检索结果-内蒙古大学图书馆

Data-Driven Learning and Control with Event-Triggered Measurements

IEEE Transactions on Automatic Control 2025年

作者： Feng, Shilun Shi, Dawei Chen, Tongwen Shi, Ling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Kowloon Hong Kong

Event-triggered control has attracted considerable attention for its effectiveness in resource-restricted applications. To make event-triggered control as an end-to-end solution, a key issue is how to effectively learn unknown system dynamics from event-triggered measurements and consequently, develop a learning-based event-triggered controller. Existing works learn system dynamics based on periodic time-triggered measurements, and it is yet to know how to learn a controller with performance guarantee based on event-triggered measurements. To address this issue, we consider the problem of learning an event-triggered state feedback controller for an unknown linear system based on event-triggered state measurements in this work. In particular, we first analyze the event-triggered measurements within a set-membership framework. We prove that the estimation error belongs to a bounded ellipsoid determined by the historical measurements and the event-triggering condition. Subsequently, we demonstrate that all admissible systems compatible with the collected data samples can be explicitly represented in the form of quadratic matrix inequalities using the state estimates. With the acquired set of admissible systems, a co-design problem for the data-driven controller and event-triggering condition is solved using the linear matrix inequality technique, with guaranteed closed-loop stability and L2-gain performance. Finally, numerical examples and comparisons are provided to illustrate the effectiveness of the proposed event-triggered learning and control approach. © 1963-2012 IEEE.

关键词： Networked control systems

来源：评论

学校读者我要写书评

暂无评论

S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

引用

IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

Motion compensation and object detection for neuromorphic camera

Motion compensation and object detection for neuromorphic ca...

引用

2021 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2021

作者： Wan, Yuxin Fei, Rong Tang, Yu Bai, Xueru Xie, Guo Li, Aimin Xi'An University of Technology School of Computer Science and Engineering Xi'an China Xi'An University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology School of Computer Science and Engineering Xi'an China Xidian University Guangzhou Institute Guangzhou China Xi'An University of Technology School of Computer Science and Engineering Xi'an China Xi'An University of Technology School of Automation and Information Engineering Xi'an China

ISBN: (纸本)9781665401265

Compared to conventional cameras, the new type of vision camera-neuromorphic cameras, which can avoid motion blur and have the advantages of high spatiotemporal resolution, high dynamic range, low latency, etc. In this paper, two motion compensation methods are introduced for operating event flow based on differential neuromorphic camera, one is motion compensation based on event counting image and time image, another is motion compensation based on image of warped events. Comprehensive experimental study is carried on two datasets, the motion compensation method based on event counting image and time image is better at generating clear motion compensation images, highlighting moving objects inconsistent with the background motion, while the motion compensation method based on image of warped events tends to generate motion compensated images of moving objects with more prominent or clearer edges. Simultaneously, two motion compensation methods are further applied to realize the object detection method based on threshold or maximum contrast. The former method can be adapted in many cases, while the latter method can well detect the translational moving target. © 2021 IEEE.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

High Performance Distributed Control Law for Large-Scale Linear Systems: A Partitioned Distributed Observer Approach

arXiv

引用

arXiv 2024年

作者： Xu, Haotian Liu, Shuai Shi, Ling Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to reconstruct the state information of the whole system, which is unrealistic for large-scale scenarios. To fill this gap, this paper develops a greedy-idea-based large-scale system partition algorithm, which can significantly reduce the dimension of local observers. Then, the partitioned distributed observer for large-scale systems is proposed to overcome the problem that the system dynamics are difficult to estimate due to the coupling between partitions. Furthermore, the two-layer Lyapunov analysis method is adopted and the dynamic transformation lemma of compact errors is proved, which solves the problem of analyzing stability of the error dynamic of the partitioned distributed observer. Finally, it is proved that the distributed control law based on the partitioned distributed observer can also arbitrarily approximate the control performance of the centralized control law, and the dimension of the local observer is greatly reduced compared with the traditional method. The simulation results show that when the similarity between the physical network and the communication network is about 80%, the local observer dimension is greatly reduced by 90% and the relative error between the performance of the distributed control law and that of the centralized control law is less than 1%. © 2024, CC BY.

