检索结果-内蒙古大学图书馆

Chinese control Conference (CCC)

作者： Xueqin Zheng Jinya Su Jun Yang 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

An optimized YOLOX+DeepSORT method is proposed to accurately detect and track container trucks and truck drivers at the working position of automated rubber tire gantries in ports, while ensuring their safety during the whole working process. In the proposed method, the improved YOLOX performs object detection and its output is used as the input for multi -object tracking using DeepSORT. The improved YOLOX model is developed through replacing standard convolution with depthwise separable convolution, adding the convolutional block attention module to enhance feature extraction, and using Focal Loss in the loss function to address sample imbalances. Comparative experiments were carried out on a self-built dataset, showing a 4.32% increase in mAP and improved reasoning speed for improved YOLOX compared to the original YOLOX. Furthermore, the optimized method shows a 3.57% increase in Multi-Object Tracking Accuracy and a 1.73% increase in Multi-Object Tracking Precision compared to the benchmark YOLOX+DeepSORT.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robust Speed Regulation of PMSM Under Disturbances and Noises Using Composite Model Predictive control

Robust Speed Regulation of PMSM Under Disturbances and Noise...

引用

Chinese control Conference (CCC)

作者： Linxuan Mao Jinya Su Shihua Li 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

This paper presents a single-loop Model Predictive control strategy that incorporates a reduced-order Generalized Proportional Integral Observe and a Kalman filter to enhance the speed regulation of Permanent Magnet Synchronous Motor systems in the presence of complex disturbances and measurement noises. The proposed controller design seamlessly integrates the predictive control, disturbance observer, and state filter components, and it was evaluated through simulation comparisons. The performance of the proposed method is evaluated using various metrics, including maximum velocity drop, recovery time, and variance of steady-state error, which demonstrate its superior response performance and anti-disturbance ability when compared to other existing methods without state filtering.

关键词：

来源：评论

学校读者我要写书评

暂无评论

MALT: Multi-scale Action Learning Transformer for Online Action Detection

arXiv

引用

arXiv 2024年

作者： Yang, Zhipeng Wang, Ruoyu Tan, Yang Xie, Liping The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518063 China

Online action detection (OAD) aims to identify ongoing actions from streaming video in real-time, without access to future frames. Since these actions manifest at varying scales of granularity, ranging from coarse to fine, projecting an entire set of action frames to a single latent encoding may result in a lack of local information, necessitating the acquisition of action features across multiple scales. In this paper, we propose a multi-scale action learning transformer (MALT), which includes a novel recurrent decoder (used for feature fusion) that includes fewer parameters and can be trained more efficiently. A hierarchical encoder with multiple encoding branches is further proposed to capture multi-scale action features. The output from the preceding branch is then incrementally input to the subsequent branch as part of a cross-attention calculation. In this way, output features transition from coarse to fine as the branches deepen. We also introduce an explicit frame scoring mechanism employing sparse attention, which filters irrelevant frames more efficiently, without requiring an additional network. The proposed method achieved state-of-the-art performance on two benchmark datasets (THUMOS’14 and TVSeries), outperforming all existing models used for comparison, with an mAP of 0.2% for THUMOS’14 and an mcAP of 0.1% for TVseries. Copyright © 2024, The Authors. All rights reserved.

关键词： Encoding (symbols)

来源：评论

学校读者我要写书评

暂无评论

The control and Application of a 2D-Motion Platform

The Control and Application of a 2D-Motion Platform

引用

第34届中国控制与决策会议

作者： Ziyao Wang Yiye Wang Kanjian Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

Natural Locomotion interface(NLI) is critical to expanding the users' exploration of scenes in virtual reality and improving user *** on the 2D motion platform,users can achieve a natural locomotion experience in a limited physical *** a small-scale 2D motion platform,an ideal situation is that the velocity of the platform can always be synchronized with the user's actual intended velocity,so that the user's center of mass is kept at the center of the *** puts a brand new requirement on the performance of the platform *** paper designs an acceleration-level state feedback controller for the small-scale 2D motion *** the user's intended acceleration as an external disturbance,it is estimated by introducing a disturbance state observer;for the user' s velocity on the platform,a linear state observer is used to estimate it;then takes the estimated values as feedforward terms to compensate the *** with the HCMK1 2D motion platform,we implemented the controller and verified it to be *** recording the data of the user walking along the circle and the square trajectory,it was verified that the designed controller has good control performance for the user's motion and the state observers a great performance to quickly track the user's intended acceleration and the user's velocity on the platform.

