检索结果-内蒙古大学图书馆

您好，读者！请登录

内蒙古大学图书馆

首页
概况
党建
资源
服务
科研支持
- 论文收录引用证明
- 科技查新
知识产权
档案馆
帮助

咨询与建议

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

您的常用邮箱：*

您的手机号码：*

问题描述：

当前已输入0个字，您还可以输入200个字

全部搜索
期刊论文
图书
学位论文
标准
纸本馆藏
外文资源发现
数据库导航
超星发现

高级检索

时间限定

出版年份：

文献类型

图书期刊文献学位论文多媒体

馆藏选择

电子馆藏纸本馆藏

核心期刊

全部期刊 SCI 收录期刊 SSCI 收录期刊 EI 收录期刊 CSCD 收录期刊 CSSCI 收录期刊

语言

中文英文

文献类型

期刊文献图书学位论文标准纸本馆藏

帮助

文字说明：

T=题名（书名、题名），A=作者（责任者），K=主题词，P=出版物名称，PU=出版社名称，O=机构（作者单位、学位授予单位、专利申请人），L=中图分类号，C=学科分类号，U=全部字段，Y=年（出版发行年、学位年度、标准发布年）

检索规则说明：

AND代表“并且”；OR代表“或者”；NOT代表“不包含”；(注意必须大写,运算符两边需空一格)

检索范例：

范例一：(K=图书馆学 OR K=情报学) AND A=范并思 AND Y=1982-2016
范例二：P=计算机应用与软件 AND (U=C++ OR U=Basic) NOT K=Visual AND Y=2011-2016

分类表

所选分类

>> <<

限定检索结果

文献类型

128 篇 会议
50 篇 期刊文献
1 册 图书

馆藏范围

179 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

90 篇 工学
- 47 篇 控制科学与工程
- 36 篇 计算机科学与技术...
- 35 篇 软件工程
- 27 篇 机械工程
- 23 篇 仪器科学与技术
- 8 篇 交通运输工程
- 7 篇 电气工程
- 5 篇 电子科学与技术（可...
- 5 篇 航空宇航科学与技...
- 5 篇 生物医学工程（可授...
- 4 篇 光学工程
- 4 篇 生物工程
- 3 篇 信息与通信工程
- 3 篇 土木工程
- 2 篇 建筑学
- 2 篇 化学工程与技术
- 2 篇 安全科学与工程
36 篇 理学
- 19 篇 数学
- 12 篇 系统科学
- 7 篇 物理学
- 5 篇 生物学
- 4 篇 统计学（可授理学、...
- 1 篇 化学
7 篇 管理学
- 4 篇 管理科学与工程(可...
- 3 篇 图书情报与档案管...
5 篇 医学
- 5 篇 临床医学
- 4 篇 基础医学(可授医学...
- 3 篇 药学(可授医学、理...
2 篇 法学
- 2 篇 社会学
1 篇 经济学
- 1 篇 应用经济学
1 篇 农学
1 篇 艺术学

主题

13 篇 trajectory
12 篇 robots
12 篇 mathematical mod...
10 篇 robot sensing sy...
10 篇 kinematics
7 篇 legged locomotio...
7 篇 cameras
7 篇 dynamics
6 篇 vehicle dynamics
6 篇 reinforcement le...
6 篇 safety
6 篇 robot kinematics
6 篇 training
5 篇 force
5 篇 quadruped robots
5 篇 optimization
5 篇 tracking
5 篇 navigation
5 篇 humans
5 篇 software

机构

4 篇 institute of con...
4 篇 control of netwo...
4 篇 center of excell...
3 篇 center of excell...
3 篇 dept. of informa...
3 篇 natural robotics...
3 篇 university of ch...
3 篇 system theory an...
3 篇 state key labora...
3 篇 control systems ...
3 篇 extreme robotics...
3 篇 center of excell...
3 篇 department of me...
3 篇 control systems ...
2 篇 ocean systems la...
2 篇 robotics institu...
2 篇 spinal cord inju...
2 篇 department of in...
2 篇 dlr german aeros...
2 篇 advanced robotic...

