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Fusion performance analysis with the correlation

Fusion performance analysis with the correlation

引用

作者： Yuan, Xianghui Han, Chongzhao Lian, Feng MOE Key Lab. for Intelligent and Networked Systems State Key Lab. for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an Shaanxi China

ISBN: (纸本)9780982443811

Estimation fusion performance with the effect of correlation is analyzed. First, the correlation type is classified into two categories: same source correlation and different source correlation. Second, with the best linear unbiased estimation (BLUE) criteria, the scalar case is analyzed with the effect of correlation. For the same source correlation, with the same absolute value, the fusion result for negative correlation is better than positive correlation. For the different source correlation, with independent extra information, stronger correlation can lead to better fusion result. Finally, the conclusions are supported by some examples.

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A nested ant colony algorithm for hybrid production scheduling

A nested ant colony algorithm for hybrid production scheduli...

引用

2002 American control Conference

作者： Li, Yanjun Wu, Tie-Jun Natl. Lab. for Indust. Control Inst. of Intelligent Systems Zhejiang University Hangzhou 3 10027 China

The effectiveness of ant colony algorithms as powerful tools to solve complicated optimization problems has been demonstrated in a number of applications. Due to their biological background, these methods are usually used to solve difficult combinatorial optimization problems and are seldom adopted in continuous-space search. A nested ant colony algorithm is presented in this paper to solve production scheduling problems in which the search must be done simultaneously in integer-spaces, real-spaces, and discrete-sequence-spaces. A novel pheromone update algorithm is suggested to promote the search efficiency. The performance of the proposed algorithm in solving such kind of difficult optimization problems is demonstrated via simulation experiments for a practical flexible production line.

关键词： control theory

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Neural nets bBased modeling of inverse model for hysteresis using continuous transformation

Neural nets bBased modeling of inverse model for hysteresis ...

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2006 IEEE International Symposium on intelligent control, ISIC 2006

作者： Lianwei, Ma Yonghong, Tan Department of automatic control Shanghai Jiaotong University Shanghai 200030 China Lab. of Intelligent Systems and Control Engineering Guilin University of Electronic Technology 541004 Guilin China

ISBN: (纸本)0780397983

This paper proposes a novel and simple approach for modeling of the inverse hysteresis. In this method, the continuous transformation technique is utilized to construct an elementary inverse hysteresis model (EIHM), which sets up a one-to-one mapping between the input space and the output space of the inverse hysteresis nonlinearity. Then the output of the EIHM is used as one of the input signals of the neural network (NN) to approximate the inverse behavior of hysteresis. Finally, the proposed method is applied to the modeling of the inverse model of hysteresis inherent in piezoelectric actuator. © 2006 IEEE.

关键词： Hysteresis

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

引用

10th IFAC Symposium on Robot control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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Implementation of a time-delayed controller on an FPGA for ROBOKER by estimating acceleration with different filters

Implementation of a time-delayed controller on an FPGA for R...

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作者： Jeon, Hyo-Won Jung, Seul Intelligent Systems and Emotional Engineering Lab. Chungnam National University Daejeon Korea Republic of

ISBN: (纸本)9784990288020

This paper presents the hardware design and implementation of the time-delayed controller for controlling position of the ROBOKER. The ROBOKER has two arms with 12 degrees-of-freedom. The time-delayed control method is very simple and robust ro outer disturbances if two conditions are met. Two conditions are good estimation of inertia and acceleration with an appropriate sampling time. Those estimated values are used to cancel out uncertainties in the system by subtracting with one sample-delayed information. However, estimating acceleration is not easy and often using the finite difference method which is the 1st filter adds noises to the system so that control performances are degraded. Thus, to improve The performance of the time-delayed controller, the Kalman filter is designed and tested to estimate acceleration ternis better. Performances of the designed filters are tested by controlling the ROBOKER arms. ©ISAROB 2008.

关键词： Kalman filters

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Line tracking control using visual feedback of a mobile inverted pendulum: BalBot IV

Line tracking control using visual feedback of a mobile inve...

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14th IASTED International Conference on Robotics and Applications, RA 2009

作者： Lee, Geun Hyung Lee, Seung Jun Jung, Seul Department of Mechatronics Engineering Intelligent Systems and Emotional Engineering Lab. Chungnam National University Daejeon 305-764 Korea Republic of

ISBN: (纸本)9780889868137

This paper presents design and development of a balancing robot as a series of BalBots. The balancing robot, BalBot IV has a mobile inverted pendulum structure. The BalBot IV is designed to carry humanoid upper arms. The robot is required to follow a line on the floor using visual feedback while maintaining the balance. The line is captured by a camera and presented as the desired trajectory for the BalBot to follow. The controller is designed to have robust tracking performances of balancing with sensor fusion. Experimental studies are conducted to show the performances of BalBot IV.

