检索结果-内蒙古大学图书馆

IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Qichao Zhang Dongbin Zhao The state Key Laboratory of Management and Control for Complex Systems University of Chinese Academy of Sciences Beijing China

In this paper, the optimal control problem for the continuous-time nonlinear systems with partially unknown dynamics is investigated. The event-triggered internal reinforcement learning (IRL) is proposed to approach the solution of the Hamilton-Jacobi-Bellman (HJB) equation. Note that the knowledge of internal dynamics is relaxed, and the event-triggered control scheme is adopted to reduce the computational burden and communication resources. For the online implementation purpose, a single-critic neural network (NN) structure is constructed to approach the optimal value function and the optimal policy with convergence analysis. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed algorithm.

关键词： Artificial neural networks Heuristic algorithms Optimal control Nonlinear systems System dynamics Learning (artificial intelligence) Convergence

来源：评论

学校读者我要写书评

暂无评论

Cooperative Adaptive control for Consensus of Leader-Following General Linear Multi-Agent systems in Directed Communication Topology

Cooperative Adaptive Control for Consensus of Leader-Followi...

引用

Data Driven control and Learning systems (DDCLS)

作者： Benkai Li Qinglai Wei Derong Liu University of Chinese Academy of Sciences Beijing P. R. China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China School of Automation Guangdong University of Technology Guangzhou P. R. China

ISBN: (纸本)9781538626191

This paper investigates the consensus problem for leader-following multi-agent systems with general linear dynamics in directed communication topology. The fixed directed communication topology is considered. To adjust the coupling weights of neighboring agents, an adjacent state feedback protocol with an adaptive law is developed. LaSalle's invariance principle is used to analyze the stability. The consensus for multi-agent systems under directed communication topology containing a directed spanning tree with the leader as the root can be realized. The design method is based on Riccati inequality as well as algebraic graph theory. Finally, two examples are shown to illustrate the performance of the present controller.

关键词： Multi-agent systems Topology Protocols control systems Eigenvalues and eigenfunctions Couplings

来源：评论

学校读者我要写书评

暂无评论

A learning-based decentralized optimal control method for modular and reconfigurable robots with uncertain environment 24th

A learning-based decentralized optimal control method for mo...

引用

24th International Conference on Neural Information Processing, ICONIP 2017

作者： Dong, Bo Liu, Keping Li, Hui Li, Yuanchun Department of Control Science and Engineering Changchun University of Technology Yan’an Avenue. 2055 Changchun130012 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Zhongguancun East Road. 95 Beijing100190 China

ISBN: (纸本)9783319701356

This paper presents a novel decentralized control approach for modular and reconfigurable robots (MRRs) with uncertain environment contact under a learning-based optimal compensation strategy. Unlike the known optimal control methods that are merely suitable for specific classes of robotic systems without implementing dynamic compensations, in this investigation, the dynamic model of the MRR system is described as a synthesis of interconnected subsystems, in which the obtainable local dynamic information is utilized effectively to construct the feedback controller, thus making the decentralized optimal control problem of the MRR system be formulated as an optimal compensation issue of the model uncertainty. A policy iteration algorithm is employed to solve the Hamilton-Jacobi-Bellman (HJB) equation with a modified cost function, which is approximated by constructing a critic neural network, and then the approximate optimal control policy can be derived. The asymptotic stability of the closed-loop MRR system is proved by using the Lyapunov theory. At last, simulations are performed to verify the effectiveness of the proposed decentralized optimal control approach. © Springer International Publishing AG 2017.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

The 3D point clouds registration for human foot 3rd

The 3D point clouds registration for human foot

引用

3rd International Conference on Intelligence Science, ICIS 2018

作者： Xie, Yi Shang, Xiuqin Li, Yuqing Liu, Xiwei Zhu, Fenghua Xiong, Gang Pirttikangas, Susanna Zhou, Jiehan School of Electrical and Electronic Engineering The University of Manchester ManchesterM13 9PL United Kingdom The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences DongguanGuangdong China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Qingdao Academy of Intelligent Industries Qingdao China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing100190 China The Center for Ubiquitous Computing University of Oulu Oulu Finland

ISBN: (纸本)9783030013127

For personalized design it is important to be able to collect, measure and evaluate individual properties of human beings. This paper proposes registration for the point clouds during foot 3D scanning. In the experiment, we get the point clouds of the human foot from the Artec 3D scanner and complete the registration of the point clouds from different visual angles. Dealing with the customized footwear, we choose a novel algorithm, which combines the NARF key point detector and the FPFH descriptor, to improve the efficiency of the initial iteration and reduce the computation burden of matching process. © IFIP International Federation for Information Processing 2018.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

UAV assisted bridge defect inspection system 3rd

UAV assisted bridge defect inspection system

引用

3rd International Conference on Intelligence Science, ICIS 2018

作者： Yang, Shuzhan Shen, Zhen Wang, Xiao Bai, Tianxiang Ji, Yingliang Jiang, Yuyi Liu, Xiwei Dong, Xisong Li, Chuanfu Han, Qi Lu, Jian Xiong, Gang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266109 China College of Engineering Peking University Beijing100871 China University of Chinese Academy of Sciences Beijing100049 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Expressway Qingdao266041 China Guangdong Launca Medical Device Technology Co. Ltd. Dongguan523808 China

