检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

来源：评论

学校读者我要写书评

暂无评论

3d Surface Detection and Segmentation from Point Clouds Via Quadric Fits Based on Dbscan Clustering

SSRN

引用

SSRN 2024年

作者： Xie, Tingting Chen, Hui Liu, Wanquan Zhou, Rongyu Li, Qilin College of Automation Engineering Shanghai University of Electric Power Shanghai200090 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou510275 China School of Electrical Engineering Computing and Mathematical Sciences Curtin University BentleyWA Australia

Extracting surfaces from 3D point clouds is significant in reconstructing and transforming these discrete points into their corresponding models. Scannedpoint clouds are often accompanied by noise, and the existing methods mainly rely on local feature similarities for surface extractions. Errors in estimatingthe feature information may lead to incorrect surface detection. In this paper we propose a surface extraction and boundary detection method based onclustering technique. The method can be described in three steps: In the first step, a normal correction is carried out using the information from theneighbourhood of points with sharp features. The second step is to cluster the points that meet the coplanar condition of the local quadric surface (LQS).In the third step, surface merger is performed by merging the local surfaces satisfying the merging conditions. Experimental validation is carried outto determine the effectiveness of the proposed method. The experimental results show improved surface extraction accuracy of the proposed methodin comparison to RANSAC, RG, LCCP, C2NO and HT methods. © 2024, The Authors. All rights reserved.

关键词： Merging

来源：评论

学校读者我要写书评

暂无评论

Metric Learning Based Rolling Bearing Faults Diagnosis with Curvelet Transform

引用

Journal of Physics: Conference Series 2019年第1期1229卷

作者： Ziming Lu Jiang-Wen Xiao Zhengyi Huang School of Automation Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education China

Rolling bearing faults are among the primary causes of breakdown in mechanical equipment. Aiming at the vibration signals of rolling bearing which are non-stationary and easy to be disturbed by noise, a novel fault diagnosis method based on curvelet transform and metric learning is proposed. This method consists of 3 parts. The first one is feature engineering which includes reshaping the original timing features of rolling bearings, employing curvelet transform to transform reshaped features and making its coefficients as the new features. Curvelet transform can analyse the original signal from many angles. The second one is employing metric learning to map these new features into special embedding space. The last one is applying KNN classifier to detect the rolling bearing faults. Metric learning can effectively improve the performance of KNN by learning a mapping matrix to modify the distribution of samples. The proposed method overcomes the problems such as the subjectivity and blindness of manual feature extraction, poor coupling in each stage and sensitive to the effect of noise. Extensive simulations based on several data-sets show that the our method has better performance on bearing fault diagnosis than traditional methods.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Optimizing Neural Network image Classification with Fractional Order Gradient Methods

SSRN

引用

SSRN 2023年

作者： Zhao, Haiming Chen, Jiejie Jiang, Ping Zeng, Zhigang Fan, Rui Yang, Honggang School of Computer and Information Engineering Hubei Normal University Huangshi435000 China School of Automation Wuhan University of Technology Wuhan430000 China School of Computer Hubei PolyTechnic University Huangshi435000 China Faculty of Artificial Intelligence Education Central China Normal University Wuhan430000 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430000 China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430000 China

As deep learning technology increasingly permeates various fields, the significance of optimization algorithms in neural network training has become more prominent. Typically, the training of deep learning networks relies on gradient descent optimizers based on calculus computations. Traditional integer-order calculus optimizers often fall short when dealing with complex and subtle data. To overcome these limitations, we innovatively utilized the Grünwald-Letnikov and Caputo definitions of fractional calculus to develop two new optimization algorithms: Fractional Order Adagrad (FAdagrad) and Fractional Order Adam (FAdam). These algorithms have been proven to converge to extremal points.A key advantage of our methods is their capability in handling complex, high-dimensional tasks, such as artistic painting image classification, where they exhibit exceptional performance in recognizing and processing subtle differences. The robustness and adaptability of these algorithms were further validated through experiments on the CIFAR-100 dataset. The results demonstrate the efficacy of fractional order optimizers in enhancing training efficiency and accuracy. © 2023, The Authors. All rights reserved.

