检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhuqing Zhang Dongxuan Li Jiayao Ma Yijia He Pan Ji Rong Xiong Hongdong Li Yue Wang State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Tencent Holdings Tencent XR Vision Labs Shenzhen China College of Engineering and Computer Science Australian National University Canberra

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Ensuring robust tracking of controllers’ movement is critical for human-robot interaction in virtual reality (VR) scenarios. This paper proposes a robust tracking algorithm based on a novel wearable ring-shaped controller equipped with an inertial measurement unit (IMU) and a light-emitting diode (LED). This novel controller design allows users to free up their hands for more immersive experiences. To track the controller’s motion accurately and robustly, we resort to various forms of visual measurements, including 6 DoF and 5 DoF pose measurements from hand gesture detection, as well as 3 DoF position measurement and 2 DoF image measurement derived from the LED. We theoretically analyze the performances of these observation models and propose an optimal observation model combination scheme. Moreover, the necessity and rationale of online estimating system gravity are illustrated. The effectiveness of our tracking method is validated through extensive experiments.

关键词： Solid modeling Analytical models Visualization Measurement units Tracking Virtual reality Inertial navigation

来源：评论

学校读者我要写书评

暂无评论

Improving Motor Imagery Classification in BCI systems Using EMD and Multi-Layer CNNs

Improving Motor Imagery Classification in BCI Systems Using ...

引用

International eConference on computer and Knowledge Engineering (ICCKE)

作者： Reza Arghand Ali Chaibakhsh Moein Radman Intelligent Systems and Advanced Control Lab Faculty of Mechanical Engineering University of Guilan Rasht Guilan Iran Brain-Computer Interfacing and Neural Engineering Laboratory University of Essex School of Computer Science and Electronic Engineering Colchester United Kingdom

ISBN: (数字)9798331511272

ISBN: (纸本)9798331511289

Brain-computer Interface (BCI) systems are relatively new technologies that could play a significant role in aiding the recovery of impaired activities resulting from neuromuscular disabilities in affected individuals. Accurate recognition and classification of motor imagery in BCI systems present a challenge, leading to extensive research in recent years aimed at improving the accuracy of these systems. In this study, a combination of the Empirical Mode Decomposition (EMD) method and a multi-layer Convolutional Neural Network (CNN) is employed. Initially, the signal is decomposed into Intrinsic Mode Functions (IMFs) using EMD, and all IMFs across all trials are analyzed to select the best ones, which are then fed into the CNN as inputs. Additionally, the study incorporates the fusion of three CNN networks, each corresponding to a different IMF. The features extracted from these networks are combined and used to train an SVM classifier. The proposed method achieved an accuracy of 86.1% on the BCI-2a 2008 dataset, outperforming other state-of-the-art approaches.

关键词： Support vector machines Knowledge engineering Accuracy Image recognition Empirical mode decomposition Neuromuscular Motors Feature extraction Brain-computer interfaces Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments

arXiv

引用

arXiv 2024年

作者： Luo, Yiming Zhuang, Zixuan Pan, Neng Feng, Chen Shen, Shaojie Gao, Fei Cheng, Hui Zhou, Boyu Sun Yat-Sen University China State Key Laboratory of Industrail Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

This paper tackles the challenge of autonomous target search using unmanned aerial vehicles (UAVs) in complex unknown environments. To fill the gap in systematic approaches for this task, we introduce Star-Searcher, an aerial system featuring specialized sensor suites, mapping, and planning modules to optimize searching. Path planning challenges due to increased inspection requirements are addressed through a hierarchical planner with a visibility-based viewpoint clustering method. This simplifies planning by breaking it into global and local sub-problems, ensuring efficient global and local path coverage in real-time. Furthermore, our global path planning employs a history-aware mechanism to reduce motion inconsistency from frequent map changes, significantly enhancing search efficiency. We conduct comparisons with state-of-the-art methods in both simulation and the real world, demonstrating shorter flight paths, reduced time, and higher target search completeness. Our approach will be open-sourced for community benefit. Copyright © 2024, The Authors. All rights reserved.

