检索结果-内蒙古大学图书馆

Adaptive geodesic feedback controller design for the quadrotor

International Journal of Vehicle Autonomous systems 2020年第3-4期15卷 319-342页

作者： Liu, Chao Yang, Shengyi Key Laboratory of Pattern Recognition and Intelligent System Guizhou Minzu University Huaxi District Guizhou Province Guiyang China

In this paper, a non-linear adaptive control method based on SO(3) for the quadrotor attitude tracking is proposed. Distinct from other control methods on Euclidean space, the controller proposed is developed on SO(3), which can avoid singularities and ambiguities. Besides, the geodesic on SO(3) is used to provide the shortest curve between the current attitude configuration and the desire attitude configuration. Then, a feedback controller based on geodesic is derived. To solve the problem that the inertial tensor of the quadrotor is unknown, an adaptive term is designed with the Lyapunov theory to estimate the inertial tensor. Thus, the almost global asymptotic stability of the quadrotor attitude tracking is achieved without the prior knowledge of the quadrotor inertia tensor. The numerical simulations are utilised to show better control performance of the adaptive geodesic feedback control method. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Controllers

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Geometric Numerical Integral Method in Compact Lie Group 6

Geometric Numerical Integral Method in Compact Lie Group

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6th IEEE International Conference on intelligent Computing and Signal Processing, ICSP 2021

作者： Liu, Chao Yang, Shengyi Guizhou Minzu University Key Laboratory of Pattern Recognition Intelligent System of Guizhou Province Gui Yang China

ISBN: (纸本)9780738143705

Three dimensions special orthogonal group SO (3) is widely used to describe the rotation kinematics of the rigid body without local coordinates, which can avoid rotation singularity and unwinding in traditional methods. Propagating the rotation kinematics in SO (3) with a specific geometric integration method is not only to obtained numerical results with improved qualitative behavior, but also provided more accurate long-time integration results. While many studies have focused on geometric integration algorithms to preserve the geometric structure, this work has the additional objective of studying result accuracy. Integral curves on SO (3) obtained using the third-order Crouch-Grossman Lie group method are compared with numerical results using the third-order RKMK algorithms, the exponential coordinates method, and the simple projection method. Results show that the use of the Crouch-Grossman Lie group method better preserves the geometric structure of SO (3) for the larger time steps considered. It is also found that the third-order Crouch-Grossman algorithm is more accurate than the RKMK except for the smallest time step used. © 2021 IEEE.

关键词： Geometry

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Research on Teaching Reform of 'Motor and Drive'Based on Matlab Simulation 2

Research on Teaching Reform of 'Motor and Drive'Based on Mat...

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2nd International Conference on Education, Knowledge and Information Management, ICEKIM 2021

作者： Chengwei, Zhang Yihua, Liang Liu, Chao Yang, Shengyi Key Laboratory of Pattern Recognition and Intelligent System of Guizhou Province Guizhou Minzu University Gui Yang China

ISBN: (纸本)9781728168340

'Motor and Drive' is a professional basic course with strong theory and wide application in practical engineering. Its theory is abstract and formula is complex, which is considered by teachers and automation students as one of the professional courses difficult to teach and learn. In order to better teaching and learning, teaching reform is provided. The teaching content is optimized, the teaching methods, experimental methods and assessment methods are reformed based on matlab simulation. It is helpful to improve the teaching quality, stimulate students' learning enthusiasm and solve practical problems. The teaching reform foundation of 'motor and drive' is provided in this paper. © 2021 IEEE.

关键词： Teaching

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Improved RRT algorithm path planning combined with artificial potential field algorithm 11

Improved RRT algorithm path planning combined with artificia...

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2021 11th International Workshop on Computer Science and Engineering, WCSE 2021

作者： Wang, Xiufen Yang, Shengyi School of Mechanical Electronic Engineering Guizhou Minzu University Guizhou Guiyang550025 China Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Province Guizhou Minzu University Guizhou Guiyang550025 China

ISBN: (纸本)9789811817915

In order to solve the problem of low path planning efficiency in complex obstacle environment, an improved Rapidly-exploring Random Trees (RRT) algorithm is proposed. It utilizes artificial potential field to guide the fast expanding random tree to growing towards the target and away from obstacles. Considering the gravitational field of the target node and the repulsion field of the obstacle in the artificial potential field, a certain number of random nodes generated in one iteration are evaluated and selected. The simulation results show that the improved RRT algorithm has strong advantages over the basic RRT algorithm in search ability and computation time. © 2021 11th International Workshop on Computer Science and Engineering, WCSE 2021. All Rights Reserved.

