检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Shi, Yuguang The School of Automation Southeast University The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

Recently, iteration-based stereo matching has shown great potential. However, these models optimize the disparity map using RNN variants. The discrete optimization process poses a challenge of information loss, which restricts the level of detail that can be expressed in the generated disparity map. In order to address these issues, we propose a novel training approach that incorporates diffusion models into the iterative optimization process. We designed a Time-based Gated Recurrent Unit (T-GRU) to correlate temporal and disparity outputs. Unlike standard recurrent units, we employ Agent Attention to generate more expressive features. We also designed an attention-based context network to capture a large amount of contextual information. Experiments on several public benchmarks show that we have achieved competitive stereo matching performance. Our model ranks first in the Scene Flow dataset, achieving over a 7% improvement compared to competing methods, and requires only 8 iterations to achieve state-of-the-art results. Copyright © 2024, The Authors. All rights reserved.

关键词： Optimization

来源：评论

学校读者我要写书评

暂无评论

Calibration of 3D Single-pixel Imaging systems with a Calibration Field

arXiv

引用

arXiv 2024年

作者： Ma, Xinyue Wang, Chenxing The School of Automation The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

3D single-pixel imaging (SPI) is a promising imaging technique that can be flexibly applied to various wavebands. The main challenge in 3D SPI is that the calibration usually requires a large number of standard points as references, which are tricky to capture using single-pixel detectors. Conventional solutions involve sophisticated device deployment and cumbersome operations, resulting in hundreds of images needed for calibration. In our work, we construct a Calibration Field (CaliF) to efficiently generate the standard points from one single image. A high accuracy of the CaliF is guaranteed by the technique of deep learning and digital twin. We perform experiments with our new method to verify its validity and accuracy. We believe our work holds great potential in 3D SPI systems or even general imaging systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

Anti-disturbance speed regulation control of PMSM at low speed by extended state observer and kalman filter

Anti-disturbance speed regulation control of PMSM at low spe...

引用

2023 Jiangsu Annual Conference on Automation, JACA 2023

作者： Xu, Lei Mao, Linxuan Li, Shihua School of Electronic Science and Engineering Southeast University Nanjing210096 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)9781839539848

This paper presents an enhanced friction compensation anti-disturbance control strategy for improving the speed regulation control performance of a permanent magnet synchronous motor operating in low-speed mode. This is achieved via friction modelling and lumped disturbance compensation by seamlessly integrating extended state observer (ESO) and Kalman filter algorithms. Considering that nonlinear friction torque can not be ignored at low speeds, a piece-wise linearized friction model is first established based on speed estimation of Kalman filter and ESO. Then feed-forward compensation of friction torque and lumped disturbance estimation is conducted to reduce speed fluctuation during load changes at low speeds. Comparative simulation studies in the presence of measurement noises, external disturbances and nonlinear friction torque are conducted to validate the proposed algorithm with improved performance. © The Institution of Engineering & Technology 2023.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

A Data-Driven Modeling and Motion control of Heavy-Load Hydraulic Manipulators via Reversible Transformation

arXiv

引用

arXiv 2024年

作者： Ma, Dexian Liu, Yirong Liu, Wenbo Zhou, Bo Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education Nanjing210096 China

This work proposes a data-driven modeling and the corresponding hybrid motion control framework for unmanned and automated operation of industrial heavy-load hydraulic manipulator. Rather than the direct use of a neural network black box, we construct a reversible nonlinear model by using multilayer perceptron to approximate dynamics in the physical integrator chain system after reversible transformations. The reversible nonlinear model is trained offline using supervised learning techniques, and the data are obtained from simulations or experiments. Entire hybrid motion control framework consists of the model inversion controller that compensates for the nonlinear dynamics and proportional-derivative controller that enhances the robustness. The stability is proved with Lyapunov theory. Co-simulation and Experiments show the effectiveness of proposed modeling and hybrid control framework. With a commercial 39-ton class hydraulic excavator for motion control tasks, the root mean square error of trajectory tracking error decreases by at least 50% compared to traditional control methods. In addition, by analyzing the system model, the proposed framework can be rapidly applied to different control plants. Copyright © 2024, The Authors. All rights reserved.

