Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning...
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Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.
In order to improve the detection performance of small targets under sea clutter background, a detection method based on bagging decision tree with multi-feature information fusion is proposed. First, the time-frequen...
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This article focuses on the adaptive consensus tracking problem for nonlinear multiagent systems with unmeasurable state and input saturation. For unmeasurable state and nonlinearities, a learning-observer inspired by...
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To address the challenges in battery health management, this paper introduces a physics-informed neural network predictor-estimator scheme. In the framework, the predictor forecasts health degradation, setting benchma...
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This article studies the leader-following consensus problem of multi-agent systems (MASs) in the presence of denial-of-service (DoS) attacks and switching topology. The problem that all edges of one follower are block...
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Recent advancements in music generation research have significantly progressed the field. However, a prevalent issue among current models is their tendency to overlook music's intrinsic structure, leading to compo...
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Many advanced object detection algorithms are mainly based on natural scenes object and rarely dedicated to fine-grained objects. This seriously limits the application of these advanced detection algorithms in remote ...
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Many advanced object detection algorithms are mainly based on natural scenes object and rarely dedicated to fine-grained objects. This seriously limits the application of these advanced detection algorithms in remote sensing object detection. How to apply horizontal detection in remote sensing images has important research significance. The mainstream remote sensing object detection algorithms achieve this task by angle regression, but the periodicity of angle leads to very large losses in this regression method, which increases the difficulty of model learning. Circular smooth label(CSL)solved this problem well by transforming the regression of angle into a classification form. YOLOv5 combines many excellent modules and methods in recent years, which greatly improves the detection accuracy of small *** use YOLOv5 as a baseline and combine the CSL method to learn the angle of arbitrarily oriented targets,and distinguish the fine-grained between instance classes by adding an attention mechanism module to accomplish the fine-grained target detection task for remote sensing images. Our improved model achieves an average category accuracy of 39.2% on the FAIR1M dataset. Although our method does not achieve satisfactory results,this approach is very efficient and simple, reducing the hardware requirements of the model.
Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combi...
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Aiming at the problem that the intermediate potential part of the traditional bistable stochastic resonance model cannot be adjusted independently, a new composite stochastic resonance(NCSR) model is proposed by combining the Woods–Saxon(WS) model and the improved piecewise bistable model. The model retains the characteristics of the independent parameters of WS model and the improved piecewise model has no output saturation, all the parameters in the new model have no coupling characteristics. Under α stable noise environment, the new model is used to detect periodic signal and aperiodic signal, the detection results indicate that the new model has higher noise utilization and better detection ***, the new model is applied to image denoising, the results showed that under the same conditions, the output peak signal-to-noise ratio(PSNR) and the correlation number of NCSR method is higher than that of other commonly used linear denoising methods and improved piecewise SR methods, the effectiveness of the new model is verified.
This article studies the adaptive optimal output regulation problem for a class of interconnected singularly perturbed systems(SPSs) with unknown dynamics based on reinforcement learning(RL).Taking into account the sl...
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This article studies the adaptive optimal output regulation problem for a class of interconnected singularly perturbed systems(SPSs) with unknown dynamics based on reinforcement learning(RL).Taking into account the slow and fast characteristics among system states,the interconnected SPS is decomposed into the slow time-scale dynamics and the fast timescale dynamics through singular perturbation *** the fast time-scale dynamics with interconnections,we devise a decentralized optimal control strategy by selecting appropriate weight matrices in the cost *** the slow time-scale dynamics with unknown system parameters,an off-policy RL algorithm with convergence guarantee is given to learn the optimal control strategy in terms of measurement *** combining the slow and fast controllers,we establish the composite decentralized adaptive optimal output regulator,and rigorously analyze the stability and optimality of the closed-loop *** proposed decomposition design not only bypasses the numerical stiffness but also alleviates the *** efficacy of the proposed methodology is validated by a load-frequency control application of a two-area power system.
This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set...
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This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set and a probabilistic reachable set based on the priori knowledge of system *** with enhanced robust tubes, the chance constraints are then formulated into a deterministic form. To alleviate the online computational burden, a novel event-triggered stochastic model predictive control is developed, where the triggering condition is designed based on the past and future optimal trajectory tracking errors in order to achieve a good trade-off between system resource utilization and control performance. Two triggering parameters σ and γ are used to adjust the frequency of solving the optimization problem. The probabilistic feasibility and stability of the system under the event-triggered mechanism are also examined. Finally, numerical studies on the control of a heating, ventilation, and air conditioning(HVAC) system confirm the efficacy of the proposed control.
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