关键词： Continuous time systems

来源：评论

学校读者我要写书评

暂无评论

HyperDiff: Masked Diffusion Model with High-efficient Transformer for Hyperspectral Image Cross-Scene Classification

HyperDiff: Masked Diffusion Model with High-efficient Transf...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Pei Zhang Dong Wang Chanyue Wu Jing Yang Lei Kang Zongwen Bai Ying Li Qiang Shen School of Computer Science Northwestern Polytechnical University Xi’an China Shaanxi Key Laboratory of Intelligent Processing for Big Energy Data Yan’an University Yan’an China School of Automation and Software Engineering Shanxi University Taiyuan China Qingdao Topscomm Communication Co. Ltd Qingdao China Department of Computer Science Aberystwyth University UK

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Hyperspectral Image (HSI) cross-scene classification is a challenging task in remote sensing, particularly when real-time processing of Target Domain (TD) HSI is required, and data cannot be reused for training. While deep learning methods have shown promising results, the generalization ability of HSI representations remains limited, mainly due to class label imbalance. This paper introduces a dual-stage learning framework based on transfer learning to enhance classification accuracy in the TD. The framework includes a self-supervised learning stage and a supervised fine-tuning stage. The self-supervised stage focuses on learning robust representations by leveraging inherent structures within HSI data, while the fine-tuning stage uses training labels to extract semantic information. A masked diffusion model predicts masked tokens from unmasked ones, capturing both high-level structures and fine details in HSI data. An efficient spatiospectral Transformer, which removes self-attention from the decoder, is proposed to enhance the self-supervised process. This design allows mask tokens to obtain information from visible tokens without interacting with each other, reducing sequence length and computational costs. By decoding each mask token conditionally independently, only a subset of masked tokens is processed. Extensive experiments on two public HSI datasets demonstrate that the proposed method outperforms state-of-the-art techniques.

关键词： Training Transfer learning Self-supervised learning Transformers Diffusion models Real-time systems Decoding Computational efficiency Speech processing Hyperspectral imaging

来源：评论

学校读者我要写书评

暂无评论

Intensity Field Decomposition for Tissue-Guided Neural Tomography

arXiv

引用

arXiv 2024年

作者： Li, Meng-Xun Yu, Jin-Gang Gao, Yuan Huang, Cui Xia, Gui-Song School of Stomatology and School of Computer Science Wuhan University Wuhan430072 China Electronic Information School School of Computer Science Wuhan University Wuhan430072 China School of Computer Science Wuhan University Wuhan430072 China School of Automation Science and Engineering South China University of Technology Guangzhou510641 China Pazhou Laboratory Guangzhou510335 China School of Stomatology Wuhan University Wuhan430072 China

Cone-beam computed tomography (CBCT) typically requires hundreds of X-ray projections, which raises concerns about radiation exposure. While sparse-view reconstruction reduces the exposure by using fewer projections, it struggles to achieve satisfactory image quality. To address this challenge, this article introduces a novel sparse-view CBCT reconstruction method, which empowers the neural field with human tissue regularization. Our approach, termed tissue-guided neural tomography (TNT), is motivated by the distinct intensity differences between bone and soft tissue in CBCT. Intuitively, separating these components may aid the learning process of the neural field. More precisely, TNT comprises a heterogeneous quadruple network and the corresponding training strategy. The network represents the intensity field as a combination of soft and hard tissue components, along with their respective textures. We train the network with guidance from estimated tissue projections, enabling efficient learning of the desired patterns for the network heads. Extensive experiments demonstrate the proposed method significantly improves the sparse-view CBCT reconstruction with a limited number of projections ranging from 10 to 60. Our method achieves comparable reconstruction quality with fewer projections and faster convergence compared to state-of-the-art neural rendering based methods. © 2024, CC BY.

关键词： Tissue

来源：评论

学校读者我要写书评

暂无评论

LRDB: LSTM Raw data DNA Base-caller based on long-short term models in an active learning environment

arXiv

引用

arXiv 2023年

作者： Rezaei, Ahmad Taheri, Mahdi Mahani, Ali Magierowski, Sebastian Department of Computer Science and Automation Technische Universität Ilmenau Ilmenau Germany Tallinn University of Technology Tallinn Estonia Reliable & Smart Systems Laboratory Shahid Bahonar University Kerman Iran Department of Electrical Engineering and Computer Science York University Toronto Canada