关键词： Industrial manipulators

来源：评论

学校读者我要写书评

暂无评论

Study on Self-Organizing Aggregation Method for Massive Flexible Resources and Its Simulation 4

Study on Self-Organizing Aggregation Method for Massive Flex...

引用

4th International Conference on Advanced Electrical and Energy systems, AEES 2023

作者： Yin, Changwei Ji, Wenlu Ye, Ting Mao, Tingfeng Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Power Supply Company of State Grid Jiangsu Electric Power Co. Ltd. Nanjing China

ISBN: (纸本)9798350342659

Distributed flexible resources are developing in the trend of sea quantization. In this situation, the existing resource aggregation methods are facing bottlenecks, and it is difficult to fully exploit the regulation potential of massive flexible resources. In order to achieve efficient and flexible aggregation in the scenario of massive resources, this paper proposes a self-organizing aggregation method for flexible resources based on the social network and simulates the aggregation process under the proposed method based on the multi-agent simulation platform NetLogo. Firstly, this paper outlines the idea of the self-organizing aggregation method for flexible resources, which projects flexible resources from the physical space to the social network space, and realizes flexible aggregation through the interactive attraction between resources in the social network. Secondly, this paper establishes a simulation model for flexible resource self-organizing aggregation based on the NetLogo platform. The model defines four types of agents involved in the self-organizing aggregation process and provides detailed specifications for their attributes and interaction rules. Finally, simulation experiments are designed to verify the rationality of the self-organizing aggregation method and simulation model proposed in this paper. The simulation results show that, following the idea of self-organizing aggregation, massive flexible resources can autonomously and flexibly aggregate through the interaction attraction in the social network due to the incentive of task gain, demonstrating the effectiveness and rationality of the self-organizing aggregation method and the simulation model proposed in this paper. © 2023 IEEE.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

GraspDiff: Grasping Generation for Hand-Object Interaction With Multimodal Guided Diffusion

引用

IEEE Transactions on Visualization and Computer Graphics 2024年 PP卷 PP-PP页

作者： Zuo, Binghui Zhao, Zimeng Sun, Wenqian Yuan, Xiaohan Yu, Zhipeng Wang, Yangang Southeast University School of Automation Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

Grasping generation holds significant importance in both robotics and AI-generated content. While pure network paradigms based on VAEs or GANs ensure diversity in outcomes, they often fall short of achieving plausibility. Additionally, although those two-step paradigms that first predict contact and then optimize distance yield plausible results, they are always known to be time-consuming. This paper introduces a novel paradigm powered by DDPM, accommodating diverse modalities with varying interaction granularities as its generating conditions, including 3D object, contact affordance, and image content. Our key idea is that the iterative steps inherent to diffusion models can supplant the iterative optimization routines in existing optimization methods, thereby endowing the generated results from our method with both diversity and plausibility. Using the same training data, our paradigm achieves superior generation performance and competitive generation speed compared to optimization-based paradigms. Extensive experiments on both in-domain and out-of-domain objects demonstrate that our method receives significant improvement over the SOTA method. We will release the code for research purposes. © 1995-2012 IEEE.

关键词： 3D modeling

来源：评论

学校读者我要写书评

暂无评论

Mining Better Samples and Semantic Consistency for Contrast Learning in Forest Semantic Segmentation 41

Mining Better Samples and Semantic Consistency for Contrast ...

引用

第41届中国控制会议

作者： Chongjin Chen Yichao Cao Qingfei Tang Xiaobo Lu School of Software Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing Enbo Technology Co. Ltd.