关键词： image classification

来源：评论

学校读者我要写书评

暂无评论

Spatial non-locality induced non-markovian EIT in a single giant atom

arXiv

引用

arXiv 2021年

作者： Zhu, Y.T. Wu, R.B. Xue, S. Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Automation Tsinghua University Beijing100084 China Beijing National Research Center for Information Science and Technology Beijing100084 China

In recent experiments, electromagnetically induced transparency (EIT) were observed with giant atoms, but nothing unconventional were found from the transmission spectra. In this letter, we show that unconventional EIT does exist in giant atoms, and indicate why it has not been observed so far. Different from these existing works, this letter presents a consistent theory including a real space method and a time delayed master equation for observing unconventional EIT. We discover that this phenomenon is a quantum effect which cannot be correctly described in a semi-classical way as those in recent works. Our theory shows that it can be observed when the time delay between two neighboring coupling points is comparable to the relaxation time of the atom, which is crucial for a future experimental observation. This new phenomenon results from inherent non-locality of the giant atom, which physically forces propagating fields to be standing waves in space and the atom exhibiting retardations in time. Our theory establishes a framework for application of nonlocal systems to quantum information processing. Copyright © 2021, The Authors. All rights reserved.

关键词： Atoms

来源：评论

学校读者我要写书评

暂无评论

Learning data-adaptive non-parametric kernels

The Journal of Machine Learning Research

引用

The Journal of Machine Learning Research 2020年第1期21卷 8590-8628页

作者： Fanghui Liu Xiaolin Huang Chen Gong Jie Yang Li Li Department of Electrical Engineering ESAT-STADIUS KU Leuven Belgium Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology China and Department of Computing Hong Kong Polytechnic University Hong Kong SAR China Department of Automation BNRist Tsinghua University China

In this paper, we propose a data-adaptive non-parametric kernel learning framework in margin based kernel methods. In model formulation, given an initial kernel matrix, a data-adaptive matrix with two constraints is imposed in an entry-wise scheme. Learning this data-adaptive matrix in a formulation-free strategy enlarges the margin between classes and thus improves the model flexibility. The introduced two constraints are imposed either exactly (on small data sets) or approximately (on large data sets) in our model, which provides a controllable trade-off between model flexibility and complexity with theoretical demonstration. In algorithm optimization, the objective function of our learning framework is proven to be gradient-Lipschitz continuous. Thereby, kernel and classifier/regressor learning can be efficiently optimized in a unified framework via Nesterov's acceleration. For the scalability issue, we study a decomposition-based approach to our model in the large sample case. The effectiveness of this approximation is illustrated by both empirical studies and theoretical guarantees. Experimental results on various classification and regression benchmark data sets demonstrate that our non-parametric kernel learning framework achieves good performance when compared with other representative kernel learning based algorithms.

关键词： support vector machines non-parametric kernel learning gradient-Lipschitz continuous

来源：评论

学校读者我要写书评

暂无评论

Recurrent Attentional Reinforcement Learning for Fault Diagnosis of Hydraulic System

Recurrent Attentional Reinforcement Learning for Fault Diagn...

引用

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Zhenhui Tang Ru Liu Kang Lou Chaojian Gao Jingcheng Wang SJTU Sanya Yazhou Bay Institute of Deepsea Science and Technology Sanya China Department of Automation Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation the Key Laboratory of System Control and Information Processing Ministry of Education of China and the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an China

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Recognizing fault types of machinery system is a fundamental but challenging task in industrial application. Although data-driven fault diagnosis method attains remarkable progress by learning fault features automatically, the existing data-driven fault diagnosis pipelines learn non-discriminative feature. To deal with these problems, a new data-driven fault diagnosis method with recurrent attentional module is proposed to find a sequence of informative features by localizing distinguishing time fragments about each individual faults iteratively. The contextual sequence dependency between the localized time fragments is enhanced. Then, the fault types are further predicted on localized time fragments. The proposed framework also explicitly models long-term dependencies among these attentional time fragments to capture historical fault information. Experiments on hydraulic system show that the proposed framework achieves superior diagnosis performance and computation efficiency.

