检索结果-内蒙古大学图书馆

2023 China Automation Congress, CAC 2023

作者： Chen, Kang Du, Shaochong Huo, Hong Fang, Tao Shanghai Jiao Tong University Department of Automation Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350303759

The earth observation satellite scheduling has always been critical for the maximum use of limited satellite resources, which basically includes scheduling ground target observation and observation data downloading. Due to the complexity of the mathematical model and its NP-hardness, current research usually splits it into two problems to simplify the model. In this paper, we propose a model of the integrated scheduling problem of satellite observation and data downloading (ISP-SODD) based on the decentralized partially observable Markov decision process (Dec-POMDP), treating each satellite as an agent with autonomous decision-making capability. A multi-agent deep reinforcement learning-based (MADRL-based) algorithm is proposed to solve it. A series of simulation experiments of different scales validate the effectiveness of the method and its advantages compared with the traditional heuristic algorithms. To the best of our knowledge, this study is the first attempt to apply multi-agent reinforcement learning to a multi-satellite scheduling scenario with downloading considerations. © 2023 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Global Update Guided Federated Learning 41

Global Update Guided Federated Learning

引用

第41届中国控制会议

作者： Qilong Wu Lin Liu Shibei Xue Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of Electronic Information Engineering Shanghai Dianji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Federated learning protects data privacy and security by exchanging models instead of ***,unbalanced data distributions among participating clients compromise the accuracy and convergence speed of federated learning *** alleviate this problem,unlike previous studies that limit the distance of updates for local models,we propose global-updateguided federated learning(FedGG),which introduces a model-cosine loss into local objective functions,so that local models can fit local data distributions under the guidance of update directions of global ***,considering that the update direction of a global model is informative in the early stage of training,we propose adaptive loss weights based on the update distances of local *** simulations show that,compared with other advanced algorithms,FedGG has a significant improvement on model convergence accuracies and ***,compared with traditional fixed loss weights,adaptive loss weights enable our algorithm to be more stable and easier to implement in practice.

关键词： Federated Learning Cosine Similarity Adaptive Loss Weights

来源：评论

学校读者我要写书评

暂无评论

Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Driving

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 1-19页

作者： Li, Yueyuan Yuan, Wei Zhang, Songan Yan, Weihao Shen, Qiyuan Wang, Chunxiang Yang, Ming Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Innovation Center of Intelligent Connected Vehicle Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China Global Institute of Future Technology Shanghai Jiao Tong University Shanghai China

Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern about the validity of algorithms developed and evaluated in simulators, indicating a need for a thorough analysis of the development status of the simulators. To address existing gaps in research, this paper undertakes a comprehensive review of the history of simulators, proposes a utility-based taxonomy, and investigates the critical issues within open-source simulators. Analysis of the past thirty years' development trajectory reveals a trend characterized by an increase in open-source simulators and an expansion of their functionality scope. The categorization of simulators based on feature functionalities delineates five primary classes: traffic flow, sensory data, driving policy, vehicle dynamics, and comprehensive simulators. Furthermore, the paper identifies critical unresolved issues in open-source simulators, including concerns regarding the fidelity of sensory data, representation of traffic scenarios, and accuracy in vehicle dynamics simulation, all of which have the potential to undermine experimental confidence. Additionally, challenges in data format inconsistency, labor-intensive map construction processes, sluggish step updating, and insufficient support for Hardware-In-the-Loop testing are discussed as hindrances to experimental efficiency. In light of these findings, the survey furnishes task-oriented recommendations to aid in the selection of simulators, taking into account factors such as accessibility, maintenance status, and quality, while highlighting the inherent limitations of existing open-source simulators in validating algorithms and facilitating real-world experimentation. IEEE

关键词： Autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

Soft Robotics:Morphology and Morphology-inspired Motion Strategy

引用

IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

Robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

来源：评论

学校读者我要写书评

暂无评论

Analysis of the Impact of COVID-19 Infection Rate on the Selection of Nucleic Acid Testing Options 29th

Analysis of the Impact of COVID-19 Infection Rate on the Sel...

引用

29th International Conference on Computational and Experimental Engineering and Sciences, ICCES 2023

作者： Ma, Mimi Wang, Demin Zuo, Zhibin Deng, Miaolei Henan University of Technology Zhengzhou450001 China Key Laboratory of Grain Information Processing and Control Ministry of Education Henan University of Technology Zhengzhou China Henan Key Laboratory of Grain Photoelectric Detection and Control Henan University of Technology Zhengzhou China

ISBN: (纸本)9783031449468

Novel mixed coronavirus nucleic acid tests can reduce testing time and cost, improve the efficiency of nucleic acid testing, and ensure that the required population nucleic acid tests are completed in a short period of time. In this paper, we analyze the number of tests for various mixed testing protocols at different positive rates by using a mathematical testing model to derive the most suitable mixed nucleic acid testing protocols at different positive rates. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Coronavirus

来源：评论

学校读者我要写书评

暂无评论

A Hybrid Communication Framework Based Remote Management Architecture with OPC UA information Model Construction 48

A Hybrid Communication Framework Based Remote Management Arc...