作者

26 篇 s. ali a. moosav...
9 篇 kostas j. kyriak...
7 篇 omid mahdizadeh
6 篇 vahid akbari
6 篇 panagiotis k. ar...
5 篇 mahdi nabipour
5 篇 mahdi khorram
5 篇 fornasier alessa...
5 篇 udluft steffen
5 篇 weiss stephan
5 篇 hans alexander
5 篇 minas v. liaroka...
5 篇 mahony robert
5 篇 groß roderich
4 篇 chenguang yang
4 篇 jeff s. shamma
3 篇 thomas schmitt
3 篇 stolkin rustam
3 篇 simon rothfuß
3 篇 braun christian ...

语言

168 篇 英文
6 篇 其他
5 篇 中文

检索条件"机构=Robotics and Systems Control Lab"

共 179 条记录，以下是151-160 订阅

全选清除本页清除全部题录导出标记到"检索档案"

详细简洁

排序：

Cooperative Multi-robot Box Pushing Inspired by Human Behaviour

Cooperative Multi-robot Box Pushing Inspired by Human Behavi...

引用

12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Chen, Jianing Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This paper investigates mechanisms underlying cooperative behaviour in a group of miniature mobile robots around the problem of coordinating a group of robots to push collectively a heavy object. Numerous solutions to this problem have been proposed [5,7,4]. The performance of these however typically deteriorates as the number of robots increases to more than a dozen. The cause of this is often said to be robot interference—there are many robots but insufficient space to manipulate the object effectively. The situation is particular difficult when the object itself occludes the view of robots [3]. In this case, robots can benefit from division of labour (e.g., see [2]). Here, we take inspiration of the division of labour in teams of humans pushing a large object towards a target location: persons who can see the target push the box only when the transporting direction needs to be corrected, while all other persons simply push the box forward. The two roles in this cooperation are indicated in Fig. 1(a). © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Behavioral research

来源：评论

学校读者我要写书评

暂无评论

Vision-Based Segregation Behaviours in a Swarm of Autonomous Robots

Vision-Based Segregation Behaviours in a Swarm of Autonomous...

引用

12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Price, Michael J. Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

The accelerating development and usage of autonomous robots has led to increased interest in decentralised systems and the cooperation of individual elements within a swarm, in particular the ability to self-organise and form patterns or self-segregate. Such segregation is readily exhibited in nature, as highlighted by prior work looking at the collective sorting of brood items by ant colonies [1,3]. This work focuses on the ability of robots to spatially segregate themselves. In particular, it takes inspiration primarily from the Brazil nut effect [6], which is responsible for the emergent striped patterns observed when a container holding particles of different sizes is agitated. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Forming Nested 3D Structures Based on the Brazil Nut Effect

Forming Nested 3D Structures Based on the Brazil Nut Effect

引用

12th Annual Conference on Towards Autonomous Robotic systems, TAROS 2011

作者： Foster, Stephen Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This study investigates the formation of nested structures in swarms of intelligent agents that can freely move in three dimensions. The underlying segregation mechanism is inspired by the Brazil nut effect, which occurs when granular mixtures are subjected to vibrations [6,1]. Similar effects were reported for brood items sorted by ants [3]. This sorting behaviour was validated with swarms of mobile robots [7,5]. Different from these studies we are concerned with sorting the agents themselves. In [4], we proposed a controller based on the Brazil nut effect that was capable of segregating groups of simulated e-puck robots reliably in two dimensions. In the present study, we investigate a 3D particle system implemented in NetLogo1. The agentsmimic the behaviour of particles of distinct sizes. The motion of each agent is determined by three types of vectors [4]: (i) a repulsion vector for every agent that intrudes the particle’s virtual body, (ii) a random vector simulating vibrations, (iii) and a "gravitational" vector that points to a "centre" location. The agents do not communicate. However, the repulsion behaviour requires them to sense each others’ relative positions within their particle range. The segregation quality is measured as the percentage of pairs of particles from different groups that are segregated correctly (based on distance to centre) [4]. A value of 100% corresponds to perfect structures with all large agents surrounding the small agents, 50% corresponds to purely random structures, whereas 0% corresponds to perfect but inverted structures. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Vectors

来源：评论

学校读者我要写书评

暂无评论

Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

引用

IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning

作者： Hans, Alexander Duell, Siegmund Udluft, Steffen Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Corporate Technology Munich Munich Germany