关键词： Virtual Reality Nature Locomotion Interface State Observer 2D-Motion Platform

来源：评论

学校读者我要写书评

暂无评论

Maximum power point tracking of photovoltaic array in partial shading condition based on improved Gray Wolf optimization algorithm

Maximum power point tracking of photovoltaic array in partia...

引用

第34届中国控制与决策会议

作者： Chuang Kou Chenxi Li Kanjian Zhang Jinxia Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of AutomationSoutheast University

The partial shading condition(PSC) makes it challenging for the PV system to find the maximum power *** this paper,an improved gray wolf algorithm(GWO) is proposed by introducing elimination mechanism,greedy mechanism and adjusting the convergence factor which overcomes the contradiction between global exploration ability and convergence *** fast varying irradiance and PSC,IGWO has been compared with GWO,particle swarm optimization(PSO),and adaptive particle swarm optimization(APSO),the results shows the superiority of IGWO in the MPPTs of the PV system.

关键词： MPPT IGWO Population selection mechanism Greedy mechanism Convergence factor

来源：评论

学校读者我要写书评

暂无评论

Finite Time Disturbance Observer-Based Tube Model Predictive control for Vehicle Platoon systems with Guaranteed L∞ String Stability

Finite Time Disturbance Observer-Based Tube Model Predictive...

引用

第34届中国控制与决策会议

作者： Qian Chen Jinhao Liu Jun Yang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

This paper investigates optimal longitudinal control problems for a vehicle platoon in presence of parameter uncertainties and external ***,a multi-constraint multi-objective optimization model is developed,where physical limits,safety constraints,driving comfort,and fuel economy are taken into *** reduce communication burden and avoid network congestion,the preceding vehicle's acceleration is obtained by employing a finite time disturbance observer(FTDO).As for the parameter uncertainties as well as external disturbances,they are estimated as a lumped disturbance by exploiting a ***,under a predecessor following communication topology,a FTDO-based tube model predictive control method with explicit consideration of string stability is ***,numerical simulations illustrate the effectiveness and superiority of the proposed control approach.

关键词： Vehicle Platoon Longitudinal control Finite Time Disturbance Observer Model Predictive control Predecessor-follower L_∞ String Stability

来源：评论

学校读者我要写书评

暂无评论

Variable impedance control method for robot contact force based on TD3 algorithm

Variable impedance control method for robot contact force ba...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Shen, Xin Ma, Kaiwei Yang, Mingxing Gao, Shuang Chao, Shuo Xu, Fengyu College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing210023 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China Anhui Province Key Laboratory of Special Heavy Load Robot Maanshan243032 China

ISBN: (纸本)9781665465335

As a common method of traditional force control, impedance control has been widely used in robot machining field. However, impedance control with fixed parameters cannot dynamically adapt to the manufacturing environment. This paper presents a variable impedance control method for contact forces based on the TD3 (Twin Delayed Deep Deterministic Policy Gradient) algorithm. The method builds on the original impedance model to obtain the optimal impedance parameters for each stage by stochastic exploration of the continuous action space, reducing the reliance on human experience and multiple attempts in the selection of traditional impedance parameters. In this paper, gantry robot is taken as the research object. The simulation results show that the variable impedance control method has faster adjustment time and more stable, and the average position tracking error is about 0.11cm and the force tracking error is about 0.01N. © 2022 IEEE.