引用

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

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

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Cloud manufacturing aims to carry out large-scale collaborative production through remote equipment management. To improve management efficiency, it is necessary to construct a unified information model and an adaptive communication framework for manufacturing lines with heterogeneous (high reliable/ low load) needs. OPC UA has become a prominent solution for remote configuration with extensible information models and various transport mechanisms. However, the existing solutions based on OPC UA focus on the information model and communication framework for the machine level, which is hard to support efficient remote management of the production line. In this paper, we construct the model of the process and parameter information in production-line level with a unified manner, which enables unified scheduling, configuration, and monitoring. The operational data are modeled hierarchically to reduce the amount of data transmission during monitoring. The hybrid communication framework is designed by integrating the Client-Server and PubSub models with edge assistance, which is to meet the heterogeneous communication requirements. We implement the management architecture on the physical platform to verify the performance. The experiments show that our architecture is suitable for remote configuration in terms of the combined performance of packet loss rate and CPU load with a massive connection. © 2022 IEEE.

关键词： information theory

来源：评论

学校读者我要写书评

暂无评论

Mapless Path Planning of Multi-robot systems in Complex Environments via Deep Reinforcement Learning 4

Mapless Path Planning of Multi-robot Systems in Complex Envi...

引用

4th International Conference on Data-Driven Optimization of Complex systems, DOCS 2022

作者： Han, Wanbin Fang, Chongrong He, Jianping Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai China

ISBN: (数字)9781665459822

ISBN: (纸本)9781665459822

As mobile robots are becoming more and more widely used, it is of great significance to design an efficient path planning method for multi-robot systems (MRS) that can adapt to complex and unknown environments. In this paper, we present a deep reinforcement learning (DRL) based method to navigate the MRS with collision avoidance in unknown dynamic environments, which consists of centralized learning and decentralized executing paradigm. The proposed policy maps original laser information into robot control commands without constructing global maps. The learned policy is tested in Gazebo environments with three robot systems, which shows the effective performance in terms of success rate, extra time rate, and formation maintenance rate. © 2022 IEEE.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Co-Design of Dynamic Quantizer and Small-Gain-Based Distributed Model Predictive control of Nonlinear Continuous system

引用

IEEE Transactions on control of Network systems 2025年

作者： Zheng, Yi Zhang, Yueyan Li, Shaoyuan Luo, Min Shanghai Jiao Tong University Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China

This paper presents a co-design control scheme that integrates Distributed Model Predictive control with dynamic quantizers for networked nonlinear continuous systems operating under limited communication bandwidth. Each subsystem-based Model Predictive control formulation considers the dynamic quantizer's influence within the optimization problem in the proposed method. Both the quantizer parameters and the control law are optimized simultaneously in real time, which offers potential improvements in the performance of the closed-loop system within a certain communication limitation. A stability constraint based on small-gain Lyapunov theory is designed for each subsystem's controller, allowing for a relaxation of the restrictions on the closed-loop subsystems compared to decentralized approaches. Additionally, a sufficient condition that ensures the stability of the overall system is provided. Simulation results demonstrate the effectiveness of the proposed co-design method. © 2014 IEEE.

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

Online Voltage Regulation of Distribution Networks in Energy Sharing Markets: a Feedback-Based Method With Parameter Estimation

引用

IEEE Transactions on Smart Grid 2025年

作者： Wang, Wenyue Liu, Yiming Wang, Zhaojian Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China

With the number of prosumers rising quickly, energy sharing markets in distribution networks are emerging. The trading of active power influences the power flow in the distribution network, which will cause voltage fluctuation when the line resistance is not trivial. In this paper, we investigate the voltage regulation problem of distribution networks with the consideration of electricity markets. We first formulate the problem in the form of a non-cooperative game. The uniqueness of generalized Nash Equilibrium (GNE) is proved. Then, a feedback-based GNE seeking algorithm is proposed with online parameter estimation without knowing accurate values of resistance and reactance. The estimation error is proved to be accurate in expectation. The convergence of the algorithm is also guaranteed theoretically. Finally, numerical results in the IEEE 33-bus system validate the effectiveness of the algorithm. © 2010-2012 IEEE.

关键词： Power distribution networks

来源：评论

学校读者我要写书评

暂无评论

Extended State Observer-based Hybrid Dynamic Event-Triggered Consensus control with External Disturbances 24

Extended State Observer-based Hybrid Dynamic Event-Triggered...

引用

2nd International Conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024

作者： Pei, Wenliang Hua, Changchun Cui, Hailong Zhao, Guanglei Ma, Zhuang The Institute of Electrical Engineering The Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Key Laboratory of Intelligent Control and Neural Information Processing Ministry of Education Yanshan University Hebei China Tangshan University Hebei China

ISBN: (纸本)9798400710681

This paper solves the event-triggered robust consensus problem of disturbed multi-agent systems (MASs) in fully distributed fashion. First, a distributed extended state observer (DESO) is developed for appropriately estimating system states and external disturbances. Then, by utilising these estimates, a fully distributed event-triggering control protocol, that composes of an adaptive distributed controller to avoid using global information while maintaining desired consensus property, and a novel hybrid dynamic event-triggering mechanism (ETM) to save communication resources, is put forward for the MASs. It is notable that an auxiliary differential equation is incorporated in the triggering condition, with which, positive minimum interevent times (MIETs) are available to ease the hardware implementation, while being with adaptive coefficients, the proposed hybrid dynamic ETM can be independent of any global information. Finally, the obtained main results are testified via a numerical example. © 2024 Copyright held by the owner/author(s).

关键词： State estimation

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：