检索结果-内蒙古大学图书馆

第40届中国控制会议

作者： Zikai Ouyang Zhicheng Li Shibo Chen Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such structure, each follower tracks the state of its front vehicle to maintain a proper distance and form a platoon. However, the disadvantage of this fixed communication structure is that followers are short of capacity of resisting disturbance when the first vehicle(FV) of platoon is disturbed. To solve this problem, a vehicle platoon model where each follower is able to take any front vehicle as its leader is proposed. Based on this model, the corresponding controller and leader selection strategy are designed. That is, first, a controller considering the string stability of vehicle platoon with various communication topologies is designed;then, each follower changes its connecting vehicle in the communication link to reduce the impact of disturbance on FV when FV suddenly slows down or speeds up. The simulation results show the effectiveness of the control method and the strategy.

关键词： Vehicle platoon leader selection strategy distributed control

来源：评论

学校读者我要写书评

暂无评论

A colorimetric-bionic sensor for multimodal molecular sensing using hierarchical metamaterials

引用

Device 2025年第5期3卷

作者： Geng, Wenhui Zhou, Ying Huang, Kang Ying, Yibin Xie, Lijuan College of Biosystems Engineering and Food Science Zhejiang University 866 Yuhangtang Road Hangzhou 310058 China The National Key Laboratory of Agricultural Equipment Technology Beijing 100083 China Zhejiang Key Laboratory of Intelligent Sensing and Robotics for Agriculture Hangzhou 310058 China Hangzhou Customs Technology Center 398 Jianshe San Road Xiaoshan District Hangzhou City China Department of Biological Systems Engineering Washington State University Pullman 99164 WA United States

Metamaterials can enhance a local electric field for molecular sensing. However, the difficulty in specifically recognizing target molecules and integrating multiple functionalities restricts their development. Here, we present a hierarchical metamaterial-based colorimetric-bionic sensor (HMm-CBs) using a layer-by-layer assembly method for multimodal molecular sensing. The CBs layers offer molecular recognition ability by enabling the specific perception of analytes, and the HMm layers provide coupling of vibrations between analyte molecules at the terahertz (THz) frequency. The HMm-CBs have broadband adaptability in controlling electromagnetic waves from optical to THz frequency. As a proof of principle, we designed a sensor for analyzing tetracycline hydrochlorides (TCHs). The sensor, in conjunction with a back propagation neural network (BPNN), identifies four types of TCHs. As a demonstration, a multichannel indicator is created for real-time monitoring of shrimp freshness and volatile metabolites. © 2025 The Author(s)

关键词： antibiotics carbon nanotubes chemometric algorithms colorimetric sensor array DTI-3: Develop metamaterials

来源：评论

学校读者我要写书评

暂无评论

A New Scheme for Cooperative Hunting Tasks with Multiple Targets in Dynamic Environments

A New Scheme for Cooperative Hunting Tasks with Multiple Tar...

引用

IEEE International Conference on robotics and Biomimetics

作者： Ruikun Hu Ning Tan Fenglei Ni School of Computer Science and Engineering Sun Yatsen University Guangzhou PR China State Key Laboratory of Robotics and Systems (HIT) Harbin PR China

ISBN: (纸本)9781665405362

Multiple robot cooperation has been playing more and more significant role in scientific and engineering applications. The cooperative hunting task with multiple targets is a critical issue in multiple robot problem. To successfully hunt multiple preys, predator robots not only need to settle the problem on how to cooperatively hunt a prey, but also find an efficient task allocation to assign each predator to hunt certain prey. This paper proposes a cooperative hunting scheme based on the multi-target k-winner-take-all (k-WTA) algorithm and the wolf-pack-particle-based model. Based on the competitive mechanism, the multi-target k-WTA algorithm is used for task allocation with an optimized hunting strategy and achieves the allocation within a short period of time in dynamic environments. With simple rules, the wolf-pack-particle-based model can trigger collective behaviors and enable predator robots to encircle the prey. The simulative experiment results show that the proposed approach is capable of efficient task allocation and guiding predator robots to round up multiple moving targets in dynamic environments.

关键词： Costs Heuristic algorithms Conferences Biomimetics Force Dynamic scheduling Resource management

来源：评论

学校读者我要写书评

暂无评论

Adaptive weighted guided image filtering for depth enhancement in shape-from-focus

arXiv

引用

arXiv 2022年

作者： Li, Yuwen Li, Zhengguo Zheng, Chaobing Wu, Shiqian Hubei Key Laboratory Of Mechanical Transmission And Manufacturing Engineering Wuhan University Of Science And Technology Wuhan430081 China SRO Department Institute For Infocomm Research Singapore138632 Singapore Institute Of Robotics And Intelligent Systems School Of Information Science And Engineering Wuhan University Of Science And Technology Wuhan430081 China School Of Electrical Engineering Nanchang Institute Of Technology Nanchang330099 China

Existing shape from focus (SFF) techniques cannot preserve depth edges and fine structural details from a sequence of multi-focus images. Moreover, noise in the sequence of multi-focus images affects the accuracy of the depth map. In this paper, a novel depth enhancement algorithm for the SFF based on an adaptive weighted guided image filtering (AWGIF) is proposed to address the above issues. The AWGIF is applied to decompose an initial depth map which is estimated by the traditional SFF into a base layer and a detail layer. In order to preserve the edges accurately in the refined depth map, the guidance image is constructed from the multi-focus image sequence, and the coefficient of the AWGIF is utilized to suppress the noise while enhancing the fine depth details. Experiments on real and synthetic objects demonstrate the superiority of the proposed algorithm in terms of anti-noise, and the ability to preserve depth edges and fine structural details compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Image enhancement

来源：评论

学校读者我要写书评

暂无评论

Exploration of Canals: a German-Pakistani collaboration in education and research in marine robotics

Exploration of Canals: a German-Pakistani collaboration in e...

