检索结果-内蒙古大学图书馆

第36届中国控制会议

作者： Xin Su Bo Zhao Yi Gong Han Zhang College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

The circular Escherichia coli chromosome has been suggested to form a partition of the genome where it folds into a collection of sequentially consecutive *** paper presents a prediction method to give the location of the folding *** genes involved in one domain tend to be co-expressed,the information of activation and co-expression level is extracted from multi-source data *** activation level of genes is described by frequencies of attending the pathways in different database,while Intensity Co-expression is defined for co-expression *** two types of data are processed by wavelet analysis and are used to improve the optimization model for *** objective function of this model is to minimize both the total number of unfoldings of these domains in the chromosome and total frequencies of folding *** multi-source information is also designed for the experimental *** experiment results show the good effect of the prediction method in Computational Biology.

关键词： Folding boundaries Multi-source information Wavelet transform Dynamic programming Gene co-expression

来源：评论

学校读者我要写书评

暂无评论

Reachability and controllability of time-variant k-valued logical control network and finite memories k-valued logical control network 36

Reachability and controllability of time-variant k-valued lo...

引用

第36届中国控制会议

作者： ZHAO Jiantao CHEN Zengqiang LIU Zhongxin College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

This paper investigates the reachability and controllability of time-variant k-valued logical control network and finite memories k-valued logical control network. For time-variant k-valued logical control network, the semi-tensor product(STP) is used to represent it. The necessary and sufficient condition for its controllability and the control method are given. For the finite memories k-valued logical control network, we transformed it into time-variant k-valued logical control network and also give the necessary and sufficient condition for its controllability and the control method. Examples are also given to illustrate the efficiency of the method.

关键词： Reachability controllability time-variant k-valued logical control network finite memories k-valued logical control network semi-tensor product of matrices(STP)

来源：评论

学校读者我要写书评

暂无评论

A Leader-Based Cooperation-Prompt Protocol for the Prisoner's Dilemma Game in Multi-Agent Systems 36

A Leader-Based Cooperation-Prompt Protocol for the Prisoner'...

引用

第36届中国控制会议

作者： Linghui Guo Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper,we propose a new protocol that prompts the cooperation rate of a multi-agent system,the members of which compete based on the prisoner's dilemma *** main idea of this algorithm is to introduce a smart leader to the system,which can be viewed as a third player in the original bilateral *** leader is motivated by its own benefit,but as a result of its attempt to maximum the expectational personal benefit,the system's cooperation rate is actually *** phenomenon is common in reality in some complicated *** studied the condition in which the leader maximums its expectational payoff,and proved the optimal condition's existence and ***,we adopted a feed-back control method to ensure that the system globally converges to and remains stable in the optimal *** simulation results illustrate the practicability and efficiency of our algorithm in reality system.

关键词： Game theory Evolutionary game theory Leader-follower Prisoner's Dilemma Multi-agent system

来源：评论

学校读者我要写书评

暂无评论

Improved Live-Wire algorithm for kidney image segmentation 36

Improved Live-Wire algorithm for kidney image segmentation

引用

第36届中国控制会议

作者： Hongliang Li Yu Dai Jianxun Zhang College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

Live-Wire segmentation algorithm is an interactive tool for efficient,accurate and reproducible boundary extraction which requires minimal user *** the traditional Live-Wire algorithm is sensitive to noise and inefficient to distinguish between strong and weak edges in the *** overcome the two drawbacks,this paper proposes an improved Live-Wire algorithm,its cost function is redefined:(1) change the Laplace operator into Canny and Sobel operators to construct the multiple cost terms,differences between Canny and Sobel operators allow them to contribute to the total cost calculation without redundant information;(2) redefine the gradient magnitude function of the cost function as nonlinear weighting edge gradient,the nonlinear weighting procedure can solve the undistinguished edge problem very *** are conducted on simulation and real image of the *** experimental results prove that the proposed algorithm is really of good performance in the two drawbacks.

关键词： Live-Wire algorithm image segmentation cost function synthetic image

来源：评论

学校读者我要写书评

暂无评论

Passive Aerial Grasping of Ferrous Objects

引用

IFAC-PapersOnLine 2017年第1期50卷 10299-10304页

作者： Fiaz U.A. Toumi N. Shamma J.S. Robotics Intelligent Systems and Control (RISC) Laboratory King Abdullah University of Science and Technology Saudi Arabia

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one. © 2017

关键词： aerial grasping autonomous systems Flying robots magnetic passive gripper robotics technology smart design

来源：评论

学校读者我要写书评

暂无评论

Quantitative Relationship in Terms of Time-Delay Tolerance of Two Kinds of Extended State Observers 6

Quantitative Relationship in Terms of Time-Delay Tolerance o...

