检索结果-内蒙古大学图书馆

第36届中国控制会议

作者： Ning An Shi-Ying Sun Xiao-Guang Zhao Zeng-Guang Hou State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781538629185

In this paper,we address the problem of target tracking control for mobile robots with limited sensing *** end-to-end Gaussian process regression learning control method is proposed to transfer the human control experiences to the *** end-to-end learning architecture directly learns the control mapping from the original sensing input space to the final control output space in an human-like *** non-parametric Gaussian process regression accurately transfers the complex human control experiences to the control *** addition,realistic training data set are collected from human operators for the end-to-end control *** performance of the proposed target tracking control method is extensively evaluated on various real-world scenarios,experimental results have demonstrated the robustness,accuracy,and effectiveness of the proposed method.

关键词： Target Tracking control End-to-end Learning Human-like control Non-parametric Bayesian Model Gaussian Process Regression

来源：评论

学校读者我要写书评

暂无评论

Cascade Motion Planning for Vibration Suppression of the Focus Cabin in FAST 36

Cascade Motion Planning for Vibration Suppression of the Foc...

引用

第36届中国控制会议

作者： Zheng Rongzhang Jing Fengshui Yang Guodong University of Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

The Five-hundred-meter Aperture Spherical Radio Telescope（FAST） requires high accuracy of positioning and attitude *** to its flexible structure,the cable-cabin system can be excited to vibrate,which affects the *** alleviate the vibration during the slewing task,taking advantage of s-curve planning and input shaping,a cascade motion planning method is *** the main vibration mode,a simplified cable-cabin model is built for simulation according to the parameters of *** experiments are conducted to prove that the cascade method is effective in vibration suppression and robust to the change of natural frequency.

关键词： FAST telescope vibration suppression motion planning s-curve input shaping

来源：评论

学校读者我要写书评

暂无评论

Decision-Making in Driver-Automation Shared control: A Review and Perspectives

arXiv

引用

arXiv 2020年

作者： Wang, Wenshuo Na, Xiaoxiang Cao, Dongpu Gong, Jianwei Xi, Junqiang Xing, Yang Wang, Fei-Yue CA94720 United States Department of Engineering University of Cambridge Trumpington Street CambridgeCB2 1PZ United Kingdom Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave. West Waterloo ONN2L3G1 Canada Department of Mechanical Engineering Beijing Institute of Technology Beijing100081 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore639798 Singapore State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to control. The human driver, as an essential agent in the driver-vehicle shared control systems, should be precisely modeled regarding their cognitive processes, control strategies, and decision-making processes. The interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of humans. Many open-ended questions arise, such as what proper role of human drivers should act in a shared control scheme? How to make an intelligent decision capable of balancing the benefits of agents in shared control systems? Due to the advent of these attentions and questions, it is desirable to present a survey on the decision-making between human drivers and highly automated vehicles, to understand their architectures, human driver modeling, and interaction strategies under the driver-vehicle shared schemes. Finally, we give a further discussion on the key future challenges and opportunities. They are likely to shape new potential research directions. Copyright © 2020, 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

Rethinking temporal object detection from robotic perspectives

arXiv

引用

arXiv 2019年

作者： Chen, Xingyu Wu, Zhengxing Yu, Junzhi Wen, Li State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Beijing Innovation Center Engineering Science and Advanced Technology Peking University Beijing100871 China School of Mechanical Engineering and Automation Beihang University Beijing100191 China

Video object detection (VID) has been vigorously studied for years but almost all literature adopts a static accuracy-based evaluation, i.e., average precision (AP). From a robotic perspective, the importance of recall continuity and localization stability is equal to that of accuracy, but the AP is insufficient to reflect detectors' performance across time. In this paper, non-reference assessments are proposed for continuity and stability based on object tracklets. These temporal evaluations can serve as supplements to static AP. Further, we develop an online tracklet refinement for improving detectors' temporal performance through short tracklet suppression, fragment filling, and temporal location fusion. In addition, we propose a small-overlap suppression to extend VID methods to single object tracking (SOT) task so that a flexible SOT-by-detection framework is then formed. Extensive experiments are conducted on ImageNet VID dataset and real-world robotic tasks, where the superiority of our proposed approaches are validated and verified. Codes will be publicly available. Copyright © 2019, The Authors. All rights reserved.