关键词： Motion planning

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Autonomous Obstacle Avoidance Scheme Using Monocular Vision Applied to Mobile Robots

Autonomous Obstacle Avoidance Scheme Using Monocular Vision ...

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2020 International Conference on intelligent Control, Measurement and Signal Processing and intelligent Oil Field, ICMSP 2020

作者： Song, Yun Yun Yang, Sheng Yi Liu, Chao Wu, Qing Gui School of Data Science and Information Engineering Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Province Guizhou Minzu University Guiyang China School of Mechatronics Engineering Guizhou Minzu University Guiyang China

Mobile robots cannot move in an unknown environment with static or slow-moving obstacles effectively. We present an enhanced obstacle avoidance strategy using monocular vision to solve this problem. First, we combine Canny and Otsu to extract the barrier feature and find the critical pixel position of obstacles by the monocular vision. Then the image depth estimation algorithm is used to estimate the gaps. With these parameters of barriers, an improved bug algorithm is proposed to avoid the obstacles autonomously. The experiments show that the proposed obstacles avoidance strategy can effectively make a small mobile robot avoid different kinds of obstacles. © Published under licence by IOP Publishing Ltd.

关键词： Mobile robots

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Facial expression recognition under occlusion conditions based on multi-feature cross-attention

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Journal of intelligent and Fuzzy systems 2024年第4期46卷 9841-9856页

作者： Guo, Sheng Tan, Mian Cai, Shan Zhang, Zaijun Liang, Yihui Feng, Hongxi Zou, Xue Wang, Lin School of Data Science and Information Engineering Guizhou Key Laboratory of Pattern Recognition and Intelligent System Guizhou Minzu University Guiyang China School of Mathematics and Statistics Qiannan Normal University for Nationalities Key Laboratory of Complex Systems and Intelligent Optimization of Guizhou Province Duyun China Zhongshan Institute University of Electronic Science and Technology of China Zhongshan China Guizhou Aerospace Tianma Electromechanical Technology Co LTD Zunyi China

Although facial expression recognition (FER) has a wide range of applications, it may be difficult to achieve under local occlusion conditions which may result in the loss of valuable expression features. This issue has motivated the present study, as a part of which an effective multi-feature cross-attention network (MFCA-Net) is proposed. The MFCA-Net consists of a two-branch network comprising a multi-feature convolution module and a local cross-attention module. Thus, it enables decomposition of facial features into multiple sub-features by the multi-feature convolution module to reduce the impact of local occlusion on facial expression feature extraction. In the next step, the local cross-attention module distinguishes between occluded and unoccluded sub-features and focuses on the latter to facilitate FER. When the MFCA-Net performance is evaluated by applying it to three public large-scale datasets (RAF-DB, FERPlus, and AffectNet), the experimental results confirm its good robustness. Further validation is performed on a real FER dataset with local occlusion of the face. © 2024 – IOS Press.

关键词： Convolution

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intelligent Parking Big Data Cloud Platform Algorithm Research and Application 6

Intelligent Parking Big Data Cloud Platform Algorithm Resear...

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6th International Conference on Computer Information Science and Application Technology, CISAT 2023

作者： Yan, Xiaobo Zou, Xue Cai, Shan Wang, Lin Key Laboratory of Pattern Recognition and Intelligent System of Guizhou Province Guizhou Minzu University Guiyang China College of Date Science and Information Engineering Guizhou Minzu University Guiyang China

ISBN: (纸本)9781510668546

With the rapid development of the domestic economy and the increasing living standards of the people, the ownership of private cars has increased explosively. Currently, urban traffic congestion and parking difficulty have gradually become a hot topic of research from all walks of life. Parking difficulty is mainly reflected on the following aspects: first, the existing parking spaces in cities are not effectively utilized;The second reason is that drivers cannot grasp relevant information about parking spaces near the ground in real time. This article conducts in-depth research on the issue of parking difficulty. Based on the existing security monitoring systems in parking lots, real-time detection of parking spaces status is conducted based on computer vision, machine learning, and other methods. By building a comprehensive, synthesize, and multi-dimensional parking resources dynamic sensing system, a smart parking big data cloud platform is constructed to achieve the effect of intelligent indoor parking lots management. © 2023 SPIE.

