检索结果-内蒙古大学图书馆

Curvature Adaptive control Based Path Following for Automatic Driving Vehicles in Private Area

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 690-698页

作者： SHI Qiang ZHANG Jianlin YANG Ming Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Path following refers to traveling along the desired path with automatic steering control,which is a crucial technology for automatic driving *** in private areas are highly irregular,resulting in a large curvature variation,which reduces the control accuracy of the path following.A curvature adaptive control(CAC)based path-following method was proposed to solve the problem mentioned ***,CAC takes advantage of the complementary characteristics in response to the path curvature fluctuation of pure pursuit and front-wheel feedback and by combining the two methods further enhances the immunity of the control accuracy in response to a curvature *** CAC,the quantitative indices of the path curvature fluctuation and control accuracy were *** model between the path curvature fluctuation and a dynamic parameter was identified using the quantitative index of the control accuracy as the optimization *** experimental results of a real vehicle indicate that the control accuracy of path following is further enhanced by its immunity in response to curvature fluctuation improved by the *** addition,CAC is easy to deploy and requires low demand for hardware resources.

关键词： automatic driving vehicles path following adaptive control

来源：评论

学校读者我要写书评

暂无评论

Integrated Framework for Test and Evaluation of Autonomous Vehicles

引用

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 699-712页

作者： SU Yimin WANG Lin Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Autonomous vehicles must pass effective standard tests to verify their reliability and ***-ingly,it is very important to establish a complete scientific test and evaluation system for autonomous vehicles.A comprehensive framework incorporating the design of test scenarios,selection of evaluation indexes,and estab-lishment of an evaluation system is proposed in this *** aims of the system are to obtain an objective and quantitative score regarding the intelligence of autonomous vehicles,and to form an automated process in the future *** proposed framework is built on a simulation platform to ensure the feasibility of the design and implementation of the test *** design principle for the test scenarios is also *** reduce subjective influences,the proposed framework selects objective indexes from four aspects:safety,comfort,driving performance,and standard *** order relation analysis method is adopted to formulate the index weights,and fuzzy comprehensive evaluation is used to quantify the ***,a numerical example is provided to visually demonstrate the evaluation results for the autonomous vehicles scored by the proposed framework.

关键词： test and evaluation scenario construction evaluation index autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

Joint Design of control and Transmission for Industrial CPS under Time Sensitive Networking 48

Joint Design of Control and Transmission for Industrial CPS ...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Lu, Xuanzhao Xu, Qimin Zhang, Jinglong Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

To improve the performance of industrial cyber-physical systems (ICPS), the joint design of control and transmission has been shown to be an effective mechanism. However, the existing joint design work lack completeness and accuracy, which brings challenges to improving the stability and network resource utilization of ICPS. In this paper, we propose a control and transmission joint design architecture for integrated multi-subsystem ICPS for multi-hop networks. We consider the timeliness of information through state delays, input delays, and event-triggered states in ICPS. To avoid the instability caused by input delay, we design an LQR-based controller and derive the feasible region of delay to guarantee the stability of the control system. Finally, we propose an event-triggered strategy that represents control and transmission costs to minimize the amount of data transfer while ensuring system stability. The evaluation results show that our strategy improves the stability of the control system while reducing the network burden compared with the traditional joint design method. © 2022 IEEE.

关键词： Cyber Physical system

来源：评论

学校读者我要写书评

暂无评论

RBP-Former: Joint Prediction of RNA-protein Binding Sites on Full-length RNA Transcripts for Multiple RBPs

RBP-Former: Joint Prediction of RNA-protein Binding Sites on...

引用

2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Li, Yichong Liu, Xiaojian Cheng, Fan Pan, Xiaoyong Yang, Yang Shanghai Jiao Tong University Department of Computer Science and Engineering Shanghai200240 China Shanghai Jiao Tong University Institute of Image Processing and Pattern Recognition Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai200240 China

ISBN: (纸本)9798350386226

RNA-binding proteins (RBPs) are essential for gene expression, and the complex RNA-protein interaction mechanisms require analysis of global RNA information. Therefore, accurate prediction of RBP binding sites on full-length RNA transcripts is crucial for understanding these mechanisms and their roles in diseases. While machine learning methods can predict RBP binding to RNA fragments, extending this to full-length transcripts presents challenges due to sequence length and data imbalance. In this paper, we introduce RBP-Former, a binding site joint prediction model designed specifically for full-length RNA transcripts that can be used for multiple RBPs. This model processes information at both coarse and fine-grained levels to fully exploit sequence data and its interactions with multiple RBPs. We develop multi-level imbalance learning strategies, achieving favorable results on imbalanced data. Our method outperforms existing methods in predicting binding sites on full-length RNA transcripts for multiple RBPs, demonstrating its effectiveness in handling imbalanced label and sample distributions. © 2024 IEEE.