ISBN: (纸本)9781424498888

With the development of data-efficient reinforcement learning (RL) methods, a promising data-driven solution for optimal control of complex technical systems has become available. For the application of RL to a technical system, it is usually required to evaluate a policy before actually applying it to ensure it operates the system safely and within required performance bounds. In benchmark applications one can use the system dynamics directly to measure the policy quality. In real applications, however, this might be too expensive or even impossible. Being unable to evaluate the policy without using the actual system hinders the application of RL to autonomous controllers. As a first step toward agent self-assessment, we deal with discrete MDPs in this paper. We propose to use the value function along with its uncertainty to assess a policy's quality and show that, when dealing with an MDP estimated from observations, the value function itself can be misleading. We address this problem by determining the value function's uncertainty through uncertainty propagation and evaluate the approach using a number of benchmark applications. © 2011 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Ensemble usage for more reliable policy identification in reinforcement learning 19

Ensemble usage for more reliable policy identification in re...

引用

19th European Symposium on Artificial Neural Networks, ESANN 2011

作者： Hans, Alexander Udluft, Steffen Ilmenau University of Technology Neuroinformatics and Cognitive Robotics Lab P.O. Box 100565 IlmenauD-98684 Germany Siemens AG Corporate Technology Intelligent Systems and Control Otto-Hahn-Ring 6 MunichD-81739 Germany

ISBN: (纸本)9782874190445

Reinforcement learning (RL) methods employing powerful function approximators like neural networks have become an interesting approach for optimal control. Since they learn a policy from observations, they are also applicable when no analytical description of the system is available. Although impressive results have been reported, their handling in practice is still hard, as they can fail at reliably determining a good policy. In previous work, we used ensembles of policies from independent runs of neural fitted Q-iteration (NFQ) to produce successful policies more reliably. In this paper we evaluate the approach on more problems and propose to form ensembles from successive iterations of a single NFQ run as a computationally cheap alternative to completely independent runs. © European Symposium on Artificial Neural Networks. All rights reserved.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Model-Based Heart Rate control during Robot-Assisted Gait Training

Model-Based Heart Rate Control during Robot-Assisted Gait Tr...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Alexander Koenig Robert Riener Marc Bolliger Ximena Omlin Antonello Caruso Manfred Morari Luca Somaini Sensory-Motor Systems Lab ETH ZurichInstitute of Robotics and Autonomous SystemsDepartment of Mech Automatic Control Laboratory ETH ZurichSwitzerland Hocoma Inc. VolketswilSwitzerland

In recent years, gait robots have become increasingly common for gait rehabilitation in non-ambulatory stroke patients. Cardiovascular treadmill training, which has been shown to provide great benefit to stroke survivors, cannot be performed with non-ambulatory patients. We therefore integrated cardiovascular training in robot-assisted gait therapy to combine the benefits of both training modi. We developed a model of human heart rate as a function of exercise parameters during robot-assisted gait training and applied it for automatic control purposes. This structural model of the physiological processes describes the change in heart rate caused by treadmill speed and the power exchanged between robot and subject. We performed physiological parameter estimation for each tested individual and designed a model-based feedback controller to guide heart rate to a desired time profile. Five healthy subjects and eight stroke patients were recorded for model parameter identification, which was successfully used for heart rate control of three healthy *** showed that a model-based control approach can take into account patient-specific limitations of treadmill speed as well as individual power expenditure.

关键词： Heart rate Legged locomotion Training Robot kinematics Computational modeling Humans

来源：评论

学校读者我要写书评

暂无评论

control of legged robots with optimal distribution of contact forces

Control of legged robots with optimal distribution of contac...

引用

2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Righetti, Ludovic Buchli, Jonas Mistry, Michael Schaal, Stefan Computational Learning and Motor Control Lab. University of Southern California Los Angeles CA 90089 United States Max Planck Institute for Intelligent Systems Tübingen Germany Dept. of Advanced Robotics Italian Institute of Technology Genoa Italy Disney Research Pittsburgh Pittsburgh PA 15213 United States

