检索结果-内蒙古大学图书馆

IEEE International Conference on Mechatronics and Automation

作者： Hongjun Wang Shuyi Li Hui Zhao Youjun Yue Key Laboratory of Control Theory and Application for Complex Systems in Tianjin Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China College of Engineering and Technology Tianjin Agricultural University 22 Jinjing Road Tianjin China

Under certain conditions, the power system will produce chaotic oscillation, which may impact the safety and stability of the power grid. Under the action of inductive load, the power system will generate a certain amount of reactive power. Excessive reactive power will lead to the deviation of the voltage phase angle of the power system. Usually, reactive compensation equipment is used to absorb the reactive power in the power system and adjust the voltage phase angle. In this article, the dynamics analysis of chaotic oscillation of the second-order power system model (SOPSM) is firstly carried out, and a global adaptive sliding mode controller based on finite time is designed by comprehensively using backstepping, fixed-time controller and adaptive sliding mode control methods (ASM), which not only realizes the suppression of chaotic oscillation of the power system, but also reduces the computational burden and improves the convergence speed of the system, Finally, MATLAB/Simulink numerical simulation shows that the designed controller can quickly restore the power system from chaotic state to equilibrium state, thus verifying the effectiveness and efficiency of the controller.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Investigating the dynamic memory effect of human drivers via ON-LSTM

引用

Science China(Information Sciences) 2020年第9期63卷 83-93页

作者： Shengzhe DAI Zhiheng LI Li LI Dongpu CAO Xingyuan DAI Yilun LIN Department of Automation Tsinghua University Shenzhen International Graduate School Tsinghua University Department of Mechanical and Mechatronics Engineering University of Waterloo State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

It is a widely accepted view that considering the memory effects of historical information(driving operations) is beneficial for vehicle trajectory prediction models to improve prediction accuracy. However,many commonly used models(e.g., long short-term memory, LSTM) can only implicitly simulate memory effects, but lack effective mechanisms to capture memory effects from sequence data and estimate their effective time range(ETR). This shortage makes it hard to dynamically configure the most suitable length of used historical information according to the current driving behavior, which harms the good understanding of vehicle motion. To address this problem, we propose a modified trajectory prediction model based on ordered neuron LSTM(ON-LSTM). We demonstrate the feasibility of ETR estimation based on ON-LSTM and propose an ETR estimation method. We estimate the ETR of driving fluctuations and lane change operations on the NGSIM I-80 dataset. The experiment results prove that the proposed method can well capture the memory effects during trajectory prediction. Moreover, the estimated ETR values are in agreement with our intuitions.

关键词： driving behavior memory effect trajectory prediction historical information ON-LSTM

来源：评论

学校读者我要写书评

暂无评论

Heterogeneous Graph Reinforcement Learning for Dependency-aware Multi-task Allocation in Spatial Crowdsourcing

arXiv

引用

arXiv 2024年

作者： Zhao, Yong Zhu, Zhengqiu Gao, Chen Wang, En Huang, Jincai Wang, Fei-Yue College of Systems Engineering National University of Defense Technology Hunan Province Changsha410073 China BNRist Tsinghua University Beijing100084 China College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Spatial Crowdsourcing (SC) is gaining traction in both academia and industry, with tasks on SC platforms becoming increasingly complex and requiring collaboration among workers with diverse skills. Recent research works address complex tasks by dividing them into subtasks with dependencies and assigning them to suitable workers. However, the dependencies among subtasks and their heterogeneous skill requirements, as well as the need for efficient utilization of workers’ limited work time in the multi-task allocation mode, pose challenges in achieving an optimal task allocation scheme. Therefore, this paper formally investigates the problem of Dependency-aware Multi-task Allocation (DMA) and presents a well-designed framework to solve it, known as Heterogeneous Graph Reinforcement Learning-based Task Allocation (HGRL-TA). To address the challenges associated with representing and embedding diverse problem instances to ensure robust generalization, we propose a multi-relation graph model and a Compound-path-based Heterogeneous Graph Attention Network (CHANet) for effectively representing and capturing intricate relations among tasks and workers, as well as providing embedding of problem state. The task allocation decision is determined sequentially by a policy network, which undergoes simultaneous training with CHANet using the proximal policy optimization algorithm. Extensive experiment results demonstrate the effectiveness and generality of the proposed HGRL-TA in solving the DMA problem, leading to average profits that is 21.78% higher than those achieved using the metaheuristic methods. © 2024, CC BY-NC-ND.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Global Finite-Time Set Stabilization of Spacecraft Attitude with Disturbances using Second-Order Sliding Mode control

