检索结果-内蒙古大学图书馆

2nd International Conference on Industrial Artificial Intelligence, IAI 2020

作者： Peng, Mai Li, Changhe Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182162

The multi-population method is a common method for solving dynamic optimization problems. However, to design an efficient multi-population method, one of the challenging issues is how to allocate computational resources between populations given a limited computing buget in dynamic environments. This paper designs a contribution-based resource allocation mechanism. In this mechanism, a contribution degree of a population is defined according to the performance of the population, which determines the probability of the population to obtain the computing resource. This mechanism is implemented in an adaptive multi-population method. Experimental results on the moving peaks benchmark show that the algorithm equipped with the resource allocation mechanism outperforms the original algorithms. © 2020 IEEE.

关键词： Resource allocation

来源：评论

学校读者我要写书评

暂无评论

Decentralized Adaptive Filtering for Multi-agent systems with Uncertain Couplings

引用

IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 101-112页

作者： Hongbin Ma Yini Lv Chenguang Yang Mengyin Fu the School of Automation Beijing Institute of Technology the Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the School of Computing and Mathematics Plymouth University

In this paper, the problem of decentralized adaptive filtering for multi-agent systems with uncertain couplings is formulated and investigated. This problem is challenging due to the mutual dependency of state estimation and coupling estimation. First, the problem is divided into four typical types based on the origin of coupling relations and linearity of the agent dynamics. Then models of the four types are given and the corresponding decentralized adaptive filtering algorithms are designed for the purpose of estimation of the unknown states and couplings which denotes the relations between agents and their neighbor agents in terms of states or outputs simultaneously,with preliminary stability analysis and discussions. For testing the effects of algorithm, with the so-called certainty-equivalence principle, control signals are designed based on the results of state estimation and coupling estimation got by the proposed decentralized adaptive filtering algorithms. Extensive simulations are conducted to verify the effectiveness of considered algorithms..

关键词： Couplings Covariance matrices Multi-agent systems Adaptation models Kalman filters Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Large-scale 3D Semantic Mapping Using Stereo Vision

引用

International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping （SLAM）.

来源：评论

学校读者我要写书评

暂无评论

Social Media Based Transportation Research: the State of the Work and the Networking

引用

IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 19-26页

作者： Yisheng Lv Yuanyuan Chen Xiqiao Zhang Yanjie Duan Naiqiang Li State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Department of Transportation Engineering School of Transportation Science and Technology Harbin Institute of Technology

Recently, there has been an increased interest in the use of social media data as important traffic information sources. In this paper, we review social media based transportation research with social network analysis *** summarize main research topics in this field, and report collaboration patterns at levels of researchers, institutions, and countries, respectively. Finally, some future research directions are identified. © 2014 Chinese Association of Automation.

关键词： Traffic control Transportation

来源：评论

学校读者我要写书评

暂无评论

Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise

引用

Science China(Information Sciences) 2024年第12期67卷 191-207页

作者： Ruru JIA Xiaofeng ZONG Qing WANG College of Artificial Intelligence Nankai University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation Science and Electrical Engineering Beihang University

This work discusses the time-varying formation(TVF) tracking control problem of high-order multi-agent systems(MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation(SDE); sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol ***, the theoretical results are illustrated in terms of simulation examples.

关键词： multi-agent systems multiple leaders multiplicative measurement noise stochastic differential equation formation tracking control

来源：评论

学校读者我要写书评

暂无评论

A modular four-modal soft grasping device

引用

Science China(Technological Sciences) 2022年第8期65卷 1845-1858页

作者： GAI LingJie ZONG XiaoFeng School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.

关键词： four-modal soft grasping device modular suction cups soft wrapper soft fingers

来源：评论

学校读者我要写书评

暂无评论

Global visual features based on random process: Application to visual servoing

Global visual features based on random process: Application ...

