检索结果-内蒙古大学图书馆

arXiv 2025年

作者： Guan, Renhe Wang, Yuanzhe Liu, Tao Wang, Yan Mechanical Electrical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China School of Control Science and Engineering Shandong University Shandong Jinan China School of Automation and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China

Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using distributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and extend to multiple constraints. Instead, optimization-based methods handle constraints effectively, but they are usually centralized, time-consuming and thus not easily scalable to numerous robots. To overcome drawbacks of both, we propose a novel cooperative transportation method for nonholonomic mobile robots by improving conventional formation control, which is distributed, has a low time-complexity and accommodates scalable constraints. The proposed control-based method is testified on a cable-suspended payload and divided into two parts, including robot trajectory generation and trajectory tracking. Unlike most time-consuming trajectory generation methods, ours can generate trajectories with only constant time-complexity, needless of global maps. As for trajectory tracking, our control-based method not only scales easily to multiple constraints as those optimization-based methods, but reduces their time-complexity from polynomial to linear. Simulations and experiments can verify the feasibility of our method. © 2025, CC BY.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Multi-objective Operation Path Planning Method for Robotic Arm Based on Configuration Space 5

Multi-objective Operation Path Planning Method for Robotic A...

引用

5th International Symposium on Robotics and Intelligent Manufacturing Technology, ISRIMT 2023

作者： Zou, Jinbao Liu, Chuankai Chen, Li Zhang, Jitao School of Mechanical Engineering and Automation Fuzhou University Fuzhou Fujian350108 China Beijing Aerospace Control Center Key Laboratory of National Defense Science and Technology for Aerospace Flight Dynamics Technology Beijing China

ISBN: (纸本)9798350316087

For the robotic arm to perform multi-task operations, the robotic arm operation requirements under the conditions of random multi-target operation points, safe obstacle avoidance, and reducing the rotation of joints as much as possible to reduce the wear and tear of robotic arm joints are considered, and the continuous path planning method for multi-target operations based on the configuration space is proposed. Firstly, by constructing the configuration space of robotic arm joints and dividing it into obstacle and free regions, searching continuous paths in the free region;on this basis, based on the TSP idea, using the minimum movement of robotic arm configuration in the free region as the transfer cost, the sequence planning method combining A ∗ algorithm and improved ant colony algorithm is used to solve the minimum value of the transfer cost and obtain the optimal operation sequence and robotic arm operation configuration, so as to obtain the continuous path with the least rotation of robotic arm to multiple target operation joints. © 2023 IEEE.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Data-driven Adaptive Optimization Recursive Identification for a Discrete-time Nonlinear System 11

Data-driven Adaptive Optimization Recursive Identification f...

引用

11th IEEE Data Driven control and Learning Systems Conference, DDCLS 2022

作者： Liu, Shida Wang, Yulin Fan, Lingling Wang, Li Wei, Yuzhou Ji, Honghai North China University of Technology School of Electronics and Control Engineering Beijing100144 China Beijing Information Science and Technology University School of Automation Beijing100096 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

In this paper a novel data-driven adaptive optimization recursive identification (DD-AORI) is proposed which applies for discrete-time nonlinear systems. The dynamic linearization technique is used to equivalently transform discrete-time nonlinear systems into the form of data-driven model. An optimal and convergent estimation for quickly time-varying parameters including its parameter update rate and covariance update rate is obtained by optimization indexes and Lyapunov convergence. The method improves the tracking ability of time-varying parameters by increasing the use of historical data. The damping factor is used to improve the dynamic effect of the system. To improve the estimation effect, the utilization ratio of new data is increased by forgetting factor. Simulation results are presented to verify the effectiveness of the proposed method. © 2022 IEEE.

关键词： Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Nonlinear-Drift-Driven Wiener Process–Markov Chain Switching Model for Predicting Lithium-Ion Battery Remaining Useful Life 1

引用

5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022

作者： Zhang, Yixing Feng, Fei Wang, Shunli Meng, Jinhao Xie, Jiale Yin, Hongpeng Chai, Yi School of Automation Chongqing University Chongqing400044 China Key Laboratory of Complex System Safety and Control Chongqing University Chongqing400044 China School of Information Engineering Southwest University of Science and Technology Mianyang621010 China College of Electrical Engineering Sichuan University Chengdu610065 China School of Automation North China Electric Power University Baoding071003 China