关键词： Binding sites

来源：评论

学校读者我要写书评

暂无评论

Prediction of NO_(x)concentration using modular long short-term memory neural network for municipal solid waste incineration

引用

Chinese Journal of Chemical Engineering 2023年第4期56卷 46-57页

作者： Haoshan Duan Xi Meng Jian Tang Junfei Qiao Faculty of Information Technology Beijing University of TechnologyBeijing 100124China Beijing Laboratory of Smart Environmental Protection Beijing 100124China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing 100124China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Beijing 100124China

Air pollution control poses a major problem in the implementation of municipal solid waste incineration(MSWI).Accurate prediction of nitrogen oxides(NO_(x))concentration plays an important role in efficient NO_(x)emission *** this study,a modular long short-term memory(M-LSTM)network is developed to design an efficient prediction model for NO_(x)***,the fuzzy C means(FCM)algorithm is utilized to divide the task into several sub-tasks,aiming to realize the divide-and-conquer ability for complex ***,long short-term memory(LSTM)neural networks are applied to tackle corresponding sub-tasks,which can improve the prediction accuracy of the ***,a cooperative decision strategy is designed to guarantee the generalization performance during the testing or application ***,after being evaluated by a benchmark simulation,the proposed method is applied to a real MSWI *** the experimental results demonstrate the considerable prediction ability of the M-LSTM network.

关键词： Municipal solid waste incineration NO_(x)concentration prediction Modular neural network Model

来源：评论

学校读者我要写书评

暂无评论

Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

引用

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 722-730页

作者： SHEN Qiyue WANG Bing WANG Chunxiang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China

Tractor-trailer vehicles,which are composed of a car-like tractor towing a passive trailer,have been widely deployed in the transportation industry,and trajectory planning is a critical step in enabling such a system to drive *** to the properties of being highly nonlinear and nonholonomic with complex dynamics,the tractor-trailer system poses great challenges to the development of motion-planning *** this study,an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer *** indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality,obstacle-free trajectory using quintic polynomial spline,speed profile optimization,forward simulation,and properly designed cost *** under different driving scenarios and trajectories with different driving requirements are conducted to validate the performance of the proposed framework.

关键词： trajectory planning tractor-trailer vehicle forward simulation on-road driving

来源：评论

学校读者我要写书评

暂无评论

GAN-DIRNet:A Novel Deformable Image Registration Approach for Multimodal Histological Images

引用

Computers, Materials & Continua 2024年第7期80卷 487-506页

作者： Haiyue Li Jing Xie Jing Ke Ye Yuan Xiaoyong Pan Hongyi Xin Hongbin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai200240China Department of Pathology Ruijin HospitalShanghai Jiao Tong UniversitySchool of MedicineShanghai200025China Department of Computer Science and Engineering Shanghai Jiao Tong UniversityShanghai200240China Global Institute of Future Technology Shanghai Jiao Tong UniversityShanghai200240China

Multi-modal histological image registration tasks pose significant challenges due to tissue staining operations causing partial loss and folding of *** neural network(CNN)and generative adversarial network(GAN)are pivotal inmedical image ***,existing methods often struggle with severe interference and deformation,as seen in histological images of conditions like Cushing’s *** argue that the failure of current approaches lies in underutilizing the feature extraction capability of the discriminator *** this study,we propose a novel multi-modal registration approach GAN-DIRNet based on GAN for deformable histological image *** begin with,the discriminators of two GANs are embedded as a new dual parallel feature extraction module into the unsupervised registration networks,characterized by implicitly extracting feature descriptors of specific ***,modal feature description layers and registration layers collaborate in unsupervised optimization,facilitating faster convergence and more precise ***,experiments and evaluations were conducted on the registration of the Mixed National Institute of Standards and Technology database(MNIST),eight publicly available datasets of histological sections and the Clustering-Registration-Classification-Segmentation(CRCS)dataset on the Cushing’s *** results demonstrate that our proposed GAN-DIRNet method surpasses existing approaches like DIRNet in terms of both registration accuracy and time efficiency,while also exhibiting robustness across different image types.

