturbance observer is designed for micro gas turbine control system. In this method, the integral of high-frequency switching function is introduced to control law. It guarantees the continuity of control signal and alleviates the chattering problem. Besides, the linear sliding mode surface is replaced by a full-order terminal sliding mode surface, and it obtains finite-time convergence and smaller speed tracking error. Furthermore, disturbance estimates are used in control law to eliminate the adverse effect of disturbances on control performance, which improves disturbance rejection ability. Finally, simulation comparison with conventional sliding-mode control validates the advantages of the composite controller. © 2021 IEEE

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

A new image denoising method based on steer ketnel regression

A new image denoising method based on steer ketnel regressio...

引用

2020 Jiangsu Annual Conference on Automation, JACA 2020

作者： Shi, Gongbiao Chai, Lin Jin, Lizuo Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing210096 China

ISBN: (纸本)9781839535635

In this paper, we propose a new image pyramid denoising model based on the iterative steer kernel regression (ISKR) method. By introducing an image pyramid to generate images at multiple scales, it can filter out large-scale noise on low-resolution images and preserve details on the high-resolution image, and then we fuse the denoised images of multiple resolutions into a high-quality image by up-sampling noise residual. This method can improve denoising performance efficiently. and reduce the cost of calculation. Experiments show that this model reduces calculation by about 58% compared with the ISKR method while ensuring a good denoising effect. © 2020 Institution of engineering and Technology. All rights reserved.

关键词： Image denoising

来源：评论

学校读者我要写书评

暂无评论

Flexible Active Safety Motion control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach

arXiv

引用

arXiv 2024年

作者： Liu, Jinhao Yang, Jun Mao, Jianliang Zhu, Tianqi Xie, Qihang Li, Yimeng Wang, Xiangyu Li, Shihua The School of Automation The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China Department of Aeronautical and Automotive Engineering Loughborough University LoughboroughLE11 3TU United Kingdom The College of Automation Engineering Shanghai University of Electric Power Shanghai200090 China

A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature of the proposed method lies in its utilization of control barrier functions (CBF) to design flexible CBF-guided safety criteria (CBFSC) with dynamically optimized decay rates, thereby offering flexibility and active safety for robot manipulators in dynamic environments. First, discrete-time CBFs are employed to formulate the novel flexible CBFSC with dynamic decay rates for robot manipulators. Following that, the model predictive control (MPC) philosophy is applied, integrating flexible CBFSC as safety constraints into the receding-horizon optimization problem. Significantly, the decay rates of the designed CBFSC are incorporated as decision variables in the optimization problem, facilitating the dynamic enhancement of flexibility during the obstacle avoidance process. In particular, a novel cost function that integrates a penalty term is designed to dynamically adjust the safety margins of the CBFSC. Finally, experiments are conducted in various scenarios using a Universal Robots 5 (UR5) manipulator to validate the effectiveness of the proposed approach. Copyright © 2024, The Authors. All rights reserved.

关键词： Model predictive 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：