关键词： Force control

来源：评论

学校读者我要写书评

暂无评论

Automatic Reading System of Pointer Meters in Gas Gathering Stations

Automatic Reading System of Pointer Meters in Gas Gathering ...

引用

第34届中国控制与决策会议

作者： Yaqing Chang Kanjian Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

In gas gathering stations,pointer meters are usually read by workers,which takes high labor costs and has low *** solve these problems and build intelligent gas gathering stations,this paper proposes an automatic reading system for real-time and accurate pointer meter reading.A new dataset is first constructed,which consists of700 pointer meter images with different angles,illumination and *** on the dataset,the deep learning model YOLOv5 is trained for dial and pointer *** the pointer mask output by YOLOv5,image preproces sing is used to separate the pointer from the background and generate the pure *** improved skeleton extraction algorithm and the Hough line detection algorithm are combined to extract the pointer center *** the dial image output by YOLOv5,feature matching and perspective transformation are adopted for position ***,pointer reading is obtained by applying the angle method to the corrected dial and the pointer center *** experiments demonstrate the high accuracy and efficiency of the proposed *** strong robustness to various interference factors in complex environments are also validated.

关键词： Pointer Meter Automatic Reading YOLOv5 Object Detection Skeleton Extraction

来源：评论

学校读者我要写书评

暂无评论

An Effective Hybrid Genetic Algorithm for the Multi-Robot Task Allocation Problem with Limited Span

SSRN

引用

SSRN 2024年

作者： Liu, Wenbo Kuang, Zhian Zhang, Yongcong Zhou, Bo He, Pengfei Li, Shihua School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Shanghai Friendess Electronic Technology Shanghai201100 China

Multi-robot task allocation is one of the most interesting multi-robot systems that have gained considerable attention due to various real-world applications. In this paper, we focus on a multi-robot task allocation problem where a set of industrial robots, which are installed on a gantry and have a limited working span, have to jointly perform a set of weld lines in large size. We present a mathematical model that captures the objective of minimizing the cycle time, i.e., the time required to complete a given set of weld lines. Due to the inherent difficulty of the problem, we propose an effective hybrid genetic algorithm to solve it. Because the robots are associated with a limited working span, the algorithm integrates a specific region division algorithm to divide the workpieces into a set of regions where the robots can reach all the weld lines in each region. It also incorporates a dedicated route-based crossover to generate promising offspring solutions and an effective neighborhoodbased local search procedure to improve each offspring solution as much as possible. Extensive experimental results on three benchmark instances show that the algorithm significantly outperforms reference methods. Additional experiments on real-world instances are presented to verify the algorithm’s effectiveness in solving the multi-robot task allocation problem with limited span. © 2024, The Authors. All rights reserved.

关键词： Industrial robots

来源：评论

学校读者我要写书评

暂无评论

Hotspot detection of photovoltaic modules in infrared thermal image based on saliency analysis

Hotspot detection of photovoltaic modules in infrared therma...

引用

第34届中国控制与决策会议

作者： Yiye Wang Yu Shen Chenxi Li Kanjian Zhang Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

With the increasing awareness of environmental protection,the solar photovoltaic(PV) industry has been developing dramatically in recent *** module is an important part of PV power generation *** all the defect types of PV modules,hotspots occur more frequently and cause more serious ***,it is necessary to detect *** approach is proposed using saliency analysis method for hotspot detection,combing the cognitive property about visual saliency and the temperature property of *** only does this approach not require manual threshold setting,but also it does not require a large number of learning *** approach can also achieve the defect diagnosis and hotspot location when compared with the electrical characterization *** infrared thermal(IRT)images trained in experiments are obtained using the thermographic camera FLIR Vue Pro with the unmanned aerial vehicle from a PV plant in Jiangsu,*** 135 IRT images are collected and 1020 PV modules are extracted from these *** have proved great accuracy and robustness when using the proposed method to detect hotspots.

关键词： Hotspot PV module IRT image Saliency analysis Graph

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：