检索结果-内蒙古大学图书馆

Annual Conference of the IEEE Industrial Electronics Society

作者： Man Hao Weihua Cao Min Wu Zhentao Liu Jin-Hua She Luefeng Chen Ri Zhang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology Tokyo Japan

To ensure that people can supplement enough water at the right time, an initiative service method based on intention understanding for drinking service robot is proposed. Firstly, individual factors and environmental factors which are associated with personal intentions are collected. Secondly, users' intention and desire degree for intention are obtained by an improved Fuzzy-Context-specific Intention Inference method. Then the relationship between personal intention and human demands is established by an initiative service model. Finally, robots provide drinking water service initiatively according to humans' demands. Drinking service experiments are performed in a laboratory scenario using a humans-robots interaction system. The experimental results show that the drinking time of actual situation lags behind the initiative service time 25 minutes on average, and the initiative service renders drinking service 2 times more than actual situation on average, which demonstrates the feasibility of the proposal. In prospect, the initiative service method could be applied to many occasions in our daily life, e.g., family service, caring for the elderly, and medical rehabilitation.

关键词： Service robots Temperature Environmental factors Humidity Correlation

来源：评论

学校读者我要写书评

暂无评论

Distributed computation of linear matrix equations: An optimization perspective

arXiv

引用

arXiv 2017年

作者： Zeng, Xianlin Liang, Shu Hong, Yiguang Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Ministry of Education Beijing100081 China

This paper investigates the distributed computation of the well-known linear matrix equation in the form of AXB = F, with the matrices A, B, X, and F of appropriate dimensions, over multiagent networks from an optimization perspective. In this paper, we consider the standard distributed matrix-information structures, where each agent of the considered multi-agent network has access to one of the sub-block matrices of A, B, and F. To be specific, we first propose different decomposition methods to reformulate the matrix equations in standard structures as distributed constrained optimization problems by introducing substitutional variables;we show that the solutions of the reformulated distributed optimization problems are equivalent to least squares solutions to original matrix equations;and we design distributed continuous-time algorithms for the constrained optimization problems, even by using augmented matrices and a derivative feedback technique. Moreover, we prove the exponential convergence of the algorithms to a least squares solution to the matrix equation for any initial condition. Copyright © 2017, The Authors. All rights reserved.

关键词： Continuous time systems

来源：评论

学校读者我要写书评

暂无评论

Moving Vehicle Detection with Shadow Elimination Based on Improved ViBe Algorithm

引用

Journal of Physics: Conference Series 2019年第2期1302卷 022080-022080页

作者： Xue Xia Lu, Xiaobo Cao, Yichao Xia, Shudong Fu, Changqing School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China Beijing PKU Trans Info Technology Co. Ltd Beijing 100193 China

Moving vehicle detection based on video processing has been widely used in intelligent transportation system recently. However there are also many problems, such as dynamic background, ghost region, and shadow of moving objects. This paper proposes an improved ViBe object detection algorithm. First, an accurate background image is obtained by using the multi-frame averaging method, and then the background model is initialized by this accurate background image, thus effectively reducing the generation of ghost region. Whenever there is no moving object for a fixed number of consecutive frames in the video, this frame is updated to the background image. Conservative update strategy and foreground point counting method are adopted to update the background and reduce the impact of dynamic background on the foreground detection. Next, the foreground image detected by improved ViBe algorithm is input into the shadow elimination method proposed in this paper. Shadows in foreground pixels are detected in RGB color space, and then the pixels determined as shadows are eliminated. Finally, accurate moving vehicles are obtained. Our algorithm can effectively eliminate the shadows of moving vehicles, quickly adapt to background changes and illumination mutation, and get accurate moving objects, which is helpful for vehicle contour extraction and subsequent image processing.

关键词：

来源：评论

学校读者我要写书评

暂无评论

MEMS-based Human Activity Recognition Using Smartphone 35

MEMS-based Human Activity Recognition Using Smartphone

引用

第35届中国控制会议

作者： TIAN Ya CHEN Wenjie Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781509009107

Data mining is one hot orientation in today’s research *** activity recognition is meaningful in our daily living and is a significant aspect in data *** previously research is almost based on tri-axial *** paper presents a novel method to collect data from both accelerometer and gyroscope using *** daily activities including Walking,Running,Upstairs,Downstairs,Standing,Sitting and Cycling,a total of seven categories are *** raw data from MEMS are recorded by smartphone according to different daily *** improve the accuracy of classification for daily activities,this paper combines time-series features with wavelet coefficients to extract *** recognize these activities,the support vector machine is used to finish this ***,we compare the accuracy with other machine learning methods,such as k-nearest neighbor algorithm and neural network or decision *** result indicates that our method can achieve nearly 96%classification accuracy for the seven kinds of daily activities.

关键词： classification activity recognition wavelet transform support vector machine feature extraction

来源：评论

学校读者我要写书评

暂无评论

TIEA: A tradeoff-based interactive multiobjective evolutionary algorithm 7

TIEA: A tradeoff-based interactive multiobjective evolutiona...

引用

7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Chen, Lu Xin, Bin Chen, Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9784990534349

This paper proposes a tradeoff based interactive multiobjective evolutionary algorithm (TIEA). It can support the decision maker (DM) to guide the search towards the DM's most preferred solution by combing evolutionary algorithms with the framework of gradient projection. At each iteration, an evolutionary algorithm is used to generate an approximate Pareto optimal solution. Then, the DM is asked to provide preferences in terms of indifference tradeoffs, the projection of which onto the tangent hyperplane of the Pareto front provides a tradeoff direction. To calculate the projection, an approach to approximate the normal vector of the tangent hyperplane of the Pareto front is developed. Results on nine numerical examples by using TIEA show that TIEA is able to solve multiobjective optimization problems with more than three objectives. Moreover, it can find the Pareto optimal solution that the DM prefers most. © 2016, Fuji Technology Press. All rights reserved.