The first important step in extracting DNA characters is using the output data of MinION devices in the form of electrical current signals. Various cutting-edge base callers use this data to detect the DNA characters based on the input. In this paper, we discuss several shortcomings of prior base callers in the case of time-critical applications, privacy-aware design, and the problem of catastrophic forgetting. Next, we propose the LRDB model, a lightweight open-source model for private developments with a better read-identity (0.35% increase) for the target bacterial samples in the paper. We have limited the extent of training data and benefited from the transfer learning algorithm to make the active usage of the LRDB viable in critical applications. Henceforth, less training time for adapting to new DNA samples (in our case, Bacterial samples) is needed. Furthermore, LRDB can be modified concerning the user constraints as the results show a negligible accuracy loss in case of using fewer parameters. We have also assessed the noise-tolerance property, which offers about a 1.439% decline in accuracy for a 15dB noise injection, and the performance metrics show that the model executes in a medium speed range compared with current cutting-edge models. © 2023, CC BY-NC-ND.

关键词： DNA

来源：评论

学校读者我要写书评

暂无评论

Adaptive Vector Field Histogram Plus method for local path planning under human—robot collaboration

Adaptive Vector Field Histogram Plus method for local path p...

引用

Youth Academic Annual Conference of Chinese Association of automation (YAC)

作者： Chuxi Fang Shiliang Shao Ting Wang Xianzhe Zhao Fengkui Cao Hai Zhao School of Computer Science And Engineering Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

As an expanding field that caters to the needs of the elderly and people with disabilities, intelligent wheelchairs aim to enhance the efficiency and safety of individuals with disabilities. Path planning, a pivotal technology under intelligent wheelchair systems, has emerged as a focal point of scholarly exploration. This paper proposes advancements in the vector field histogram plus (VFH+) algorithm, thereby introducing the adaptive VFH+ algorithm (AVFH+). Notably, this paper redefines the calculation of obstacle density and introduces the concept of custom target point density. By dynamically modulating the threshold, we effectively resolve the problems of oscillatory paths during obstacle avoidance, thus averting the predicament of the robot. In addition, the robot's speed is adaptively adjusted based on the opening width, and the trajectory is smoothed using Bezier path planning, enabling the robot to reach the target position through a shorter collision-free and smooth path. The improved AVFH+ algorithm demonstrates excellent path planning capability through multiple simulation experiments in various map environments with different starting points and target locations. The algorithm has the ability to adapt to complex environments, accurately perceive and avoid obstacles, and exhibits significant generalization capabilities. This makes it significant in dense area path planning, providing safer and more efficient mobility solutions in areas such as smart wheelchairs, and actively contributing to the quality of life of people with disabilities. Future research could explore the consideration of dynamic obstacles and validate the performance of the algorithm in real-world environments.

关键词： Histograms Heuristic algorithms Wheelchairs People with disabilities Vectors Trajectory Safety

来源：评论

学校读者我要写书评

暂无评论

A Unified Alternating Optimization Framework for Joint Sensor and Actuator Configuration in LQG Systems

arXiv

引用

arXiv 2025年

作者： Yang, Nachuan Li, Yuzhe Shi, Ling Chen, Tongwen Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 China Department of Electronic and Computer Engineering Department of Chemical and Biological Engineering Hong Kong University of Science and Technology Clear Water Bay Hong Kong

This paper fills a gap in the literature by considering a joint sensor and actuator configuration problem under the linear quadratic Gaussian (LQG) performance without assuming a predefined set of candidate components. Different from the existing research, which primarily focuses on selecting or placing sensors and actuators from a fixed group, we consider a more flexible formulation where these components must be designed from scratch, subject to general-form configuration costs and constraints. To address this challenge, we first analytically characterize the gradients of the LQG performance with respect to the sensor and actuator matrices using algebraic Riccati equations. Subsequently, we derive first-order optimality conditions based on the Karush–Kuhn–Tucker (KKT) analysis and develop a unified alternating direction method of multipliers (ADMM)based alternating optimization framework to address the general-form sensor and actuator configuration problem. Furthermore, we investigate three representative scenarios: sparsity promoting configuration, low-rank promoting configuration, and structure-constrained configuration. For each scenario, we provide in-depth analysis and develop tailored computational schemes. The proposed framework ensures numerical efficiency and adaptability to various design constraints and configuration costs, making it well-suited for integration into numerical solvers. Copyright © 2025, The Authors. All rights reserved.

关键词： Matrix algebra

来源：评论

学校读者我要写书评

暂无评论

Gesture Control Method for Oral Blood Mixed Liquid Removal Robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

引用

5th World Robot Conference Symposium on Advanced Robotics and automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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：