关键词： Machine learning

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Ballot character recognition based on image processing 2

Ballot character recognition based on image processing

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2nd International Conference on Computer Vision and Data Mining, ICVDM 2021

作者： Zhao, Yu-Qing Yan, Xiao-Bo Wang, Lin College of Date Science and Information Engineering Guizhou Minzu University Guizhou Guiyang550025 China Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Guizhou Guiyang550025 China

According to the relevant provisions of the "Election Law of the People's Republic of China", the engineering software required for the implementation of large-scale conference elections can set voting regulations for "differential elections", "equal elections", and "alternative elections". This paper proposes an automatic ballot recognition system based on image processing, which is suitable for all levels of people’s congresses, party and government meetings or other meetings. It has complete functions and stable recognition. It can automatically count and summarize the voting results and display the voting results on the big screen. Show on the display system. Firstly, the paper ballot is scanned by a scanner to obtain the image of the ballot. Secondly, the system will preprocess the image of the ballot and segment the image into ***, according to the handwritten character recognition algorithm based on image processing and Shen filter proposed in this paper, the handwritten characters "√" and "×" in the subregion are *** final experimental results show that the recognition accuracy of the system is as high as 99.82%, which has an absolute advantage over the traditional manual voting, and can meet the performance requirements of high efficiency, accuracy, objectivity and security of large-scale conference election. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Image segmentation

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Face recognition with Partial Occlusion Based on Attention Mechanism

Face Recognition with Partial Occlusion Based on Attention M...

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2021 International Conference on Electronic Information Engineering and Computer Science, EIECS 2021

作者： Zhao, Yuqing Wang, Lin Tan, Mian Yan, Xiaobo Zhang, Xuewen Feng, Hongxi Guizhou Minzu University College of Date Science and Information Engineering Guiyang China Guizhou Minzu University Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Guiyang China

ISBN: (纸本)9781665416740

Face recognition is widely used in our life, face recognition with partial occlusion is of great significance to the improvement of face recognition accuracy in practical application scenarios. For improve the accuracy of face recognition in partial occlusion scene, we propose a MobilenetV1-CBAM-Facenet (MC-Facenet) model. which uses Multi-Task Cascaded Convolutional Neural Networks to complete the detection of partial occlusion, then introduces MobilenetV1 and Attention Mechanism to solve the face recognition with partial occlusion. We designs a new Loss function which combines the Triplet Loss and cross-entropy Loss to increase the convergence rate. We carried out comparative experiments based on the public data set LFW, and demonstrated the effectiveness of MC-Facenet under different occlusion types and different occlusion areas. The experimental results show that the occlusion type is glasses and the occlusion area is 30%, the recognition accuracy is improved by 10.92% and 9.39% respectively compared with the original model. It is proved that MC-Facenet can greatly improve the accuracy of local occlusion face recognition. © 2021 IEEE.

关键词： Face recognition

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A Garbage Classification Method Based on Improved YOLOv5

A Garbage Classification Method Based on Improved YOLOv5

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2022 International Conference on Networks, Communications and Information Technology, CNCIT 2022

作者： Yan, Xiaobo Yang, Yuan Feng, Le Wang, Lin Tan, Mian Guizhou Minzu Unversity Key Laboratory of Pattern Recognition and Intelligent System of Guizhou Province. Guiyang China College of Date Science and Information Engineering. Guizhou Minzu Unversity Guiyang China

ISBN: (数字)9781665452960

ISBN: (纸本)9781665452960

With the development of national economy, people's daily garbage is increasing day by day. Relying on manpower to sort garbage is a heavy workload and low efficiency. In this paper, an automatic garbage classification system model based on computer vision is proposed to solve the above problems. Firstly, the YOLOv5 object detection algorithm is improved, and abandoning small object detection to obtain faster detection speed. Secondly, shortcut the complex network layer in the YOLOv5 algorithm framework to speed up the recognition speed while ensuring the recognition accuracy. Finally, the traditional loss function is used to improve the detection speed of large objects in raspberry pie. We collect various types of garbage data set, trains the model on the improved algorithm and tests it by embedding raspberry pie. The experimental results show that the proposed algorithm framework has the characteristics of fast speed and high precision, which can complete the garbage classification at the source of garbage. © 2022 IEEE.

关键词： Network layers

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