引用

OCEANS

作者： Francesco Maurelli Suleman Mazhar Syed Atif Mehdi Marine Systems and Robotics Jacobs University Bremen Bremen Germany Acoustic Science and Technology Laboratory Harbin Engineering University Harbin Heilongjiang China Center of Robotics University of Central Punjab Lahore Pakistan

ISBN: (纸本)9781665427883

This paper presents a collaborative project between Jacobs University Bremen and University of Central Punjab, supported by the German Academic Exchange Agency - Deutscher Akademischer Austauschdienst (DAAD). It focuses on the partnership activities and how they have been pivotal to support education and research in marine robotics. This is an example of a successful international project, which has contributed to bring together scientists from different backgrounds working for a common goal.

关键词： Jacobian matrices Irrigation Oceans Education Collaboration Robots

来源：评论

学校读者我要写书评

暂无评论

Infrastructure and city ontologies

引用

Proceedings of the Institution of Civil Engineers: Smart Infrastructure and Construction 2022年第2期176卷 43-52页

作者： Varga, Liz McMillan, Lauren Hallett, Stephen Russell, Tom Smith, Luke Truckell, Ian Postnikov, Andrey Rodger, Sunil Vizcaino, Noel Perkins, Bethan Matthews, Brian Lomax, Nik Department of Civil Environmental and Geomatic Engineering Infrastructure Systems Institute University College London London United Kingdom School of Water Energy and Environment Cranfield University Cranfield United Kingdom Environmental Change Institute Oxford University Oxford United Kingdom Software Engineering Department De la Rue Team Valley Trading Estate Gateshead United Kingdom Lincoln Agri-Robotics University of Lincoln Lincoln United Kingdom Zentrum Klinische Studien Universitätsklinikum Freiburg Freiburg Germany Scientific Computing Department Science and Technology Facilities Council Uk Research and Innovation Rutherford Appleton Laboratory Harwell Campus Didcot United Kingdom School of Geography University of Leeds Leeds United Kingdom

The creation and use of ontologies has become increasingly relevant for complex systems in recent years. This is because of the growing number of use of cases that rely on real-world integration of disparate systems, the need for semantic congruence across boundaries and the expectations of users for conceptual clarity within evolving domains or systems of interest. These needs are evident in most spheres of research involving complex systems, but they are particularly apparent in infrastructure and cities where traditionally siloed and sectoral approaches have dominated, undermining the potential for integration to solve societal challenges such as net zero, resilience to climate change, equity and affordability. This paper reports on findings of a literature review on infrastructure and city ontologies and puts forward some hypotheses inferred from the literature findings. The hypotheses are discussed with reference to the literature and provide avenues for further research on (a) belief systems that underpin non-top-level ontologies and the potential for interference from them, (b) the need for a small number of top-level ontologies and translation mechanisms between them and (c) clarity on the role of standards and information systems in the adaptability and quality of data sets using ontologies. A gap is also identified in the extent that ontologies can support more complex automated coupling and data transformation when dealing with different scales. © 2023 ICE Publishing: All rights reserved.

关键词： Ontology

来源：评论

学校读者我要写书评

暂无评论

Autonomous Navigation of Low Cost Underwater Vehicle for Shallow Freshwater Applications

Autonomous Navigation of Low Cost Underwater Vehicle for Sha...

引用

OCEANS

作者： Syed Atif Mehdi Suleman Mazhar Francesco Maurelli Center of Robotics University of Central Punjab Lahore Pakistan Acoustic Science and Technology Laboratory Harbin Engineering University Harbin Heilongjiang China Marine Systems and Robotics Jacobs University Bremen Bremen Germany

ISBN: (纸本)9781665427883

To perform underwater navigation, a robot has to be designed and developed with multiple sensors and robust mapping and navigation algorithms that can withstand challenging underwater conditions. This paper discusses communication between Pixhawk and Jetson in the case of autonomous navigation and ground station in manual operation mode. The information from IMU and depth sensor is used to perceive the underwater environment by developing a map. The generated map is then used for path planning and autonomous navigation. Experiments performed in a swimming pool environment demonstrate the developed framework’s capabilities to be usable in shallow freshwater scenarios.