引用

9th International Conference on Informatics in control, Automation and Robotics, ICINCO 2012

作者： Hammouda, Laroussi Kaaniche, Khaled Mekki, Hassen Chtourou, Mohamed Intelligent Control Design and Optimization of Complex Systems University of Sfax Sfax Tunisia National School of Engineering of Sousse University of Sousse Sousse Tunisia

ISBN: (纸本)9789898565211

This paper presents new global visual features: random distribution of limited set of pixels luminance. Our approach aims to improve the real-time performance of visual servoing applications. In fact, using these new features, we reduce the computation time of the visual servoing scheme. Our method is based on a random process which ensures efficient and fast convergence of the robot. The use of our new features removes the matching and tracking process. Experimental results are presented to validate our approach.

关键词： Random processes

来源：评论

学校读者我要写书评

暂无评论

A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

引用

Journal of Bionic Engineering 2022年第5期19卷 1334-1348页

作者： Lingjie Gai Xiaofeng Zong School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending *** device consists of soft gripper structures and a soft bionic bracket *** adopt the local thin-walled design in the soft gripper *** design improves the grippers’bending efficiency,and imitate human finger’s segmental bending *** addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing *** to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping ***,to grasp small objects reliably,we further present a new Pinching Grasping(PG)*** great performance of the fully SBGD is verified by *** work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

关键词： Fully soft bionic grasping device Local thin-walled grippers Soft bionic bracket Adjust grasping range automatically Segmental bending shape New pinching grasping method

来源：评论

学校读者我要写书评

暂无评论

Leader-Following Consensus of Multi-Agent systems with Dynamic Leader and Measurement Noises 36

Leader-Following Consensus of Multi-Agent Systems with Dynam...

引用

第36届中国控制会议

作者： Yunpeng Wang Yunchun Xie Long Cheng Beijing Institute of Control Engineering Science and Technology on Space Intelligent Control Laboratory State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper studies a leader-following consensus problem of multi-agent systems with a dynamic *** is assumed that the leader moves along a polynomial trajectory with respect to time,while followers have first-order integral *** follower is equipped with the positioning system and ranger finder sensor to measure its own position and the relative positions with its *** measured information is corrupted by measurement *** first study a specials case of leader-following consensus problem（tracking problem）,then we extend the results to the general *** is assumed that leader’s velocity is unknown to all *** deal with this challenge,the least square is used to estimate leader’s *** on the estimated velocity and measured information,a consensus protocol is *** is proved that the proposed protocol can solve the mean square leader-following consensus problem under some mild *** simulation examples are also presented to demonstrate the effectiveness of the proposed protocol.

关键词： Leader-Following Consensus Mutli-Agent systems Dynamic Leader Measurement Noise Least Square Method

来源：评论

学校读者我要写书评

暂无评论

Non-fragile Joint State and Fault Estimation for complex Networks with Missing Measurements and Switching Topology 41

Non-fragile Joint State and Fault Estimation for Complex Net...

引用

第41届中国控制会议

作者： Pingping Gao Jun Hu Chaoqing Jia Zhihui Wu Department of Mathematics Harbin University of Science and Technology School of Automation Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a non-fragile joint state and fault estimation problem is investigated for time-varying complex networks with switching topology and randomly occurring nonlinearities under the missing *** phenomena of the switching topology,randomly occurring nonlinearities and missing measurements are described by three mutually independent Bernoulli random variables,where the uncertain occurrence probabilities are *** addition,the parameter perturbations of the estimator gain matrix are characterized by a set of zero-mean multiplicative noises.A novel time-varying estimation method is designed and an upper bound of estimation error covariance matrix is obtained by solving two recursive matrix ***,the desired estimator gain matrix is parameterized by minimizing the trace of the obtained upper ***,a sufficient condition is given to ensure the boundedness of the upper bound matrix by using the mathematical induction ***,a simulation study is given to verify the feasibility of the proposed estimation scheme.

关键词： Time-varying complex networks switching topology randomly occurring nonlinearities missing measurements uncertain occurrence probabilities joint estimation

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：