关键词： Visual communication

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Test-bed for navigation and control of a thruster based AUV

Test-bed for navigation and control of a thruster based AUV

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OCEANS 2006 - Asia Pacific

作者： Kumar, R. Prasanth Babu, S. Sarath Srilekha, Y. Kumar, C.S. Sen, D. Dasgupta, A. Robotics and Intelligent Systems Lab. Department of Mechanical Engineering Indian Institute of Technology Kharagpur WB 721 302 India Robotics and Intelligent Systems Lab. Department of Ocean Engineering and Naval Architecture Indian Institute of Technology Kharagpur WB 721 302 India

ISBN: (纸本)1424401380

A thruster controlled AUV is being developed for the Indian AUV project. All motions and control is carried out by a set of five thrusters for controlling positions in two attitudes and three linear directions. As a prototype and verification system for the above AUV, a test-bed to develop and validate the control schemes was found necessary and has been developed at IIT Kharagpur. This paper describes the design criteria of the test-bed and the methods used to develop control scheme for such class of underwater vehicles, which are wholly thruster controlled and can be implemented in this test-bed. The design and capabilities of such a test-bed has been considered for taking into account similar thruster actuated AUVs which may be used in conditions like low speed motion as well as high maneuverability, station keeping etc. Such vehicles are different from the hydroplane controlled vehicles which are more effective above a certain operational velocity. The test-bed proposed here is targeted to generate valuable experimental data for full thruster controlled underwater vehicles operating over a range of operational velocities including station keeping to cruising modes. © 2006 IEEE.

关键词： Maneuverability

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Limit-Cycle-Based Design of Formation control for Mobile Agents

Limit-Cycle-Based Design of Formation Control for Mobile Age...

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作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

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Efficient Mobile Deployment of Lightweight CNN-Transformer Model for Crop Disease Diagnosis in Smart Agriculture 4

Efficient Mobile Deployment of Lightweight CNN-Transformer M...

引用

4th Asia Conference on Information engineering, ACIE 2024

作者： Lv, Zirong China University of Geosciences Hubei Key Lab. of Adv. Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation Wuhan China

ISBN: (纸本)9798350371925

Crop disease diagnosis is of great significance for crop yield and agricultural production. Deep learning methods have become a major research direction for solving crop disease diagnosis. However, recent studies have shown that deploying complex neural network models on mobile devices poses a significant challenge to mobile hardware performance. To address this issue, this paper proposes a lightweight network model based on the Transformer and deploys it on mobile devices. Compared to other lightweight network models, our approach significantly reduces computational complexity using Transformer modules and exhibits a particular advantage in recognition accuracy. It achieves a recognition rate of 97.76% for ten categories of tomato diseases, while the model size is only 3.86 MB. Furthermore, we deploy the model on embedded devices and apply it to tomato crop recognition, enabling farmers to monitor crop conditions in real-time and realizing smart agriculture. © 2024 IEEE.

关键词： Deep learning

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A wheeled-mobile robot with human interaction based on force control

A wheeled-mobile robot with human interaction based on force...

引用

IEEE International Conference on Automation and Logistics, ICAL 2008

作者： Hyung, Jik Lee Seung, Hui Yoon Young, Ho Kang Jung, Seul Intelligent Systems and Emotional Engineering Lab. Mechatronics Engineering Department Chungnam National University Daejeon 305-764 Korea Republic of

ISBN: (纸本)9781424425020

In this paper, a mobile robot carrier is designed and controlled to carry an elderly person or a weak person. The carrier robot is a wheeled mobile robot driven with applied forces induced by an operator. The applied force can be sensed by a force sensor and the measured force is filtered by the impedance function to generate the desired velocity to drive motors. Then the inner loop PID controller is required to follow the desired velocity which is the reference input to the system. The impedance function is designed to make driving condition comfortable for the driver by smoothing out instant start and stop. The feasibility of applying the force control method to the mobile robot has been tested by conducting experimental studies of riding the carrier to evaluate comforts. © 2008 IEEE.

关键词： Mobile robots

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