关键词： Fault diagnosis Location awareness Accuracy Computational modeling Pipelines Reinforcement learning Hydraulic systems Computational efficiency Information technology

来源：评论

学校读者我要写书评

暂无评论

High Information Density and Low Coverage Data Storage in DNA with Efficient Channel Coding Schemes

arXiv

引用

arXiv 2024年

作者： Ding, Yi He, Xuan Nguyen, Tuan Thanh Song, Wentu Yakhini, Zohar Yaakobi, Eitan Pan, Linqiang Tang, Xiaohu Cai, Kui Information Coding and Transmission Key Lab of Sichuan Province Southwest Jiaotong University Sichuan Chengdu611756 China Cluster Singapore University of Technology and Design 487372 Singapore Faculty of Computer Science Technion - Israel Institute of Technology Haifa3200003 Israel School of Computer Science RUNI Herzliya4615200 Israel Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

DNA-based data storage has been attracting significant attention due to its extremely high data storage density, low power consumption, and long duration compared to conventional data storage media. Despite the recent advancements in DNA data storage technology, significant challenges remain. In particular, various types of errors can occur during the processes of DNA synthesis, storage, and sequencing, including substitution errors, insertion errors, and deletion errors. Furthermore, the entire oligo may be lost. In this work, we report a DNA-based data storage architecture that incorporates efficient channel coding schemes, including different types of error-correcting codes (ECCs) and constrained codes, for both the inner coding and outer coding for the DNA data storage channel. We also carried out large scale experiments to validate our proposed DNA-based data storage architecture. Specifically, 1.61 and 1.69 MB data were encoded into 30,000 oligos each, with information densities of 1.731 and 1.815, respectively. It has been found that the stored information can be fully recovered without any error at average coverages of 4.5 and 6.0, respectively. This experiment achieved the highest net information density and lowest coverage among existing DNA-based data storage experiments (with standard DNA), with data recovery rates and coverage approaching theoretical optima. Copyright © 2024, The Authors. All rights reserved.

关键词： Channel coding

来源：评论

学校读者我要写书评

暂无评论

Underwater image enhancement via histogram similarity-oriented color compensation complemented by multiple attribute adjustment

引用

intelligent Marine Technology and Systems 2023年第1期1卷 1-15页

作者： Wang, Hao Frery, Alejandro C. Li, Mingjie Ren, Peng College of Control Science and Engineering China University of Petroleum (East China) Qingdao China College of Mathematics and Statistics Victoria University of Wellington Wellington New Zealand Key Laboratory of Intelligent Perception and Image Understanding of the Ministry of Education Xidian University Xi’an China South China Sea Institute of Planning and Environmental Research State Oceanic Administration Guangzhou China College of Oceanography and Space Informatics China University of Petroleum (East China) Qingdao China

Underwater images are often influenced by color casts, low contrast, and blurred details. We observe that images taken in natural settings typically have similar histograms across color channels, while underwater images do not. To improve the natural appearance of an underwater image, it is critical to improve the histogram similarity across its color channels. To address this problem, we develop a histogram similarity-oriented color compensation method that corrects color casts by improving the histogram similarity across color channels in the underwater image. In addition, we apply the multiple attribute adjustment method, including max-min intensity stretching, luminance map-guided weighting, and high-frequency edge mask fusion, to enhance contrast, saturation, and sharpness, effectively addressing problems of low contrast and blurred details and eventually enhancing the overall appearance of underwater images. Particularly, the method proposed in this work is not based on deep learning, but it effectively enhances a single underwater image. Comprehensive empirical assessments demonstrated that this method exceeds state-of-the-art underwater image enhancement techniques. To facilitate public assessment, we made our reproducible code available at https://***/wanghaoupc/UIE_HS2CM2A.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Driving

arXiv

引用

arXiv 2023年

作者： Li, Yueyuan Yuan, Wei Zhang, Songan Yan, Weihao Shen, Qiyuan Wang, Chunxiang Yang, Ming The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Innovation Center of Intelligent Connected Vehicles Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China The Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China

Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern about the validity of algorithms developed and evaluated in simulators, indicating a need for a thorough analysis of the development status of the simulators. To bridge the gap in research, this paper analyzes the evolution of simulators and explains how the functionalities and utilities have developed. Then, the existing simulators are categorized based on their task applicability, providing researchers with a taxonomy to swiftly assess a simulator’s suitability for specific tasks. Recommendations for select simulators are presented, considering factors such as accessibility, maintenance status, and quality. Recognizing potential hazards in simulators that could impact the confidence of simulation experiments, the paper dedicates substantial effort to identifying and justifying critical issues in actively maintained open-source simulators. Moreover, the paper reviews potential solutions to address these issues, serving as a guide for enhancing the credibility of simulators. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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：