引用

2017 IEEE 6th Data Driven control and Learning Systems Conference (DDCLS’17)

作者： Minnan Piao Kai Zhu Mingwei Sun Zenghui Wang Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509054626

Active Disturbance Rejection control(ADRC), an innovative control method, has been applied successfully in dealing with internal uncertainties and external disturbances. However, ADRC for time-delay plants is still a challenge due to the restriction on the bandwidth of the extended state observer(ESO). When designing the ESO for time-delay plants, both fullorder and reduced-order extended state observers can be utilized and the selection of the proper order and the bandwidth of the ESO is necessary. Therefore we seek to compare the two kinds of observers in terms of the time-delay tolerance of the closedloop stability and find an appropriate bandwidth to ensure the robustness to the time-delay uncertainty. First, the quantitative bandwidth relationship between the two kinds of observers is established with the equivalent effective bandwidth, and then the time-delay tolerance of the closed-loop stability are calculated for the first-and second-order plants to conduct the comparison,whilst the effects of the bandwidth and other parameters on the time-delay tolerance is analyzed. Furthermore, simulation results for a second-order plant are provided to verify the meaning of this investigation.

关键词： ADRC Extended State Observer Effective Bandwidth Time-Delay Tolerance

来源：评论

学校读者我要写书评

暂无评论

Leader-following consensus of second-order multi-agent systems with a smart leader 36

Leader-following consensus of second-order multi-agent syste...

引用

第36届中国控制会议

作者： Honggang Liu Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper,the consensus problem for second-order leader-following multi-agent systems with a smart leader is *** smart leader tracks a desired system target so that the followers can follow the leader and there state can reach consensus *** the average distance among the smart leader and its neighboring followers increases,the smart leader can utilize the feedback information of its neighboring followers to adjust its own state,which can reduce the tracking errors among the smart leader and *** an extension,the influence of the smart leader on the controller costs of the multi-agent system is ***,several comparative experiments are given to illustrate the superiority of the smart leader.

关键词： smart leader multi-agent systems leader-following consensus tracking errors

来源：评论

学校读者我要写书评

暂无评论

Modeling and Motion controller Design of Clamping Endoscopic Mechanical Arm 29

Modeling and Motion Controller Design of Clamping Endoscopic...

引用

第29届中国控制与决策会议

作者： Yedan Li Jianxun Zhang Yu Dai Gang Cao College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509046584

Minimally invasive surgery robot has been widely used in the medical field,which improves the quality of *** with the robot system for clamping endoscopic mechanical arm developed by our team,studies have been focused on the motion *** the forward and inverse kinematics of clamping endoscopic mechanical arm is established by using the method of D-H *** the mapping relation between angular velocity of a joint space and line speed of Cartesian coordinate system is *** provides the foundation for the kinematics control *** the advantage of DSP in digital signal processing and the flexibility of CPLD in constructing logic functions,a hardware system is designed and implemented according to practical requirements in the ***,the fixed learning rate of the SPIDNN control algorithm is improved to the variable learning rate that can be adjusted online,and the speed control and the position control of the clamping endoscopic mechanical arm is realized by using the improved SPIDNN control *** show that the improved control method has better control quality than the traditional PI control method,and the controller meets the real-time and stability requirements of the motion control.

关键词： Kinematic Modeling Clamping Endoscopic Mechanical Arm DSP CPLD SPIDNN

来源：评论

学校读者我要写书评

暂无评论

Mean Square Containment control of Second-Order Multi-Agent Systems with Jointly-Connected Topologies 36

Mean Square Containment Control of Second-Order Multi-Agent ...

引用

第36届中国控制会议

作者： Fuyong Wang Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

This paper considers the containment control problem for second-order multi-agent systems in the presence of communication noise and dynamically switching *** control protocol is proposed for containment control,where a positive time-varying gain is employed in the protocol to attenuate the effect of *** stability of the proposed containment control protocol is studied with the assumption that the communication topology is jointly-connected,and some constraint conditions for containment control are derived with the aid of modern control theory and stochastic *** results are provided to verify the correctness and effectiveness of the obtained theoretical results.

关键词： mean square containment control second-order multi-agent systems jointly-connected communication noise

来源：评论

学校读者我要写书评

暂无评论

Formation control for Nonlinear Multi-agent Systems with Linear Extended State Observer

引用

IEEE/CAA Journal of Automatica Sinica 2014年第2期1卷 171-179页

作者： Wen Qin Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University College of Science Civil Aviation University of China

This paper investigates the formation control problem for nonlinear multi-agent systems with a virtual leader. A distributed formation control strategy based on linear extended state observer(LESO) is proposed under the hypothesis that velocity of the agent s neighbors could not be measured. Some sufficient conditions are established to ensure that the nonlinear multi-agent systems form a predefined formation with switching topology when the nonlinear function is known. Moreover, the tracking errors are bounded with external disturbance. Lastly,a numerical example with different scenarios is presented to demonstrate the validity of the obtained results.

关键词： Observers Multi-agent systems Uncertainty Switches Topology

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：