Point matching is an important component of image *** years,Coherent Point Drift(CPD) method becomes a very popular point matching *** treats point matching as a probability estimation problem and speeds up the proces...
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ISBN:
(纸本)9781479947249
Point matching is an important component of image *** years,Coherent Point Drift(CPD) method becomes a very popular point matching *** treats point matching as a probability estimation problem and speeds up the process of matching a *** this method,one set of points are thought to be sampled from a Gaussian Mixture Model(GMM),which is centered by the other set of ***,CPD is sensitive to outliers and noises,especially when the noise ratio increased or the number of outliers gets much *** deal with this problem,we introduce shape context into the step of searching for matching points and then improve the form of prior probabilities of GMM in this *** main idea of our method is that if the most points in a data set are likely to be matched to a particular centroid,this Gaussian component should be have a more influence to ***,we set prior probability of GMM with the similarity between GMM components and the data *** the computation of similarity is based on shape *** experiments on 2D and 3D images show that when noise ratio is low,our method performs as well as CPD does,but as the ratio increased,our method is more robust and satisfactory than CPD.
In this paper we address the problem of pressure management in water supply system (WSS) network. The model-based predictive control (MPC) strategies have some important features to deal with WSS. By hydraulic ana...
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In this paper we address the problem of pressure management in water supply system (WSS) network. The model-based predictive control (MPC) strategies have some important features to deal with WSS. By hydraulic analysis of WSS, the predictive model is derived from the dynamic model and static model of WSS. Through WSS, the consumers' demands are required to be met at all times according to some operational constraints that must be satisfied. The constraints of flow through actuators, the water level of reservoirs and the consumer areas' pressure demand are determined by a specific system. In this work, we develop a constrained MPC controller that considers the zone control of the pressure outputs and incorporates steady state economic targets in the control cost function. The designed management strategies are applied to a case study and simulation results, covering different aspects, are provided. The output nodal pressure can be controlled in the desired zone by optimal scheduling the actuators of the WSS. If the variation range of reservoir's water level is broader, the rate of flow through the actuators is gentle, and vice versa.
To reduce the overflow of the wastewater and high expense caused by redundant arrangement of the stations of pumps in the urban drainage system,a hybrid logistic optimization model is proposed to choose the locations ...
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ISBN:
(纸本)9781509009107
To reduce the overflow of the wastewater and high expense caused by redundant arrangement of the stations of pumps in the urban drainage system,a hybrid logistic optimization model is proposed to choose the locations of pump stations and the corresponding optimal control algorithm is also developed in this *** inflow in the conduit from rainfall is estimated based on rainfall-runoff model and meanwhile the performance of the pump is described by the nonlinear pump *** determining the optimal pump locations by the optimization algorithm,this paper further studies the energy saving optimal control of the *** taking both the position and the working situation of the pumps into consideration,the energy consumption of the system and the frequency of overflow can be brought down effectively.
Processes with multiphase are commonly found in process industries. Process dynamics and correlations among variables tend to change with the transitions across such phases. In this paper, we propose a new data-driven...
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ISBN:
(纸本)9781467355339
Processes with multiphase are commonly found in process industries. Process dynamics and correlations among variables tend to change with the transitions across such phases. In this paper, we propose a new data-driven predictive control strategy with the consideration of the important multiphase feature. The method aims to feature the multiphase data and use the data to design the controller. First, the data is divided and weighted based on the multiple phases and transitions. Through the minimal image representation, the data-driven prediction of future trajectory can be obtained and thus the computation of dynamic optimization. In the proposed controller, data Hankel matrices is direct incorporated in the predictive control laws, without a model or an intermediate step to meet the given performance specifications. Finally, the proposed predictive controller is demonstrated on a multiphase process.
Background extraction is a fundamental task in many computer vision applications. This paper presents a novel method based on K-means Clustering Algorithm. First, the intensity values are divided into several groups b...
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In this paper, the problem of model reduction for Takagi-Sugeno (T-S) fuzzy systems is studied. The virtual inner disturbance is first constructed to map a potential link between the states of two systems before and a...
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Federated learning protects data privacy and security by exchanging models instead of ***,unbalanced data distributions among participating clients compromise the accuracy and convergence speed of federated learning *...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Federated learning protects data privacy and security by exchanging models instead of ***,unbalanced data distributions among participating clients compromise the accuracy and convergence speed of federated learning *** alleviate this problem,unlike previous studies that limit the distance of updates for local models,we propose global-updateguided federated learning(FedGG),which introduces a model-cosine loss into local objective functions,so that local models can fit local data distributions under the guidance of update directions of global ***,considering that the update direction of a global model is informative in the early stage of training,we propose adaptive loss weights based on the update distances of local *** simulations show that,compared with other advanced algorithms,FedGG has a significant improvement on model convergence accuracies and ***,compared with traditional fixed loss weights,adaptive loss weights enable our algorithm to be more stable and easier to implement in practice.
The depth of object is indispensable to provide the three-dimensional pose of robot grasping. In this paper, we only use one fully convolutional residual network to achieve both depth estimation and background segment...
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作者:
Qiming LiuXinru CuiZhe LiuHesheng WangDepartment of Automation
Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence
AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation
Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China
Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-b...
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Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.
Early fire detection is very important for preventing forest fires. In this paper, a new image-based fire detection algorithm, named as h-EfflcientDet, is proposed to complete the task of early forest fire detection. ...
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