ISBN: (数字)9789819910274

ISBN: (纸本)9789819910267

The accurate prediction of remaining useful life (RUL) is vital to improve the safety and reliability of lithium-ion battery power systems. However, owing to the effects of state (work and storage) switching and retention time randomness, it is difficult to accurately predict the RUL of lithium-ion batteries in real time. This study uses a nonlinear-drift-driven Wiener process to describe the dynamic degradation paths of lithium-ion batteries, and utilizes the Markov chain to establish a switching model and to predict the future state-switching probability. The analytical distribution of the first arrival time of the lithium-ion battery failure threshold is derived, and the model posterior parameters are updated using the Bayesian strategy. Finally, the model is verified using a lithium-ion battery dataset from the National Aeronautics and Space Administration. The RUL prediction model that considers state switching is superior to models that do not consider state switching. Moreover, the model shows a relative error of only 5.9388%. Overall, this study provides a theoretical basis for the research and development of lithium-ion battery RUL prediction and health management systems. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Lithium-ion batteries

来源：评论

学校读者我要写书评

暂无评论

What makes for uniformity for non-contrastive self-supervised learning?

引用

science China(Technological sciences) 2022年第10期65卷 2399-2408页

作者： WANG YinQuan ZHANG XiaoPeng TIAN Qi Lü JinHu Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Huawei Inc. Shenzhen 518128China School of Automation Science and Electrical Engineering State Key Laboratory of Software Development EnvironmentBeihang UniversityBeijing 100191China

Recent advances in self-supervised learning(SSL) have made remarkable progress, especially for contrastive methods that target pulling two augmented views of one image together and pushing the views of all other images away. In this setting, negative pairs play a key role in avoiding collapsed representation. Recent studies, such as those on bootstrap your own latent(BYOL)and SimSiam, have surprisingly achieved a comparable performance even without contrasting negative samples. However, a basic theoretical issue for SSL arises: how can different SSL methods avoid collapsed representation, and is there a common design principle? In this study, we look deep into current non-contrastive SSL methods and analyze the key factors that avoid *** achieve this goal, we present a new indicator of uniformity metric and study the local dynamics of the indicator to diagnose collapses in different scenarios. Moreover, we present some principles for choosing a good predictor, such that we can explicitly control the optimization process. Our theoretical analysis result is validated on some widely used benchmarks spanning differentscale datasets. We also compare recent SSL methods and analyze their commonalities in avoiding collapses and some ideas for future algorithm designs.

关键词： contrastive learning self-supervised learning representation uniformity dynamics

来源：评论

学校读者我要写书评

暂无评论

Time-Constrained Cooperative Guidance Based on Deep Neural Network 42

Time-Constrained Cooperative Guidance Based on Deep Neural N...

引用

42nd Chinese control Conference, CCC 2023

作者： Wang, Changhai Yu, Jianglong Dong, Xiwang Li, Qingdong Ren, Zhang Wang, Feifei Hu, Xijing School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Beijing Institute of Control and Electronic Technology Beijing100038 China

ISBN: (纸本)9789887581543

Time-constrained cooperative guidance based on deep neural network (DNN) is developed to address the problem of cooperative guidance of multiple missiles against maneuvering targets. Firstly, deep neural network is applied to estimate time-to-go. A simplified dataset is created to improve the estimation effect and the performance of training results is good. Secondly, time-constrained cooperative guidance law is designed. Time-constrained guidance (TCG) law based on variable navigation ratio is proposed and an optimal method of cooperative time is designed. Thirdly, simulation in 3-D space and equivalent experiment in 2-D space are carried out to verify the performance of guidance law. An equivalent experiment platform based on multiple unmanned ground vehicles (Multi-UGVs) is erected and the experiment to achieve cooperative guidance is carried out. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Online Generation of Smooth Gliding Re-entry Trajectory

Online Generation of Smooth Gliding Re-entry Trajectory

引用

International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Hu, Cunyi Wang, Chenyu Wu, Yunjie State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology On Aircraft Control Laboratory Beijing100191 China

ISBN: (纸本)9789811966125

Since the 21st century, the trajectory planning of hypersonic vehicles has become a major focus and difficulty of research due to their ability to strike targets rapidly. In this paper, a mathematical model of the re-entry corridor under the altitude-velocity profile is established, and the initial altitude range is obtained by using the initial descent method. The proposed equilibrium gliding condition is used to suppress the periodic altitude bounce within the remaining range while introducing the angle feedback. It is also studied in comparison with two cases. In the first case, a comparative study is performed with the method without feedback, and the second case is the application of the algorithm introducing altitude feedback in the predictor-corrector guidance algorithm to this trajectory planning. The experimental results show that this method can make the trajectory descend according to the altitude-velocity trajectory curve obtained from the preset equilibrium gliding angle, so as to obtain the three-degree-of-freedom re-entry trajectory and complete the online generation and tracking of the three-degree-of-freedom trajectory. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