关键词： Object recognition

来源：评论

学校读者我要写书评

暂无评论

Optimal Tracking control for Reconfigurable Manipulators Based on Critic-only Policy Iteration Algorithm 36

Optimal Tracking Control for Reconfigurable Manipulators Bas...

引用

第36届中国控制会议

作者： Hongbing Xia Bo Zhao Yuanchun Li Department of Control Science and Engineering Changchun University of Technology The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper tackles the optimal tracking control problem for reconfigurable manipulators based on critic-only policy iteration（Co PI） algorithm. By system transformation, the optimal tracking control problem is transformed into an optimal regulation problem. The optimal tracking controller is composed of the desired controller and the approximate optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, while the approximate optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. Then, a critic neural network is used to estimate the optimal performance index function, and the optimal feedback control is obtained by the Co PI algorithm. The convergence of the proposed method is analyzed and it is shown that the closed-loop system based on Co PI is uniformly ultimately bounded by using the Lyapunov approach. Finally, simulation studies are given to show the effectiveness of the developed method.

关键词： Adaptive dynamic programming Reconfigurable manipulators Optimal tracking control Policy iteration Neural networks

来源：评论

学校读者我要写书评

暂无评论

Short-term Bus Passenger Flow Forecast Based On Deep Learning

Short-term Bus Passenger Flow Forecast Based On Deep Learnin...

引用

International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)

作者： Xiaoshuang Li Ziyang Chen Fenghua Zhu Wei Chang Chang Tan Gang Xiong The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Traffic police detachment of Hefei Public Security Bureau Hefei China iFLYTEK CO.LTD Hefei China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781728105529

The public transportation system is an essential part of the life of the citizens and it's the basis of intelligent transportation system(ITS). This paper tries to predict shortterm bus passenger flow by using deep learning approach that called SAE model and DBN model. The model training and evaluation were carried out using the credit card records of the Suzhou bus IC card. The experimental results show that the SAE and DBN models can reduce the prediction error by 9.51% and 10.48%, respectively, compared with the traditional method. The methods of deep learning show a good application prospect in the short-term bus passenger flow forecasting.

关键词： Intelligent transportation Short-term bus passenger flow forecasting Deep learning SAE model DBN model Intelligent Transportation passenger flow Motor buses Machine Learning Intelligent transportation systems Error of prediction life span of machinery parts transport system

来源：评论

学校读者我要写书评

暂无评论

Decentralized optimal control for modular and reconfigurable robots based on adaptive dynamic programming 36

Decentralized optimal control for modular and reconfigurable...

引用

第36届中国控制会议

作者： Zixu Wang Bo Dong Hongbing Xia Yuanchun Li Department of Control Science and Engineering Changchun University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper presents a decentralized optimal control method for modular and reconflgurable robots（MRRs） based on adaptive dynamic ***,the dynamic model of MRRs is formulated by using the Newton-Euler iterative algorithm,and then the state space description is ***,the optimal control policy of the MRRs system is obtained based on the policy iteration algorithm,which is used to solve the Hamilton-Jacobi-Bellman（HJB） equation via the critic neural ***,the stability of the closed-loop system is proved by using the Lyapunov ***,simulations are conducted to illustrate the effectiveness for the 2-DOF MRRs.