ISBN: (纸本)9781612848679

The development of agile and safe humanoid robots require controllers that guarantee both high tracking performance and compliance with the environment. More specifically, the control of contact interaction is of crucial importance for robots that will actively interact with their environment. Model-based controllers such as inverse dynamics or operational space control are very appealing as they offer both high tracking performance and compliance. However, while widely used for fully actuated systems such as manipulators, they are not yet standard controllers for legged robots such as humanoids. Indeed such robots are fundamentally different from manipulators as they are underactuated due to their floating-base and subject to switching contact constraints. In this paper we present an inverse dynamics controller for legged robots that use torque redundancy to create an optimal distribution of contact constraints. The resulting controller is able to minimize, given a desired motion, any quadratic cost of the contact constraints at each instant of time. In particular we show how this can be used to minimize tangential forces during locomotion, therefore significantly improving the locomotion of legged robots on difficult terrains. In addition to the theoretical result, we present simulations of a humanoid and a quadruped robot, as well as experiments on a real quadruped robot that demonstrate the advantages of the controller. © 2011 IEEE.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

DisCoverage for non-convex environments with arbitrary obstacles

DisCoverage for non-convex environments with arbitrary obsta...

引用

2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Dominik Haumann Volker Willert Kim Listmann Roland Siegwart Andreas Breitenmoser Control Theory & Robotics Lab TU DarmstadtLandgraf- Georg-Str. 464283 DarmstadtGermany Autonomous Systems Laboratory (ASL) ETH ZurichTannenstrasse 38092 ZurichSwitzerland

DisCoverage is a distributed strategy for frontierbased multi-robot exploration. The robots coordinate by a partition of the environment, and choose their target points by optimizing a locally decomposable objective function. In [9] DisCoverage for convex regions was proposed. In this work, we extend DisCoverage to support arbitrary non-convex realworld environments with obstacles. Therefore, we introduce a transformation of non-convex environments to robot centric star-shaped domains. This results in a general solution with broader applications for exploration and path planning. Simulations as well as experiments with real robots demonstrate the exploration progress.

关键词： Robot kinematics Optimization Robot sensing systems Silicon Path planning Space exploration

来源：评论

学校读者我要写书评

暂无评论

Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation

Seabed Tracking of an Autonomous Underwater Vehicle with Non...

引用

IEEE Conference on Decision and control

作者： A. Adhami-Mirhosseini A. Pedro Aguiar M. J. Yazdanpanah Control and Intelligent Processing Center of Excellence University of Tehran P.O. Box 14395/515 Tehran Iran Lab. of Robotics and Systems in Engineering and Science (LARSyS) Inst. Superior Tecnico (IST) Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781612848006

This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.

关键词： Equations Regulators Mathematical model Vehicles Chebyshev approximation Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Ensembles of neural networks for robust reinforcement learning

Ensembles of neural networks for robust reinforcement learni...

引用

9th International Conference on Machine Learning and Applications, ICMLA 2010

作者： Hans, Alexander Udluft, Steffen Neuroinformatics and Cognitive Robotics Lab. Ilmenau University of Technology Ilmenau Germany Intelligent Systems and Control Siemens AG Corporate Technology Munich Germany

ISBN: (纸本)9780769543000

Reinforcement learning algorithms that employ neural networks as function approximators have proven to be powerful tools for solving optimal control problems. However, their training and the validation of final policies can be cumbersome as neural networks can suffer from problems like local minima or overfitting. When using iterative methods, such as neural fitted Q-iteration, the problem becomes even more pronounced since the network has to be trained multiple times and the training process in one iteration builds on the network trained in the previous iteration. Therefore errors can accumulate. In this paper we propose to use ensembles of networks to make the learning process more robust and produce near-optimal policies more reliably. We name various ways of combining single networks to an ensemble that results in a final ensemble policy and show the potential of the approach using a benchmark application. Our experiments indicate that majority voting is superior to Q-averaging and using heterogeneous ensembles (different network topologies) is advisable. © 2010 IEEE.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

没有更多数据了...

全选清除本页清除全部题录导出标记到“检索档案”

共18页 << < 9 10 11 12 13 14 15 16 17 18 > >>

检索报告对象比较合并检索0

隐藏清空

合并搜索

回到顶部

执行限定条件

内容：

评分：

请选择保存的检索档案：

请选择收藏分类：

订阅名称：

通借通还

温馨提示：

图书名称：

借书校区：

取书校区：

手机号码：

邮箱地址：

一卡通帐号：

电话和邮箱必须正确填写，我们会与您联系确认。

联系人：

所在院系：

联系邮箱：

联系电话：

内蒙古自治区呼和浩特市赛罕区大学西街235号邮编: 010021

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：