关键词： Histological images registration deformable registration generative adversarial network cushing’s disease machine learning computer vision

来源：评论

学校读者我要写书评

暂无评论

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentation Using Eccentrically Arranged Fibres with Eccentric Lumens

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentat...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Lin, Zecai Zhou, Cheng Zou, Yun Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Micro-motion augmentation of macro-motion continuum robot can largely enhance its micro-operation capability during surgery. However, most existing micro-motion continuum robots have non-compact mechanical structure or non-smooth micro tip motion, which leads to complicated control in micro lumens. This paper proposes a micro-motion augmentation method by rotating eccentrically arranged fibres with eccentric lumens for cable-driven continuum robots. Two thermal drawn polymer fibres with an eccentric lumen on each are inserted into its eccentric lumens of the continuum robot. The micro-motion mechanism relies on small changes in the neutral axis of the continuum robot due to the rotation of the eccentrically arranged fibres. A kinematic model considering variable neural axis is built to describe the micro motion, and a simulation is conducted to investigate the deformation characteristics. The resolution and micro motion with respect to different structural parameters are also analysed. Detailed experiments are performed to validate the effectiveness of the proposed method, and results indicate that the repeatability of micro-motion is 10.1 μm (4.0 %). © 2024 IEEE.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

A Secure Parameter Self-Tuning control Scheme for Vehicle Platoons under DoS Attacks 13

A Secure Parameter Self-Tuning Control Scheme for Vehicle Pl...

引用

13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Han, Qiaoni Cheng, Guowen Tang, Zhenning Liu, Chang School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Center for Biomedical Engineering School of Information Science and Technology Fudan University Shanghai200433 China

ISBN: (纸本)9798350315196

In order to mitigate the adverse impact of denial of service (DoS) attacks, this work designs a parameter self-tuning controller based on fuzzy rules for vehicle platoons with vehicle-to-vehicle (V2V) communications. Aiming at achieving the cooperative adaptive cruise control (CACC) of the vehicles with a required inter-vehicle distance and the same velocity, while considering the possible DoS attacks, we propose a parameter self-tuning longitudinal controller combining linear control and fuzzy control to enhance the stability and resilience of the platoon systems. Firstly, by analyzing the dynamic characteristics of vehicles and the mechanism of DoS attacks, we establish the dynamic model of vehicle platoons and model the impact of random DoS attacks as a constant data transmission delay, whose probability distribution can be defined using the Bernoulli random variable. Then, a linear controller based on fuzzy control is designed for longitudinal control to guarantee that the platoon keeps a reference velocity and the specified inter-vehicle distance under DoS attacks. Finally, thorough simulations are performed and the detailed results show the performance of the secure longitudinal control scheme for vehicle platoons in terms of stability and security. © 2023 IEEE.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

GENERATIVE ADVERSARIAL NETWORKS FOR REMOTE SENSING IMAGE DEHAZING WITH COLOR FEATURE RESTORATION

引用

International Journal of Innovative Computing, information and control 2025年第2期21卷 323-338页

作者： Zhao, Liquan Qin, Yuqing Jia, Yanfei Key Laboratory of Modern Power System Simulation and Control and Renewable Energy Technology Ministry of Education Northeast Electric Power University No. 169 Changchun Road Jilin132012 China College of Electric and Information Engineering Beihua University No. 3999 Beijing Road Jilin132013 China

Remote sensing images are often affected by atmospheric factors such as haze during the acquisition process, resulting in blurring and low contrast in the collected remote sensing images. This problem impacts the image quality, thereby affecting the analysis of remote sensing images. To mitigate the impact of haze on remote sensing images, a generative adversarial network is proposed. It comprises a generative network and an adversarial network. Firstly, a novel feature extraction module is designed to enhance the capability of extracting useful information from remote sensing images. It enables the network to focus more on regions with dense haze, allowing it to extract more important information while filtering out irrelevant details. Secondly, a residual attention module is designed which can allocate different weights based on varying haze density in the feature map. This module readjusts features outputted by the encoder, facilitating better image restoration. Thirdly, a multi-scale module is also incorporated to extract feature information across various image scales. Lastly, a color feature extraction module is designed to extract color features. The novel feature extraction module, residual attention module, multi-scale module, and color feature extraction module are utilized for constructing the generative network. Besides, an adversarial network is also designed to indirectly enhance the dehazing capability of the generative network. Synthetic and real datasets are used to test six different methods for dehazing remote sensing images, respectively. The proposed method achieves higher PSNR, SSIM, and lower MSE on the synthetic remote sensing dataset. On the other hand, it achieves lower PIQE, BRISQUE, and higher MetaIQA on the real remote sensing dataset. The proposed method has best performance in dehazing remote sensing images than other methods. © 2025, Int. J. Innov. Comput. Inf. control. All rights reserved.

关键词： Generative adversarial networks

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：