Research Square

引用

Research Square 2021年

作者： Guo, Zeyu Wang, Zuo 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

The performance of attitude stabilization control algorithms for rigid spacecraft can be limited by disturbances. In this paper, the global finite-time attitude stabilization problem with disturbances is investigated and handled by constructing a second-order sliding mode controller. Firstly, a virtual controller based on set stabilization idea is constructed to globally finite-time stabilize the system. Then, a relay polynomial second-order sliding mode controller is constructed to guarantee that the tracking error towards the virtual controller will converge to zero in finite-time. Finite-time Lyapunov theory is applied to support the proof and stability analysis. The global finite-time stability holds even with bounded disturbances. The effectiveness and feasibility of the controller are illustrated by the numerical simulations. © 2021, CC BY.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

A Spatial-Temporal Attention Model for Human Trajectory Prediction

引用

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 965-974页

作者： Xiaodong Zhao Yaran Chen Jin Guo Dongbin Zhao the School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083 the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing 100083China

Human trajectory prediction is essential and promising in many related applications. This is challenging due to the uncertainty of human behaviors, which can be influenced not only by himself, but also by the surrounding environment. Recent works based on long-short term memory(LSTM) models have brought tremendous improvements on the task of trajectory prediction. However, most of them focus on the spatial influence of humans but ignore the temporal influence. In this paper, we propose a novel spatial-temporal attention(ST-Attention) model,which studies spatial and temporal affinities jointly. Specifically,we introduce an attention mechanism to extract temporal affinity,learning the importance for historical trajectory information at different time instants. To explore spatial affinity, a deep neural network is employed to measure different importance of the neighbors. Experimental results show that our method achieves competitive performance compared with state-of-the-art methods on publicly available datasets.

关键词： Attention mechanism long-short term memory(LSTM) spatial-temporal model trajectory prediction

来源：评论

学校读者我要写书评

暂无评论

Interfacial Thermal Transport and Energy Dissipation in Multilayer PdSe2 Field Effect Transistors

引用

Advanced Materials 2025年第0期 e2503264页

作者： Xie, Jiaqiu Yu, Zehao Sun, Yuanchen Gan, Qikang Liu, Chenhan Wang, Lei Zhang, Lifa Zhao, Yunshan Phonon Engineering Research Center of Jiangsu Province Ministry of Education Key Laboratory of NSLSCS Center for Quantum Transport and Thermal Energy Science Institute of Physics Frontiers and Interdisciplinary Sciences School of Physics and Technology Nanjing Normal University Nanjing210023 China National Laboratory of Solid-State Microstructures School of Physics Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing210093 China Micro- and Nano-scale Thermal Measurement and Thermal Management Laboratory Jiangsu Key Laboratory for Numerical Simulation of Large-Scale Complex Systems School of Energy and Mechanical Engineering Nanjing Normal University Nanjing210046 China

The continuous miniaturization of 2D electronic circuits results in increased power density during device operation, leading to heat localization and placing higher demands on their performance thresholds. The risk to thermal breakdown and subsequent damage, due to the energy dissipation in the 2D semiconductor field-effect transistors (FETs) supported on the bulk substrates, represents a significant challenge in maintaining their optimal performance. Herein, this study investigates energy dissipation behavior in multilayer PdSe2 FETs for the first time. The high-field breakdown behavior is firstly studied in multilayer PdSe2 FETs on SiO2/Si substrates, where a maximum current density of ≈2.74 MA cm−2 is observed, which is comparable to that of multilayer black phosphorus FET and significantly higher—by about five times—than that of multilayer MoS2 FET. Additionally, the thermal boundary conductance (TBC) of PdSe2/SiO2 interface is measured at room temperature using Raman thermometry. The TBC is found to be ≈12–13 MW m−2 K−1, which is relatively low compared to the other known solid–solid interfaces, indicating that enhancing the performance of PdSe2 FETs can be possible by optimizing the TBC at the PdSe2/SiO2 interface. These findings provide valuable insights for design of high-quality and high-performance PdSe2 electronic and optoelectronic devices. © 2025 Wiley-VCH GmbH.