关键词： Modular and reconfigurable robot Decentralized control strategy Adaptive dynamic programming Neural network

来源：评论

学校读者我要写书评

暂无评论

A Situation-Aware Collision Avoidance Strategy for Car-Following

引用

IEEE/CAA Journal of Automatica Sinica 2018年第5期5卷 1012-1016页

作者： Li Li Fellow IEEE Xinyu Peng Fei-Yue Wang ieee department of automation bnristtsinghua universityBeijing l00084China the department of automation tsinghua universityBeijing l00084China state key laboratory of management and control for complex systems institute of automationchinese academy of sciencesBeijing 100080China the driver cognition and automated driving laboratory university of waterlooWaterloo N2L 3GlCanada the department of electrical and computer engineering purdue school of engineering and technologyindiana university-purdue university indianapolisIndiana 46202-5l32USA

Abstract--In this paper, we discuss how to develop an appropriate collision avoidance strategy for car-following. This strategy aims to keep a good balance between traffic safety and efficiency while also taking into consideration the unavoidable uncertainty of position/speed perception/measurement of vehicles and other drivers. Both theoretical analysis and numerical testing results are provided to show the effectiveness of the proposed strategy. Index Terms--Collision avoidance, safety, traffic efficiency, uncertainty.

关键词： Collision avoidance safety traffic efficiency uncertainty

来源：评论

学校读者我要写书评

暂无评论

Decentralized Adaptive Super-Twisting control for Modular and Reconfigurable Robots with Uncertain Environment Contact 36

Decentralized Adaptive Super-Twisting Control for Modular an...

引用

第36届中国控制会议

作者： Bo Dong Yan Li Keping Liu Yuanchun Li Department of Control Science and Engineering Changchun University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper presents a decentralized adaptive super-twisting control method for modular and reconflgurable robots（MRRs） with uncertain environment *** conventional methods that rely on robot-environment contact model or force/torque sensing,this paper addresses the problem of controlling MRRs in contact with uncertain environment that using only local dynamic information of each joint *** dynamic model of MRR is formulated as a synthesis of interconnected *** on the integral sliding mode control（ISMC） technique and the adaptive super-twisting algorithm（ASTA）,the decentralized controller is designed to compensate the model uncertainty in which the up-bound is *** stability of the MRR system is proved by using the Lyapunov *** last,simulations are conducted for 2-DOF MRRs with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach.

关键词： Modular and reconfigurable robot Decentralized control strategy Uncertain environment contact Adaptive supertwisting algorithm Interconnected couplings

来源：评论

学校读者我要写书评

暂无评论

Design and 3D Motion Modeling of a 300-m Gliding Robotic Dolphin

引用

IFAC-PapersOnLine 2017年第1期50卷 12685-12690页

作者： Yuan, Jun Wu, Zhengxing Yu, Junzhi Zhou, Chao Tan, Min University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This paper presents the mechatronic design and three-dimensional (3D) motion modeling of a gliding robotic dolphin capable of diving as deep as 300 m. Propulsion modes of bio-inspired robotic dolphin and traditional underwater gliders are integrated into the robot in order to endow it with both high maneuverability and long endurance simultaneously. It is realized by introducing a buoyancy adjusting mechanism on the basis of a bio-inspired robotic dolphin. Particular design on mechanical seal and compressive strength is implemented to achieve large diving depth. Further, a full-state dynamic model for 3D gliding motion is established for motion analysis. In comparison with traditional underwater gliders, the robot's flippers and fluke are controllable and thereby enrich the state-regulating modes of gliding motion, which is considered specially in the dynamic model. Simulations are conducted to analyze the robot's 3D gliding motion. Experiments are also carried out to validate the robot's gliding performance and the effectiveness of the formulated dynamic model. © 2017

关键词： 3D modeling Biomimetics Compressive strength Dolphins (structures) Dynamic models Dynamics Machine design Motion control Robotics Robots Adjusting mechanism Bio inspired robotics Mechatronic design Robotic dolphin State regulating Three dimensional (3D) motion Underwater gliders Underwater robotics

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：