ISBN: (纸本)9783030013127

Traditional bridge inspection methods require lane closures, inspection equipment, and most importantly the experiences and knowledge of the inspectors. This increases not only the inspection cost and time, but also the risk to the travelling public. Due to the lengthy and costly traditional bridge inspection methods, there has been an increasing backlog of inspection activities. In this research, we design an unmanned aerial vehicle (UAV) assisted bridge defect inspection system, in which a UAV can capture the image and transmit the information to the ground station for further analysis. The system can be divided into 2 subsystems: electromechanics & communication system, and image processing system. The electromechanics & communication systems ensure the self-locating, flight control, image transmission, and human intervention functions. The image processing system performs the image preprocessing, defect extraction, and provides the inspection report. This system, if put into practice, can save the cost up to 70%. We believe that the UAV assisted bridge inspection can be popular in the future. © IFIP International Federation for Information Processing 2018.

关键词： Image processing

来源：评论

学校读者我要写书评

暂无评论

Incorporating Message Embedding into Co-Factor Matrix Factorization for Retweeting Prediction

Incorporating Message Embedding into Co-Factor Matrix Factor...

引用

International Joint Conference on Neural Networks

作者： Can Wang Qiudan Li Lei Wang Daniel Dajun Zeng The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Management Information Systems University of Arizona

ISBN: (纸本)9781509061839

With the rapid growth of Web 2.0, social media has become a prevalent information sharing and spreading platform, where users can retweet interesting messages. To better understand the propagation mechanism for information diffusion, it is necessary to model the user retweeting behavior and predict future retweets. Some existing work in retweeting prediction based on matrix factorization focuses on using user-message interaction information, user information and social influence information, etc. The challenge of improving prediction performance is how to jointly perform deep representation of these information to solve the sparsity problem and then learn a more comprehensive retweeting behavior model. Inspired by word2vec and co-factor matrix factorization model, this paper proposes a hybrid model, called HCFMF, for learning users' retweeting behavior, it first computes the message content similarity by considering the message co-occurrence, the author information and word2vec based low-dimensional representation of content, then, jointly decomposes the user-message matrix and message-message similarity matrix based on a co-factorization model. We empirically evaluate the performance of the proposed model on real world weibo datasets. Experimental results show that taking the dense representation of author and content information into consideration could allow us make more accurate analysis of users' retweeting patterns. The mined patterns could serve as a feedback channel for both consumers and management departments.

关键词： Retweeting prediction Co-factor matrix factorization Word2vec Low-dimensional representation matrix decomposition Consumers feedback channel Hybrid modes information role model Information Sharing

来源：评论

学校读者我要写书评

暂无评论

Robust medical instrument segmentation challenge 2019

arXiv

引用

arXiv 2020年

作者： Roβ, Tobias Reinke, Annika Full, Peter M. Wagner, Martin Kenngott, Hannes Apitz, Martin Hempe, Hellena Filimon, Diana Mindroc Scholz, Patrick Tran, Thuy Nuong Bruno, Pierangela Arbelaéz, Pablo Bian, Gui-Bin Bodenstedt, Sebastian Bolmgren, Jon Lindström Bravo-Sánchez, Laura Chen, Hua-Bin González, Cristina Guo, Dong Halvorsen, Pål Heng, Pheng-Ann Hosgor, Enes Hou, Zeng-Guang Isensee, Fabian Jha, Debesh Jiang, Tingting Kirtac, Kadir Jin, Yueming Kletz, Sabrina Leger, Stefan Li, Zhixuan Maier-Hein, Klaus H. Ni, Zhen-Liang Riegler, Michael A. Schoeffmann, Klaus Shi, Ruohua Speidel, Stefanie Stenze, Michael Twick, Isabell Wang, Gutai Wang, Jiacheng Wang, Liansheng Wang, Lu Zhang, Yujie Zhou, Yan-Jie Zhu, Lei Wiesenfarth, Manuel Kopp-Schneider, Annette Müller-Stich, Beat P. Maier-Hein, Lena Heidelberg Germany University of Heidelberg Germany Heidelberg Germany Department of General Heidelberg University Hospital Visceral and Transplant Surgery Heidelberg Germany caresyntax Berlin Germany University of Chinese Academy Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China SimulaMet Oslo Norway Tromsø Norway Oslo Norway School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China Partner Site Dresden Heidelberg Germany Faculty of Medicine and University Hospital Carl Gustav Carus Technische Universität Dresden Dresden Germany Dresden Germany Universidad de Los Andes Bogotá Colombia Peking University Peking China Department of Computer Science School of Informatics Xiamen University Xiamen China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong German Cancer Research Center Division of Biostatistics Heidelberg Germany Institute of Information Technology Klagenfurt University Austria

Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and roboticassisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video images have been proposed in the literature, key limitations remain to be addressed: Firstly, robustness, that is, the reliable performance of state-of-the-art methods when run on challenging images (e.g. in the presence of blood, smoke or motion artifacts). Secondly, generalization;algorithms trained for a specific intervention in a specific hospital should generalize to other interventions or institutions. In an effort to promote solutions for these limitations, we organized the Robust Medical Instrument Segmentation (ROBUST-MIS) challenge as an international benchmarking competition with a specific focus on the robustness and generalization capabilities of algorithms. For the first time in the field of endoscopic image processing, our challenge included a task on binary segmentation and also addressed multi-instance detection and segmentation. The challenge was based on a surgical data set comprising 10,040 annotated images acquired from a total of 30 surgical procedures from three different types of surgery. The validation of the competing methods for the three tasks (binary segmentation, multi-instance detection and multi-instance segmentation) was performed in three different stages with an increasing domain gap between the training and the test data. The results confirm the initial hypothesis, namely that algorithm performance degrades with an increasing domain gap. While the average detection and segmentation quality of the best-performing algorithms is high, future research should concentrate on detection and segmentation of small, crossing, moving and transparent instrument(s) (parts). Copyright © 2020, The Authors. All rights reserved.

关键词： Endoscopy

来源：评论

学校读者我要写书评

暂无评论

Social Energy:Mining Energy From the Society

引用

IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 466-482页

作者： Jun Jason Zhang David Wenzhong Gao Yingchen Zhang Xiao Wang Xiangyang Zhao Dongliang Duan Xiaoxiao Dai Jun Hao Fei-Yue Wang Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer ScienceUniversity of Denver IEEE National Renewable Energy Laboratory Qingdao Academy of Intelligent Industries(QAII) QingdaoShandongChinaand SKL-MCCSCASIA School of Automation Science and Electrical Engineering Beihang University Department of Electrical and Computer Engineering College of Engineering and Applied ScienceUniversity of Wyoming State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences(SKL-MCCSCASIA) Research Center of Computational Experiments and Parallel Systems National University of Defense Technology

The inherent nature of energy,i.e.,physicality,sociality and informatization,implies the inevitable and intensive interaction between energy systems and social *** this perspective,we define "social energy" as a complex sociotechnical system of energy systems,social systems and the derived artificial virtual systems which characterize the intense intersystem and intra-system *** recent advancement in intelligent technology,including artificial intelligence and machine learning technologies,sensing and communication in Internet of Things technologies,and massive high performance computing and extreme-scale data analytics technologies,enables the possibility of substantial advancement in socio-technical system optimization,scheduling,control and *** this paper,we provide a discussion on the nature of energy,and then propose the concept and intention of social energy systems for electrical power.A general methodology of establishing and investigating social energy is proposed,which is based on the ACP approach,i.e., "artificial systems"(A), "computational experiments"(C) and "parallel execution"(P),and parallel system methodology.A case study on the University of Denver(DU) campus grid is provided and studied to demonstrate the social energy *** the concluding remarks,we discuss the technical pathway,in both social and nature sciences,to social energy,and our vision on its future.

关键词： ACP distribution locational marginal pricing intelligent operation in power systems parallel control parallel intelligence parallel management social energy socio-technical energy systems

来源：评论

学校读者我要写书评

暂无评论

Relative Torque Contribution Based Model Simplification for Robotic Dynamics Identification

Relative Torque Contribution Based Model Simplification for ...

引用

IEEE Symposium Series on Computational Intelligence

作者： Weiqun Wang Zeng-Guang Hou Xu Liang Shixin Ren Liang Peng Lincong Luo Chengkun Cui State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

It has been proved that minimizing the condition number of the observation matrix, which is calculated from the robot dynamic model and the associated exciting trajectories, is very effective for improving the identification accuracy of robotic dynamics. A relative simple dynamic model is beneficial for reduction of the associated condition number, and hence, several model simplification methods have been proposed in the literature. However, the existed methods cannot be used to efficiently process model structural errors, which will inevitably cause inaccurate estimation of the dynamics. Therefore, a novel model simplification method based on relative contribution of the undetermined parameters, is proposed to overcome the deficiency. Firstly, exciting trajectories for model simplification are designed by using finite Fourier series and optimized by using the condition number criteria. Then, the optimized exciting trajectory is implemented on the robot, and joint torques and motion data are recorded, which are used to calculate relative contribution of the undetermined parameters to joint torques. The model can be simplified repeatedly by neglecting the parameter that contributes least until the condition number is small enough. Finally, the performance of the proposed method is demonstrated by the identification and validation experiments conducted on a lower limb rehabilitation robot.

关键词： Identification Model Simplification Robotic Dynamics

来源：评论

学校读者我要写书评

暂无评论

Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

引用

Journal of Central South University 2016年第11期23卷 2917-2925页

作者：李元春丁贵彬赵博 Department of Control Science and Engineering Changchun University of Technology Department of Control Science and Engineering Jilin University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

关键词： constrained reconfigurable manipulators position/force control model decomposition decentralized control neural network

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：