检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Biomimetics

作者： Yingying Yu Zhiqiang Cao Shuang Liang Zhicheng Liu Junzhi Yu Xuechao Chen State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Intelligent Robotics Institute BIT Beijing China

This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of Overall Framework of Self-Service Big Data Governance for Power Grid 4th

Design of Overall Framework of Self-Service Big Data Governa...

引用

4th International Conference on Machine Learning and intelligent Communications, MLICOM 2019

作者： Qiao, Lin Zhou, Qiaoni Song, Chunhe Wu, Hao Liu, Biqi Yu, Shimao State Grid Liaoning Electric Power Co. Ltd. Shenyang110000 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9783030323875

At present, power grid companies have not formed a complete data quality control system and a comprehensive and effective data quality assurance mechanism, which restricts the deep mining of data value. In this paper, based on the full-service unified data center of power Grid Company, a general framework of self-service power grid big data governance is presented. Firstly, the related work of big data governance is reviewed;secondly, the architecture and characteristics of the grid company’s full-service unified data center are analyzed;thirdly, the related requirements of self-service grid big data governance are analyzed;fourthly, the overall framework of self-service grid big data governance is proposed. Compared with other general big data governance framework, the proposed framework considers the specification of power grid as well as the features of self-service, making the framework more feasible. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Big data

来源：评论

学校读者我要写书评

暂无评论

Low-Power Heterogeneous Networking Method Based on NB-IoT and WSN 6

Low-Power Heterogeneous Networking Method Based on NB-IoT an...

引用

6th International Conference on Communication Engineering and Technology, ICCET 2023

作者： Guan, Mo Qi, Liangliang Jin, Xi Guan, Suoling Xia, Changqing Xu, Chi Shenyang University of Technology Shenyang110870 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350336153

Digital oilfields generally adopt the multi-hop technology to expand the network scale, and the data generated depends on the large-scale wireless sensor network (WSN) for transmission. However, multi-hop communication will lead to uneven distribution of network energy consumption and premature death of nodes. To prolong the network lifetime of digital oilfields, we extended the narrowband internet of things (NB-IoT) module on some WSN nodes deployed on site to form heterogeneous nodes. Through the heterogeneity of NB-IoT and WSN, the nodes could transmit as little data as possible from other nodes, fundamentally reducing the node energy consumption. Furthermore, an optimization method was proposed that could simultaneously optimize the network lifetime and node expansion cost. The experimental results revealed that the proposed algorithm could greatly prolong the network lifetime while only introducing a small number of nodes. © 2023 IEEE.

关键词： Internet of things

来源：评论

学校读者我要写书评

暂无评论

Indoor Fingerprint Positioning Method Based on Real 5G Signals 23

Indoor Fingerprint Positioning Method Based on Real 5G Signa...

引用

7th International Conference on Machine Learning and Soft Computing, ICMLSC 2023

作者： Wang, Changhao Xi, Jin Xia, Changqing Xu, Chi Duan, Yong Shenyang University of Technology Shenyang110870 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781450398633

Indoor positioning services are being used more and more widely. However, existing indoor positioning techniques cannot simultaneously take into account low cost, ease of use, high precision, and seamless switching between indoor and outdoor positioning. With the maturity of 5G techniques, 5G-based indoor positioning is gradually being paid attention to. 5G-based indoor positioning does not require additional equipment, and supports flexible indoor and outdoor switching under the same system. However, the 5G-related information used in existing research on 5G indoor positioning is not open to users. Therefore, in this paper, we propose an indoor fingerprint positioning method based on measured 5G signals. This method first collects 5G signals in the positioning area, and processes them to form a fingerprint database. Then, a machine learning algorithm is used to match the signal to be located with the fingerprint database to obtain the positioning result. Finally, we conduct experiments in real field, and the experimental result demonstrates that the positioning accuracy of our proposed method can reach 96%. © 2023 ACM.

关键词： 5G mobile communication systems

来源：评论

学校读者我要写书评

暂无评论

A Data Quality Improvement Method Based on the Greedy Algorithm 4th

A Data Quality Improvement Method Based on the Greedy Algori...

引用

4th International Conference on Machine Learning and intelligent Communications, MLICOM 2019

作者： Wang, Zhongfeng Fu, Yatong Song, Chunhe Ge, Weichun Qiao, Lin Zhang, Hongyu Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China

ISBN: (纸本)9783030323875

High-quality data is very important for data analysis and mining. Data quality can be indicated by many indicators, and some methods have been proposed for data quality improvement by improving one or more data quality indicators. However, there is few work to discuss the impact of the processing order of data quality indicators on the overall data quality. In this paper, first, some data quality indicators and their improvement methods are given;second, the impact of the processing order of data quality indicators on the overall data quality is discussed, and then a novel data quality improvement method based on the greedy algorithm is proposed. Experiments have been shown that the proposed method can improves the data quality while reducing the time and computational costs. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Data reduction

来源：评论

学校读者我要写书评

暂无评论

The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

引用

The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

来源：评论

学校读者我要写书评

暂无评论

Adaptive optimal control for reference tracking independent of exo-system dynamics

arXiv

引用

arXiv 2019年

作者： Köpf, Florian Westermann, Johannes Flad, Michael Hohmann, Sören Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

Model-free control based on the idea of Reinforcement Learning is a promising approach that has recently gained extensive attention. However, Reinforcement-Learning-based control methods solely focus on the regulation problem or learn to track a reference that is generated by a time-invariant exo-system. In the latter case, controllers are only able to track the time-invariant reference dynamics which they have been trained on and need to be re-trained each time the reference dynamics change. Consequently, these methods fail in a number of applications which obviously rely on a trajectory not being generated by an exo-system. One prominent example is autonomous driving. This paper provides for the first time an adaptive optimal control method capable to track reference trajectories not being generated by an exo-system. The main innovation is a novel Q-function that directly incorporates a given reference trajectory on a moving horizon. This new Q-function exhibits a particular structure which allows the design of an efficient, iterative, provably convergent Reinforcement Learning algorithm that enables optimal tracking. Two real-world examples demonstrate by simulation that our new method outperforms existing approaches in terms of tracking error. Copyright © 2019, The Authors. All rights reserved.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

引用

2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

来源：评论

学校读者我要写书评

暂无评论

Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

引用

IET International Conference on Information Science and control Engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Sample Efficient Path Integral control under Uncertainty 15

Sample Efficient Path Integral Control under Uncertainty

引用

Annual Conference on Neural Information Processing systems

作者： Yunpeng Pan Evangelos A. Theodorou Michail Kontitsis Autonomous Control and Decision Systems Laboratory Institute for Robotics and Intelligent Machines School of Aerospace Engineering Georgia Institute of Technology Atlanta GA 30332

ISBN: (纸本)9781510825024

We present a data-driven optimal control framework that is derived using the path integral (PI) control approach. We find iterative control laws analytically without a priori policy parameterization based on probabilistic representation of the learned dynamics model. The proposed algorithm operates in a forward-backward manner which differentiate it from other PI-related methods that perform forward sampling to find optimal controls. Our method uses significantly less samples to find analytic control laws compared to other approaches within the PI control family that rely on extensive sampling from given dynamics models or trials on physical systems in a model-free fashion. In addition, the learned controllers can be generalized to new tasks without re-sampling based on the compositionality theory for the linearly-solvable optimal control framework. We provide experimental results on three different tasks and comparisons with state-of-the-art model-based methods to demonstrate the efficiency and generalizability of the proposed framework.

关键词： Optimal control PI control Curvilinear integral control law Generalization Uncertainty Frameworks Religious Missions

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：