检索结果-内蒙古大学图书馆

A New Recursive Composite Adaptive controller for Robot Manipulators

Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

来源：评论

学校读者我要写书评

暂无评论

Unsupervised Anomaly Detection Approach Based on Adversarial Memory Autoencoders for Multivariate Time Series

引用

Computers, Materials & Continua 2023年第7期76卷 329-346页

作者： Tianzi Zhao Liang Jin Xiaofeng Zhou Shuai Li Shurui Liu Jiang Zhu Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110000China Shenyang Institute of Automation Chinese Academy of SciencesShenyang110000China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110000China University of Chinese Academy of Sciences Beijing100000China

The widespread usage of Cyber Physical Systems(CPSs)generates a vast volume of time series data,and precisely determining anomalies in the data is critical for practical *** is the mainstream method for time series anomaly detection,and the anomaly is judged by reconstruction ***,due to the strong generalization ability of neural networks,some abnormal samples close to normal samples may be judged as normal,which fails to detect the *** addition,the dataset rarely provides sufficient anomaly *** research proposes an unsupervised anomaly detection approach based on adversarial memory autoencoders for multivariate time series to solve the above ***,an encoder encodes the input data into low-dimensional space to acquire a feature ***,a memory module is used to learn the feature vector’s prototype patterns and update the feature *** updating process allows partial forgetting of information to prevent model *** that,two decoders reconstruct the input ***,this research uses the Peak Over Threshold(POT)method to calculate the threshold to determine anomalous samples from normal *** research uses a two-stage adversarial training strategy during model training to enlarge the gap between the reconstruction error of normal and abnormal *** proposed method achieves significant anomaly detection results on synthetic and real datasets from power systems,water treatment plants,and computer *** F1 score reached an average of 0.9196 on the five datasets,which is 0.0769 higher than the best baseline method.

关键词： Anomaly detection autoencoder memory module adversarial training

来源：评论

学校读者我要写书评

暂无评论

Multi-UAVs Cooperative Pollution Source Localization Based on Improved Particle Swarm Optimization Algorithm

Multi-UAVs Cooperative Pollution Source Localization Based o...

引用

2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Du, Meiyi Gao, Zhijun Yang, Liying Jiang, Han Huang, Zhaoxiong School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350316308

Accidents involving hazardous gas leakage from chemical plants occur frequently, highlighting the critical importance of accurately locating air pollution sources. Rapid localization of pollution sources through the collaborative efforts of multiple unmanned aerial vehicles (UAVs) can help prevent major disasters. To address this, this paper presents an air pollution source tracking algorithm based on an improved particle swarm optimization (IPSO) algorithm. By enhancing the inertia weight coefficient, the search efficiency and accuracy of the UAV swarm are significantly improved. The simulation environment considers a Gaussian plume model, which incorporates various atmospheric constraints such as temperature and wind speed, for UAV swarm navigation. The simulation results demonstrate that employing the particle swarm optimization algorithm to guide UAVs in locating pollution sources enables them to accurately identify the sources within a short period, exhibiting a high level of effectiveness and robustness. © 2023 IEEE.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

POWERLINK Communication Fault Detection Method Based on Data Frames Sequence Analysis

POWERLINK Communication Fault Detection Method Based on Data...

引用

2022 International Conference on Signal Processing and Communication Technology, SPCT 2022

作者： Wang, Jian Xie, Chuang Dong, Ce Key Laboratory of Networked Control System ShenYang China Shenyang institute of automation Chinese academy of sciences ShenYang China Institutes for Robotics and Intelligent Manufacturing ChineseAcademy of Sciences ShenYang China

ISBN: (纸本)9781510664333

Fault diagnosis, location and maintenance of industrial networks are extremely important components of network management, which can effectively improve network availability, shorten network failure time, help improve network performance, satisfy network service quality and ensure network security. This paper proposes a communication fault detection method based on the analysis of communication protocol message flow for POWERLINK, an industrial Ethernet protocol widely used in the field of industrial communication at present. By monitoring network status and building fault judgment logic, it can analyze the rationality of message sequence and protocol consistency in the message flow so as to effectively detect the dynamic upper layer protocol fault in the network and determine the location of the fault. In order to verify the effectiveness of this method, we designed a POWERLINK network communication fault diagnosis system, which can correctly identify and analyze the wrong data frame sequence in the data message flow and finally achieve the diagnosis and location of POWERLINK network communication fault. © 2023 SPIE.

