Understanding the vulnerabilities of vehicular networks from an attacker's perspective is crucial for identifying stealthy false data injection (FDI) attacks and developing robust defense methods. This paper inves...
详细信息
With the development of deep learning, small object detection has a significant role in application fields such as smart factories and remote sensing images. In order to address the problem of difficult and low accura...
详细信息
In this paper, we tackle the control and trajectory planning problems for the cooperative transportation system of cable-suspended payload with multi Unmanned Aerial Vehicles (UAVs). Firstly, a payload controller is p...
In this paper, we tackle the control and trajectory planning problems for the cooperative transportation system of cable-suspended payload with multi Unmanned Aerial Vehicles (UAVs). Firstly, a payload controller is presented considering the dynamic coupling between the UAV and the payload to accomplish the active suppression of payload swing and the complex payload trajectory tracking. Secondly, different from the simplification of obstacles in most approaches, we propose three Insetting Formation (IF) algorithms for the complete obstacle shape to generate collision-free waypoints for the cooperative transportation system. An IF strategy is proposed by integrating three IF algorithms to improve the success rate of obstacle avoidance and reduce the algorithm complexity for performing the aggressive flight. Finally, we verify the robustness and high performance of the proposed algorithm through benchmark comparison and real-world experiments. Moreover, our source code is released as an open-source ros package.
In this paper, two model-free optimal output tracking frameworks based on policy iteration for discrete-time multiagent systems are proposed. First, we establish a framework of stabilizing policy iteration that can st...
详细信息
Nickel-based alloy coatings were widely used for the remanufacturing of dies and moulds by laser cladding,but the crack sensitivity would be increase due to the higher strength and hardness,which reduced the wear resi...
详细信息
Nickel-based alloy coatings were widely used for the remanufacturing of dies and moulds by laser cladding,but the crack sensitivity would be increase due to the higher strength and hardness,which reduced the wear resistance of Ni-based *** this paper,Ni-based coatings with the addition of a plastic phase(an austenitic stainless net)were prepared using laser cladding technology,and the CeO_(2)was added in cladding *** cracking mechanism,microhardness,microstructure,phase composition,and wear properties were *** relationship between thermal stress and the elastic and plastic fracture had been developed from the standpoint of fracture mechan-ics and thermal elastic fracture *** fracture criterion of the nickel-based coating was obtained,and the study has shown that the crack sensitivity could be reduced by decreasing the thermal expansion coefficientΔα.Thus,a new method was proposed,which the stainless steel nets were prefabricated on the *** was found that the number of cracks reduced significantly with the addition of stainless steel *** the stainless steel net with 14 mesh was added in Ni-based coatings,the average microhardness of nickel composite coating was 565 HV_(0.2),which was 2.6 times higher than that of the 45 steel *** the rare earth oxide 4 wt.%CeO_(2)and stainless steel net were added in the Ni-based coating reducing the microhardness(the average microhardness is 425 HV_(0.2)),the wear resistance of it improved *** wear volume of Ni-based composite coating was 0.56×10^(−5) mm^(3)·N^(−1)·m^(−1),which was 85.1%lower than that of 45 *** experiment results have shown that the Nickel-based composite coating is equipped with low crack sensitivity and high abrasive resistance with austenitic stainless net and the rare earth oxide 4 wt.%*** research offers an efficient solution to produce components with low crack susceptibility and high wear-resistance coatings fabricated
This paper proposes a novel Koopman operator-based finite impulse response (KFIR) filter for nonlinear dynamic systems. This filter is generalized from the minimum variance unbiased (MVU) FIR filter for linear systems...
This paper proposes a novel Koopman operator-based finite impulse response (KFIR) filter for nonlinear dynamic systems. This filter is generalized from the minimum variance unbiased (MVU) FIR filter for linear systems by using a global linear approximation of the nonlinear dynamics obtained from Koopman operator theory and the extended dynamic mode decomposition (EDMD) algorithm. Based on the recursive linear model, a reduced-order FIR filtering structure is proposed, and the optimal gain is derived to minimize the trace of the estimation error covariance. Unlike traditional methods, the KFIR filter requires no prior knowledge of the initial state and fully utilizes the data of a moving horizon. Simulation results show that the proposed filter has excellent robustness against unexpected modeling uncertainties and inaccurate noise information, making it suitable for real applications.