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Image segmentation has impressive progress in the past several *** good segmentation usually follows pixelwise well-annotated labels which is ***,the robustness would not be guaranteed due to lack-ofdiversity *** work usually focuses on pixels individually and pay less attention to the neighbor *** local context would be scarce and the global context is not utilized following these *** proposal a method,named Forest Semantic Segmentation Network(FSSNet) to address these *** organizes original version and augmented version of images,as two inputs into student branch and teacher branch,and force the two outputs being consistent to strengthen the robustness of our ***,we not only consider pixel itself and also the neighbor pixels because the context of neighbor pixels helps understanding the *** utilizes contrastive loss with memory bank to involve global context in training which will make pixels closer to others in same category and far away from pixels of different categories.A bank filter is suggested to improve the quality of features in the memory *** also proposal a new sample strategy to improve the effect of contrastive loss and reduce the *** method can improve accuracy and strengthen the robustness with affordable extra computation during training process,and no additional computation during inference toward *** to benchmark,the proposed approach can improve the mIoU by 3.1% on our challenging dataset.

关键词： Semantic segmentation Contrastive learning Deep learning

来源：评论

学校读者我要写书评

暂无评论

Sensorless control of SPMSM Based on Generalized Super-twisting Observer and Non-smooth controller

Sensorless Control of SPMSM Based on Generalized Super-twist...

引用

第42届中国控制会议

作者： Dejin Chen Ke Yu Shihong Ding Xiangyu Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

To enhance the estimation accuracy and dynamic performance of sensorless surface-mounted permanent magnet synchronous motor(SPMSM) drives,a sensorless control scheme based on generalized super-twisting observer(GSTO) and nonsmooth controller is ***,a GSTO for back electromotive force(back-EMF) estimation is *** with the conventional super-twisting observer,the GSTO has a faster convergence rate and stronger robustness due to the additional *** a linear extended state observer(LESO) is adopted to estimate the position,speed,and lumped disturbance at the same ***,a non-smooth composite speed controller is designed by combining the disturbance feed-forward *** with the conventional PI speed controller,the non-smooth controller has a shorter settling time and a better disturbance rejection ***,the effectiveness of the proposed method is verified by simulation results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Fall-LSTM:A Fall Detection Network Based on Spatio-Temporal Location Module

Fall-LSTM:A Fall Detection Network Based on Spatio-Temporal ...

引用

第42届中国控制会议

作者： Dapeng Xu Xiaobo Lu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University

Fall events have unique dynamic features,which are not fully utilized by existing fall detection *** on video understanding,we propose Fall-LSTM to learn such features pertinently without additional ***-LSTM is composed of CNN-LSTM framework and two excitation modules i.e.,Spatial Attention Module(SAM) and Temporal Location Module(TLM).SAM provides spatial constraints on motion for feature layers through foreground extraction and spatial *** emphasizes frames with high probability of fall events to LSTM by inferring the rate and trend of motion in *** results show that our proposed modules significantly improve the performance of LSTM model,outperforming the state-of-theart methods on two public Fall Detection Datasets i.e.,Le2 i and UR.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Hmdo: Markerless Multi-View Hand Manipulation Capture with Deformable Objects

SSRN

引用

SSRN 2023年

作者： Xie, Wei Yu, Zhipeng Zhao, Zimeng Zuo, Binghui Wang, Yangang Southeast University The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

We construct the first markerless deformable interaction dataset recording interactive motions of the hands and deformable objects, called HMDO (Hand Manipulation with Deformable Objects). Our motivation is the current lack of hand and deformable object interaction datasets, as 3D hand and deformable object reconstruction is challenging. Mainly due to mutual occlusion, the interaction area is difficult to observe, and the visual features between hands and objects are entangled. To tackle this challenge, we propose a method to annotate our captured data. Our key idea is to collaborate with estimated hand features to guide the object pose estimation, and then optimize the deformation process of the object by analyzing the relationship between the hand and the object. Through comprehensive evaluation, the proposed method can reconstruct interactive motions of hands and deformable objects with high quality. In the future, this dataset could boost the research of learning-based reconstruction of deformable interaction scenes. © 2023, The Authors. All rights reserved.

关键词：

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：