关键词： Stars

来源：评论

学校读者我要写书评

暂无评论

Learning Reduced-Order Linear Parameter-Varying Models of Nonlinear systems

arXiv

引用

arXiv 2023年

作者： Koelewijn, Patrick J.W. Singh, Rajiv Seiler, Peter Tóth, Roland Sioux Technologies B.V. Eindhoven Netherlands Control Systems Group Eindhoven University of Technology Eindhoven Netherlands The MathWorks Inc. Natick United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest Hungary

In this paper, we consider the learning of a Reduced-Order Linear Parameter-Varying Model (ROLPVM) of a nonlinear dynamical system based on data. This is achieved by a two-step procedure. In the first step, we learn a projection to a lower dimensional state-space. In step two, an LPV model is learned on the reduced-order state-space using a novel, efficient parameterization in terms of neural networks. The improved modeling accuracy of the method compared to an existing method is demonstrated by simulation examples. Copyright © 2023, The Authors. All rights reserved.

关键词： Nonlinear dynamical systems

来源：评论

学校读者我要写书评

暂无评论

Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

来源：评论

学校读者我要写书评

暂无评论

Wirelessly Actuated Rotation-free Magnetic Motor

Wirelessly Actuated Rotation-free Magnetic Motor

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Umur Ulas Harman Ahmed Hafez Cameron Duffield Zihan Zhao Luke Dixon Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in Silico Medicine

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper addresses the challenge of actuating millimetre-sized motors, which are wirelessly driven by external magnetic fields. Traditional approaches, relying on rotating magnetic fields, often inadvertently cause the entire robot – especially if it is small and lightweight – to rotate, instead of a specified shaft in the motor. To overcome this issue, our study introduces a novel mechanism that leverages symmetrically configured magnetic motors to cancel out the torques, thus preventing unwanted rotation of the robot. This is achieved by utilizing a magnetic field along a single axis to induce rotational movement. The design features two millimetre-sized rotating magnets that interact to achieve a 90 ◦ rotation, complemented by an external magnetic field that accomplishes the remaining 270 ◦ , thus completing a full rotation. Furthermore, we demonstrate that applying a perpendicularly oriented magnetic field can inversely affect the motor’s rotation direction. A proof-of-concept experiment employing this mechanism successfully actuated a gripper in a water tank while it is free-floating, showcasing its potential for enhancing robotic applications at the sub-centimeter scale, where the small net torque of a miniature motor is essential.

关键词： Water Shafts Torque Gears Net zero Storage management Motors Permanent magnets Magnetic fields Grippers

来源：评论

学校读者我要写书评

暂无评论

On discretization of continuous-time LPV control solutions

arXiv

引用

arXiv 2022年

作者： Broens, Yorick Butler, Hans Tóth, Roland Control Systems Group Eindhoven University of Technology Eindhoven5600 MB Netherlands ASML Veldhoven5504 DR Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In recent years, the Linear Parameter-Varying (LPV) framework has become increasingly useful for analysis and control of time-varying systems. Generally, LPV control synthesis is performed in the continuous-time (CT) domain due to significantly less complex stability and performance requirements, see [1]. The main complication of CT synthesis approaches is implementation of the CT LPV control solutions on physical hardware. In literature, several discretization methods have been explored for LPV systems, see [2]. However, these approaches necessitate for heavy nonlinear operations introduced by the discretization of these time-varying matrices, thereby severely limiting implementation capabilities of the CT LPV control solutions. Alternatively, the w0 discretization approach illustrates to be a promising research direction for LPV systems, since it allows for preservation of the CT system matrices in the LTI case, see [3]. Moreover, this manuscript aims at extending the w0 discretization approach towards LPV systems, such that implementation of CT LPV control solutions on physical hardware is *** Codes 37M15 © 2022, 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

Application of Genetic Algorithm for Calibration of an X-band Vector-sum Phase Shifter with Integrated Auxiliary DAC

Application of Genetic Algorithm for Calibration of an X-ban...