关键词： Fault detection

来源：评论

学校读者我要写书评

暂无评论

Autonomous docking experiment in the sea for visual-servo type undewater vehicle using three-dimensional marker and dual-eyes cameras

Autonomous docking experiment in the sea for visual-servo ty...

引用

SICE Annual Conference

作者： Khin Nwe Lwin Kenta Yonemori Myo Myint Akira Yanou Mamoru Minami Department of Intelligent Robotics and Control Laboratory University of Okayama Okayama Japan

ISBN: (纸本)9781509009374

Nowadays, underwater docking application plays an important role in sea development. This paper studies visual-servo type docking system for underwater vehicle through real-time pose (position and orientation) tracking with stereo vision. Real-time estimation of vehicle's relative pose to 3D marker whose shape and color is predetermined and known is executed by 3D model-based matching utilizing Genetic Algorithms (GA). In this paper, unidirectional docking station is designed and effective docking strategy is proposed for recharging application of batteries. P controller is applied for visual servoing. Docking experiments were conducted in the sea at Wakayama prefecture, Japan. According to the experimental results, it can be confirmed that docking performance using proposed system is achieved successfully with millimetre level accuracy in recognition and visual servoing.

关键词： Cameras Three-dimensional displays Solid modeling Visual servoing Vehicles Real-time systems Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

An Improved Upper Bound on the Maximum Eigenvalue of Exponential Model Based Spatial Correlation Matrices in Massive MIMO Systems 19

An Improved Upper Bound on the Maximum Eigenvalue of Exponen...

引用

19th IEEE International Conference on Communication Technology, ICCT 2019

作者： Gong, Tierui Yang, Guang Mu, Ke Zhao, Chun Yang, Zhijia Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781728105352

Massive Multiple-Input, Multiple-Output (MIMO) communications are considered as one of the most promising directions for the next generation communications and have attracted extensive research interests. The using of exponential model is recognized as an effective manner to describe the spatial correlation matrix in a spatially correlated MIMO channel for its simple form and accurate fitting on the experimental measurements. Based on this useful exponential model, an improved upper bound on the maximum eigenvalue of the spatial correlation matrix is given in this paper. Complying with the existing results, the proposed upper bound is also a function of the number of antennas and the absolute value of correlation coefficient. However, the proposed upper bound is obtained using a trace-based derivation, which is tighter than existing results in high spatial correlation massive MIMO systems. Simulations show that the proposed upper bound is closer to the true maximum eigenvalues for both uniform linear array and uniform planar array scenarios, which is expected to be widely used in massive MIMO systems. © 2019 IEEE.

关键词： Eigenvalues and eigenfunctions

来源：评论

学校读者我要写书评

暂无评论

An analysis method of industrial data relationship based on business context 3

An analysis method of industrial data relationship based on ...

引用

3rd International Conference on Big Data, Artificial Intelligence and Internet of Things Engineering, ICBAIE 2022

作者： Liu, Yang Zhang, Tianshi Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China

ISBN: (数字)9781665451604

ISBN: (纸本)9781665451604

Industrial big data processing is an important support for improving industrial production efficiency. Because industrial big data involves complex business logic in production scenarios, there is a widespread problem that the relationship between data is difficult to understand. Therefore, this paper proposes a relational analysis method of industrial data based on business context. Firstly, a semantic data dictionary is established according to the production business process, and then a data object recognition model based on deep learning is trained;then a context-based automatic association method of industrial data relations is proposed;finally, the experimental verification is carried out on the actual production data, and the results show that The method in this paper is effective in improving the relationship analysis of industrial data. © 2022 IEEE.