关键词： Costs Navigation Oceans Robot sensing systems Path planning Sensors Underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

Catch Planner: Catching High-Speed Targets in the Flight

arXiv

引用

arXiv 2023年

作者： Yu, Huan Wang, Pengqin Wang, Jin Ji, Jialin Zheng, Zhi Tu, Jie Lu, Guodong Meng, Jun Zhu, Meixin Shen, Shaojie Gao, Fei The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China The Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Institute of Zhejiang University Hangzhou310027 China Hong Kong The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China School of Electrical Engineering Zhejiang University Hangzhou310027 China The Hong Kong University of Science and Technology Guangzhou China

Catching high-speed targets in the flight is a complex and typical highly dynamic task. However, existing methods require manual setting of catching height or time, resulting in lacks of adaptability and flexibility and cannot deal with multiple targets. To bridge this gap, we propose a planning-with-decision scheme called Catch Planner. For sequential decision making, a lightweight policy search method based on deep reinforcement learning is proposed. It is jointly trained with the motion planning and decoupled from physics to speed up training. For motion planning, we propose a trajectory optimization method that jointly optimizes the highly coupled catching time and terminal state. The core is the flexible-terminal constraint transcription. It converts the three unique constraints of catching into differentiable metrics, including equality constraints for terminal position and time, and inequality constraints that enable reasonable terminal position offset and attitude relaxation. In addition, sparse parameterization based on MINCO class considers both dynamic feasibility and collision avoidance constraints. As a result, a generally constrained quadrotor planning problem is transformed into an unconstrained optimization that can be solved reliably and efficiently. We also propose an online iterative optimization method for predicting differentiable trajectories of targets. Catch Planner provides a new paradigm for the combination of learning and planning, where all algorithms can be run in real time onboard at 100hz. Extensive experiments are carried out in real-world and simulated scenes to verify the robustness and expansibility when facing a variety of high-speed flying targets. Copyright © 2023, The Authors. All rights reserved.

关键词： Decision making

来源：评论

学校读者我要写书评

暂无评论

Complementary Information Mutual Learning for Multimodality Medical Image Segmentation

arXiv

引用

arXiv 2024年

作者： Shen, Chuyun Li, Wenhao Chen, Haoqing Wang, Xiaoling Zhu, Fengping Li, Yuxin Wang, Xiangfeng Jin, Bo School of Computer Science and Technology East China Normal University Shanghai200062 China School of Data Science The Chinese University of Hong Kong Shenzhen Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China Huashan Hospital Fudan University Shanghai200040 China School of Computer Science and Technology East China Normal University Shanghai AI Laboratory Shanghai200062 China School of Software Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China

Radiologists must utilize medical images of multiple modalities for tumor segmentation and diagnosis due to the limitations of medical imaging technology and the diversity of tumor signals. This has led to the development of multimodal learning in medical image segmentation. However, the redundancy among modalities creates challenges for existing subtraction-based joint learning methods, such as misjudging the importance of modalities, ignoring specific modal information, and increasing cognitive load. These thorny issues ultimately decrease segmentation accuracy and increase the risk of overfitting. This paper presents the complementary information mutual learning (CIML) framework, which can mathematically model and address the negative impact of inter-modal redundant information. CIML adopts the idea of addition and removes inter-modal redundant information through inductive bias-driven task decomposition and message passing-based redundancy filtering. CIML first decomposes the multimodal segmentation task into multiple subtasks based on expert prior knowledge, minimizing the information dependence between modalities. Furthermore, CIML introduces a scheme in which each modality can extract information from other modalities additively through message passing. To achieve non-redundancy of extracted information, the redundant filtering is transformed into complementary information learning inspired by the variational information bottleneck. The complementary information learning procedure can be efficiently solved by variational inference and cross-modal spatial attention. Numerical results from the verification task and standard benchmarks indicate that CIML efficiently removes redundant information between modalities, outperforming SOTA methods regarding validation accuracy and segmentation effect. To emphasize, message-passing-based redundancy filtering allows neural network visualization techniques to visualize the knowledge relationship among different modalitie

关键词： Redundancy

来源：评论

学校读者我要写书评

暂无评论

MTPA-based Haptic Feedback Controller for Master Manipulator in Minimally Invasive Surgery

MTPA-based Haptic Feedback Controller for Master Manipulator...

引用

IEEE International Conference on robotics and Biomimetics

作者： Wenda Zhao Jian Chen Yilun Hong Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong China School of Biomedical Engineering and Imaging Sciences King's College London London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Haptic feedback is critical for teleoperation in surgical robots, particularly in Natural Orifice Transluminal Endoscopic Surgery (NOTES). This paper introduces a haptic controller designed to enhance force generation efficiency and resolution, surpassing traditional motor control frameworks. We propose a Maximum Torque Per Ampere (MTPA)-based Field-Oriented Control (FoC) strategy for haptic kinesthetic feedback controller, optimizing the performance of a master manipulator's joint with a brushless DC (BLDC) motor under stalled and ultra-slow conditions. This approach enables a master manipulator with three degrees of freedom (DoF) for force feedback. Its effectiveness is validated through simulator and surgical trials, demonstrating improved haptic feedback in surgical applications.

关键词： Motor drives Torque Minimally invasive surgery Medical robotics Force feedback Orifices Manipulators Motors Haptic interfaces Adaptive control

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：