关键词： Evolutionary algorithms

来源：评论

学校读者我要写书评

暂无评论

Distributed trajectory tracking control for multiple nonholonomic mobile robots

引用

IFAC-PapersOnLine 2016年第4期49卷 31-36页

作者： Yang, Qingkai Fang, Hao Cao, Ming Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Faculty of Mathematics and Natural Sciences University of Groningen Groningen AG9747 Netherlands

In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots' trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system's complexity and broadening the proposed controller's practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems controllers Distributed parameter control systems Mobile robots Navigation Chained form system Distributed control Distributed controller Distributed tracking Non holonomic mobile robots Tracking controls Trajectory tracking control Variable transformation

来源：评论

学校读者我要写书评

暂无评论

Optimal tracking cooperative control for multi-agent systems with periodic sampling via robust model predictive control approach 36

Optimal tracking cooperative control for multi-agent systems...

引用

第36届中国控制会议

作者： Bohui Wang Weisheng Chen Jingcheng Wang Bin Zhang Zhengqiang Zhang Hai Lin Bin Ma the School of Aerospace Science and Technology Xidian University the Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China the Autonomous Systems and Intelligent Control international Joint Research Center Xian Technological University the Department of Electrical Engineering University of South Carolina the with the School of Engineering Qufu Normal University

ISBN: (纸本)9781538629185

This paper addresses the optimized tracking cooperative control problem for multi-agent systems with periodic sampling and directed communication topology via robust model predictive control *** proposed optimized tracking cooperative control strategy relaxes the assumptions in existing works that the control gain and the local input must be continuous and the states information exchange has no recourse *** the conditions of the optimized consensus and the communication cost being satisfied,the tracking cooperative control law with bounded parameters is developed based on the periodic *** shows that if the sampling condition is satisfied,the multi-agent systems will reach the optimized *** results are provided to verify the proposed approach.

关键词： Index Terms-multi-agent systems tracking cooperative control periodic sampling optimized consensus robust model predictive control

来源：评论

学校读者我要写书评

暂无评论

Nonlinear systems modeling based on self-adaptive dual control

Nonlinear systems modeling based on self-adaptive dual contr...

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Shang Ting Qian Fucai Hu Shaolin Xie Guo Yang Hengzhan Yu Hui School of Automation and Information Engineering Xi'an University of Technology Xi'an P. R. China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University Xi'an P. R. China State Key Laboratory of Astronautic Dynamics Xi'an Satellite Control Center Xi'an P. R. China

An enhanced modeling method is proposed for a class of discrete-time nonlinear stochastic dynamical systems for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible. The architecture employs a network of Gaussian radial basis functions to compensate for the plant nonlinearities. A new method, combining subtractive clustering with GK fuzzy clustering, is adopted to obtain the optimal number and centers of the RBF network selfadaptively. A stable weight adjustment mechanism is then determined using Kalman filtering. Simulation results reveal that the hybrid clustering, used for RBF network training, achieves better performance for nonlinear dynamic systems modeling and function approximation.

关键词： Clustering algorithms Kalman filters Covariance matrices Radial basis function networks Function approximation

来源：评论

学校读者我要写书评

暂无评论

A Stick-Slip Vibration Suppression Method for the Drillstring System Based on Neutral Type Model

A Stick-Slip Vibration Suppression Method for the Drillstrin...

引用

Asian control Conference

作者： Jun Cheng Min Wu Chengda Lu Luefeng Chen Xin Chen Weihua Cao Xuzhi Lai School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Swinburne University of Technology Melbourne VIC Australia

ISBN: (纸本)9781509015740;9781509015733

A controller is proposed based on the equivalent input disturbance (EID) method to suppress the stick-slip vibration of the drilling process. The drillstring system is described by a neutral type model with unknown disturbances, where the unknown disturbances are mainly nonlinear bit-rock reaction. The core idea of this approach is to use EID to suppress a variety of external disturbances and the impact caused by the state delay of the neutral type model. The main advantage of our method is that the controller does not depend on the specific disturbance model, which is of great significance for the suppression control of stick-slip vibration in complex stratigraphic environment. Moreover, our method is applicable to more general neutral type systems. The simulation was carried out to eliminate stick-slip vibration quickly and verify the effectiveness of the proposed method.

关键词： Vibrations Mathematical model control systems Delays Stability analysis Geology Damping

来源：评论

学校读者我要写书评

暂无评论

Performance control System of Dulcimer Music-Playing Robot

Performance Control System of Dulcimer Music-Playing Robot

引用

Asian control Conference

作者： Ting Fei Xin Chen Chen-Xu Jiang Li Zhou Zhen-Tao Liu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Arts and Communication China University of Geosciences Wuhan China

ISBN: (纸本)9781509015740;9781509015733

Music-playing robots have been gradually applied to art performance, music education and so on. This paper introduces a special robot playing dulcimer, a kind of Chinese traditional musical instrument. With mechanical characteristics taken into accounted, an assignment method of performance task and an inverse kinematics control algorithm of redundant robot manipulators are proposed in this paper. Based on these studies, a performance control system is developed, which can parse a given MIDI file, perform task allocation, and control the dual mechanical arms holding bamboo hammers to strike the strings of dulcimer. The experimental test shows that the performance control system is able to control the dulcimer music-playing robot to complete music performance in real-time in a humanized way.

关键词： Robot kinematics Manipulators Task analysis Kinematics control systems Instruments

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：