关键词： Big data

来源：评论

学校读者我要写书评

暂无评论

Automated Suckering of Vines with a Mobile Robot and a Torque-controlled Suckering Tool 5

Automated Suckering of Vines with a Mobile Robot and a Torqu...

引用

5th IEEE International Conference on Smart Systems and Technologies, SST 2022

作者： Stuhne, Dario Vatavuk, Ivo Hrabar, Ivan Vasiljević, Goran Kovačić, Zdenko University of Zagreb Faculty of EE&C Zagreb Croatia University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (数字)9781665482158

ISBN: (纸本)9781665482158

The research presented in this paper focuses on the development of fully automated and autonomous vine suckering, a seasonal viticulture activity required to remove all unwanted shoots from the vine trunks. This requires human workers to do a lot of strenuous work, often using only their hands or tools such as clippers or shears. The suckering is done during the early growing season (usually April-May) to provide more energy, water, and nutrients to the main shoots. Commercially available suckering machines appear to be a large-scale solution. However, their performance varies between 10% and 85% and their purely mechanical nature can easily cause damage to the vines. In this paper, we present a concept for autonomous suckering using a mobile robot equipped with a special suckering tool driven by a torque-controlled DC motor that protects the vine from damage. The proposed suckering system was designed, analysed and experimentally validated in a real vineyard. The results showed that the system was able to remove about two thirds of the unwanted shoots, reaching a suckering rate of more than 86 vines per hour. © 2022 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

A unified angle control scheme for hypersonic vehicle based on disturbance rejection 21

A unified angle control scheme for hypersonic vehicle based ...

引用

21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Piao, Minnan Zhu, Kai Sun, Mingwei Chen, Zengqiang Dept. of Automation and Intelligent Science College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Hypersonic vehicles are characterized with strong nonlinearities, coupling effects and uncertainties as well as fast time-varying parameters, which impose great difficulty to the attitude control. This study proposes a unified scheme for all the Euler angles, angle of attack, and sideslip angle. First, three controllers based on active disturbance rejection control (ADRC) are designed for the Euler angles respectively, in which the external disturbances and the internal uncertainties can be estimated by the extended state observer (ESO) and compensated in real time actively. Then the geometric relations among the angles with different time scales are utilized to transform the commands of α and β into the commands of the pitch angle and the yaw angle. Next the stability-margin tester method is employed to tune the controller parameters, which guarantees the stability and robustness of the control system. 1000 nonlinear six-degree-of-freedom Monte Carlo simulation results demonstrate the good tracking performance and the robustness of the proposed control method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

来源：评论

学校读者我要写书评

暂无评论

A Relational Retrieval Model for Industrial Production Systems 2

A Relational Retrieval Model for Industrial Production Syste...

引用

2nd International Conference on Electrical Engineering and Mechatronics Technology, ICEEMT 2022

作者： Liu, Yang Zhang, Tianshi Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781665459280

ISBN: (纸本)9781665459280

Industrial big data analysis is an important approach to explore the essence of industrial production processes. Traditional keyword retrieval and semantic retrieval are difficult to adapt to the industrial manufacturing systems with the characteristics of strong coupling of business associations. Therefore, according to the characteristics of the association in the industrial production system, an association retrieval model for the industrial production system is proposed in this paper. Firstly, the industrial Internet of things system is analyzed and abstracted, and the key factors of correlation retrieval are derived;then through the analysis of the relationship between key factors, the invalid relationship is screened out, the correlation relationship with practical significance is obtained, and the establishment of the relevance retrieval model is completed. Finally, the feasibility and effectiveness of the association retrieval model are verified by actual industrial scene data. © 2022 IEEE.

关键词： Manufacture

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：