In Industry 4.0 background, unmanned full-process automated production has gradually become a hot topic, and the realization of intelligent and information factory requires the joint cooperation of multiple industries...
In Industry 4.0 background, unmanned full-process automated production has gradually become a hot topic, and the realization of intelligent and information factory requires the joint cooperation of multiple industries, in which the inspection device that replaces traditional manual work is an inescapable topic. At present, domestic and foreign research on intelligent inspection trolley is focused on obstacle avoidance function based on various sensors. In this context, it is introduced an algorithm based on monocular camera as a sensor, using Python language to access OpenCV library, and utilizing Gaussian filter function and Canny operator-based image contour extraction to complete the distance measurement. The algorithm can achieve the distance measurement and obstacle avoidance function at a lower cost. The test results show that the system can automatically identify the distance of obstacles in the inspection process, and according to the visual information captured by the camera in real time, it can independently generate steering action and collision reminder, and can complete the preliminary requirement of intelligent inspection.
In this paper,adaptive dynamic programming(ADP)algorithm,with lifting technology,is develop to solve the multi-rate optimal control problem for discrete-time linear *** make use of the lifting technology to convert th...
详细信息
In this paper,adaptive dynamic programming(ADP)algorithm,with lifting technology,is develop to solve the multi-rate optimal control problem for discrete-time linear *** make use of the lifting technology to convert the multi-rate sample control problem to the single-rate one in the uniform *** propose a Q-Learning based approach to learn the optimal regulator by a value iteration(Ⅵ) ***,a class of continuous-time(CT) linear system with multi-timescale is ***,the convergence of a Q-Learning based algorithm is *** is proven that the iterative cost function precisely converges to the optimal value,and the control input also converges to the optimal ***,HIL system for grinding process is given to illustrate the effective performance of the proposed method.
This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical *** major c...
详细信息
This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical *** major contribution of this paper can be divided into three parts:the first is the construction of a cyber-physical system framework based on centroidal Voronoi tessellations(CVTs),the second is the convergence analysis of the actuators location,and the last is a novel proportional integral(PI)control method for actuator motion planning and neutralizing control(e.g.,spraying)of a diffusion process with a moving or static pollution source,which is more effective than a proportional(P)control *** optimal spraying control cost function is ***,the minimization problem of the spraying amount is ***,a new CVT algorithm based on the novel PI control method,henceforth called PI-CVT algorithm,is introduced together with the convergence analysis of the actuators location via a PI control ***,a modified simulation platform called diffusion-mobile-actuators-sensors-2-dimension-proportional integral derivative(Diff-MAS2D-PID)is *** addition,a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.
Recently, a novel learning algorithm called the broad learning system (BLS) has been established by using the theory of pseudoinverse and compressed sensing technology. As an alternative to deep learning, BLS has gain...
详细信息
Recently, a novel learning algorithm called the broad learning system (BLS) has been established by using the theory of pseudoinverse and compressed sensing technology. As an alternative to deep learning, BLS has gained extensive attention in data analytics. Unlike the existing deep structures based learning tools (such as deep neural networks), it is able to rapidly achieve incremental learning, and does not require tedious retraining to remodel the system. However, given image data modeling tasks, 1-D BLS requires a conventional vectorization operation, the dimension of input will be quite large for high resolution image. This operation may result in huge computational complexity, thereby increasing the time of model construction. To resolve this issue, a 2-D version of BLS, namely 2-D-BLS, is first proposed to fast construct randomized learner models by using matrix inputs. Specifically, the proposed method employs left and right projecting vectors to replace the usual high dimensional input weight. Moreover, the theoretical analyses on the superiority of 2-D-BLS against BLS are presented in terms of the algorithm complexity and the difference of random parameter space. Empirical results on MNIST dataset, NORB 3-D object image recognition dataset, ORL dataset, YaleB dataset, and handwritten digit dataset demonstrate that the proposed 2-D-BLS outperforms the existing extensions of BLS and state-of-the-art 2-D machine learning methods in terms of the learning efficiency, showing good potential of 2-D-BLS for image data analytics. Impact Statement-as a novel learning tool, BLS has achieved great success in many fields. Image recognition is one of the most widely used fields of artificial intelligence. But, BLS is a 1-D model, the vectorization operation is necessary to convert matrix input data into a row or a column vector. This operation will lead to "explosion of dimensionality" and increase the time of model construction when it is coming to image data analytic
暂无评论