引用

Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Evgeniy A. Fedorov Feodor I. Sheyerman Alexey V. Pomazanov Andrey A. Kokolov Dmitriy E. Minenko Leonid I. Babak Laboratory of Intelligent Computer System (LICS) Tomsk State University of Control Systems and Radioelectronics Tomsk Russia

ISBN: (数字)9781665498043

ISBN: (纸本)9781665498050

This paper presents a genetic algorithm for the discrete optimization problem, namely, the selection of optimal states of the auxiliary DACs of the X-band vector-sum phase shifter. The auxiliary DAC allows to fine-tune the VGA module and change accordingly the phase and amplitude of a signal in a small range. Genetic algorithms are able to select the optimal configuration of the auxiliary DAC of the vector-sum phase shifter in a few minutes (800-1000 iterations) in order to reduce RMS phase and amplitude errors at a defined frequency. In addition, this configuration of the vector-sum phase-shifter and optimization algorithm allows to achieve significant improvements in the characteristics in a narrow frequency band, and in this manner, it is possible to compensate for process variations. Vector-sum phase shifter manufactured using 0.25 m SiGe BiCMOS technology. The chip size is 1.51x1.05 mm 2 Minimum RMS phase and amplitude error values for 10 GHz center frequency were from 0.61 degrees and 0.26 dB respectively.

关键词： Heuristic algorithms Phase shifters Optimization methods BiCMOS integrated circuits Calibration Electron devices Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Effect of Ignition Voltage Amplitude on Breakdown Delay Time of Ring Laser Discharge Gap 7

Effect of Ignition Voltage Amplitude on Breakdown Delay Time...

引用

7th International Youth Conference on Radio Electronics, Electrical and Power Engineering, REEPE 2025

作者： Sinelnikov, Anton O. Smetanin, Ilya A. Basov, Bogdan A. Smetanin, Egor A. Bykanova, Uliana F. Computer Science and Control Systems Department Bauman Moscow State Technical University Moscow Russian Federation Laboratory of Technologies of Polymer Ferroelectrics Laboratory of Microelectronics and Nanotechnology Bauman Moscow State Technical University Moscow Russian Federation Mechanical Engineering Technologies Department Bauman Moscow State Technical University Moscow Russian Federation Department of Nanotechnology and Microsystems Engineering Rudn University Moscow Russian Federation Department of Mechanics and Control Processes Rudn University Moscow Russian Federation

ISBN: (纸本)9798331531836

The modern space industry requires autonomous and high-precision control systems for scientific and commercial missions. Strapdown inertial navigation systems based on laser gyroscopes play a key role in spacecraft control, especially in environments where satellite navigation is unavailable. In this paper, ring lasers with an active medium made of a helium-neon mixture, their design and operating modes are investigated. The influence of voltage on the ignition electrodes (4.2-5 kV) on the breakdown time of the active medium has been analyzed. It was found that increasing the voltage reduces the breakdown time, providing reliable activation of gyroscopes. The experimental results allowed to determine the optimal ignition parameters that increase operation reliability and reduce production losses. This contributes to the development of highly efficient spacecraft control systems, opening up new prospects for deep space exploration and control of satellite systems. © 2025 IEEE.

关键词： ignition optimization inertial navigation systems laser gyroscopes ring laser spacecraft

来源：评论

学校读者我要写书评

暂无评论

FISS GAN:A Generative Adversarial Network for Foggy Image Semantic Segmentation

引用

IEEE/CAA Journal of Automatica Sinica 2021年第8期8卷 1428-1439页

作者： Kunhua Liu Zihao Ye Hongyan Guo Dongpu Cao Long Chen Fei-Yue Wang School of Computer Science and Engineering Sun Yat-sen UniversityGuangzhou 510006China State Key Laboratory of Automotive Simulation and Control and the Department of Control Science and Engineering Jilin University(Campus Nanling)Changchun 130025China Mechanical and Mechatronics Engineering Department at the University of Waterloo 200 University Avenue West WaterlooON N2L 3G1Canada State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

Because pixel values of foggy images are irregularly higher than those of images captured in normal weather(clear images),it is difficult to extract and express their *** method has previously been developed to directly explore the relationship between foggy images and semantic segmentation *** investigated this relationship and propose a generative adversarial network(GAN)for foggy image semantic segmentation(FISS GAN),which contains two parts:an edge GAN and a semantic segmentation *** edge GAN is designed to generate edge information from foggy images to provide auxiliary information to the semantic segmentation *** semantic segmentation GAN is designed to extract and express the texture of foggy images and generate semantic segmentation *** on foggy cityscapes datasets and foggy driving datasets indicated that FISS GAN achieved state-of-the-art performance.

关键词： Edge GAN foggy images foggy image semantic segmentation GAN semantic segmentation

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：