关键词： Multilayers

来源：评论

学校读者我要写书评

暂无评论

Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

引用

Science China(Information Sciences) 2021年第1期64卷 215-226页

作者： Jincun LIU Zhenna LIU Junzhi YU State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking University Department of Electrical and Automation Shandong Labor Vocational and Technical College State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper investigates the three-dimensional(3-D) path following control problem for an underactuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established,followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-ofsight(LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity,intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.

关键词： robotic dolphin path following 3-D LOS guidance law decoupling motion

来源：评论

学校读者我要写书评

暂无评论

Research on the Impact of Water-Ingression Defects on the Electromagnetic-Thermal Fluctuation and Heat Distribution Characteristics of High Voltage Cable Terminals

SSRN

引用

SSRN 2023年

作者： Liu, Xingmou Yang, Hui Xu, Qiqi Lin, Haibo Yang, Yongming Jadoon, Ammad Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Electrical Engineering Chongqing University Chongqing University Chongqing400044 China NFC-Institute of Engineering &Technology Multan Pakistan

High voltage cable terminals (HVCT) usually work outdoors with water-ingression defect which affects the normal operation of the power system. This paper presents the study of the influence of different water-ingression depth on the temperature distribution of HVCT. Firstly, the model of EM-thermal-fluid coupling field of HVCT was established using finite element method in line with the structural parameters of YJZWC4 HVCT. Subsequently, the effectiveness of the model is then verified by comparing the operation of the model under the actual HVCT. And then, the analysis results of temperature show that the surface temperature of the HVCT at the inlet part is significantly higher than that of the insulating oil part. And The influent depth is positively correlated with surface temperature and temperature gradient. The distortion of the electric field will be more serious due to the deepening of the depth of the inlet water. Finally, the variation of temperature and field strength with the depth of inlet water is summarized by mathematical fitting method. The research results accurately reflect the electromagnetic thermal characteristics of the HVCT under the influent state and provide a reliable technical means for the state prediction and fault diagnosis of the cable terminals. © 2023, The Authors. All rights reserved.

关键词： Atmospheric temperature

来源：评论

学校读者我要写书评

暂无评论

Finite-time Robust Fault-tolerant Trajectory Tracking control for QUAVs with Actuator Fault

Finite-time Robust Fault-tolerant Trajectory Tracking Contro...

引用

Robotics, control and Automation engineering (RCAE), International Conference on

作者： Rongsheng Xia Chunlei Bu Han Jiang Chery Automobile Stock Limited Company Wuhu China School of Electrical and Information Engineering Anhui University of Technology Ma’Anshan China Key Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Anhui University of Technology Ma’Anshan China

ISBN: (数字)9798350355642

ISBN: (纸本)9798350355659

This paper proposed a finite-time robust fault-tolerant trajectory tracking control strategy for quadrotor unmanned aerial vehicles (QUAVs) suffering from actuator saturation, unknown external disturbance and actuator fault. Firstly, robust compensation terms are used to handle unknown external disturbance in position subsystem. On this basis, parameter adaptive method is introduced to remove the adverse effects of actuator saturation in attitude subsystem. Then, a fault detection mechanism is designed to estimate the actuator fault in real time. Subsequently, a finite-time robust fault-tolerant tracking strategy based on backstepping framework are proposed and and the finite-time convergence of all error signals are ensurend. Finally, a numerical simulation result is displayed to validate the effectiveness of the proposed trajectory tracking control scheme for the QUAVs dynamic system.

关键词： Actuators Fault tolerance Trajectory tracking Fault tolerant systems Stability analysis Real-time systems Robots Numerical stability Quadrotors Convergence

来源：评论

学校读者我要写书评

暂无评论

Multi-modal Visual Place Recognition in Dynamics-Invariant Perception Space

arXiv

引用

arXiv 2021年

作者： Wu, Lin Wang, Teng Sun, Changyin School of Automation Key Laboratory of Measurement Control of Complex System of Engineering Southeast University Nanjing210096 China

Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space to improve place recognition in dynamic environments. We achieve this by first designing a novel deep learning architecture to generate the static semantic segmentation and recover the static image directly from the corresponding dynamic image. We then innovatively leverage the spatial-pyramid-matching model to encode the static semantic segmentation into feature vectors. In parallel, the static image is encoded using the popular Bag-of-words model. On the basis of the above multi-modal features, we finally measure the similarity between the query image and target landmark by the joint similarity of their semantic and visual codes. Extensive experiments demonstrate the effectiveness and robustness of the proposed approach for place recognition in dynamic environments. © 2021, CC BY.

关键词： Semantics

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：