Exploring Image Generation for UAV Change Detection

引用

IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1061-1072页

作者： Xuan Li Haibin Duan Yonglin Tian Fei-Yue Wang Peng Cheng Laboratory Shenzhen 518000China IEEE State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083 Department of Automation University of Science and Technology of ChinaHefei 230027 State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China

Change detection(CD)is becoming indispensable for unmanned aerial vehicles(UAVs),especially in the domain of water landing,rescue and ***,even the most advanced models require large amounts of data for model training and ***,sufficient labeled images with different imaging conditions are *** by computer graphics,we present a cloning method to simulate inland-water scene and collect an auto-labeled simulated *** simulated dataset consists of six challenges to test the effects of dynamic background,weather,and noise on change detection ***,we propose an image translation framework that translates simulated images to synthetic *** framework uses shared parameters(encoder and generator)and 22×22 receptive fields(discriminator)to generate realistic synthetic images as model training *** experimental results indicate that:1)different imaging challenges affect the performance of change detection models;2)compared with simulated images,synthetic images can effectively improve the accuracy of supervised models.

关键词： Change detection computer graphics image translation simulated images synthetic images unmanned aerial vehicles(UAVs)

来源：评论

学校读者我要写书评

暂无评论

Finite-Horizon Discrete-Time Optimal control for Nonlinear Systems under State and control Constraints

arXiv

引用

arXiv 2025年

作者： Lv, Chuanzhi Li, Hongdan Zhang, Huanshui College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao266590 China The School of Control Science and Engineering Shandong University Shandong Jinan250061 China

This paper addresses the optimal control problem of finite-horizon discrete-time nonlinear systems under state and control constraints. A novel numerical algorithm based on optimal control theory is proposed to achieve superior computational efficiency, with the novelty lying in establishing a unified framework that integrates all aspects of algorithm design through the solution of forward and backward difference equations (FBDEs). Firstly, the state and control constraints are transformed using an augmented Lagrangian method (ALM), thereby decomposing the original optimal control problem into several optimization subproblems. These subproblems are then reformulated as new optimal control problem, which are solved through the corresponding FBDEs, resulting in an algorithm with superlinear convergence rate. Furthermore, the gradient and Hessian matrix are computed by iteratively solving FBDEs, thereby accelerating the optimization process. The gradient is obtained through the standard Hamiltonian, while the Hessian matrix is derived by constructing a novel Hamiltonian specifically designed for second-order optimization, transforming each row into an iterative solution of a new set of FBDEs. Finally, the effectiveness of the algorithm is validated through simulation results in automatic guided vehicles (AGV) trajectory tracking control. © 2025, CC BY.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

An investigation of CO generation path upon loading coal from perspective of macromolecular simulation

引用

Environmental science and Pollution Research 2024年第44期31卷 56008-56023页

作者： Jin, Zhengjiao Zhang, Jian Wang, Jing Si, Guangyao Shi, Xianlei Li, Yao Cai, Maolin College of Safety Science and Engineering Henan Polytechnic University Jiaozuo454003 China Key Laboratory of Gas Geology and Gas Control Henan Polytechnic University Jiaozuo454003 China State Collaborative Innovation Center of Coal Work Safety and Clean-Efficiency Utilization Henan Polytechnic University Jiaozuo454003 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo454003 China School of Minerals and Energy Resources Engineering University of New South Wales SydneyNSW2052 Australia College of Chemistry and Chemical Engineering Henan Polytechnic University Jiaozuo454003 China

CO is a hazardous and pollutant gas that can be produced in many scenarios of coal-related operations. The study mainly investigated CO production process and mechanism when coal is subject to external forces. The effects of coal type, particle size, temperature, and inlet atmosphere on CO production from coal body fragmentation were investigated through coal loading experiments. Materials Studio software was used to carry out coal macromolecular mechanics simulation and molecular dynamics simulation, and the gas production mechanism of coal under loading was explored at the molecular level. It was found that under air atmosphere, the low degree of deterioration, small particle size, and elevated temperature are all more likely to cause coal samples to fragment and decompose to produce CO. The carbonyl group in the molecular structure of coal is shed or broken free radical fragments react with oxygen which may lead to CO formation. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Free radicals

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：