检索结果-内蒙古大学图书馆

第43届中国控制会议

作者： Zhiyuan He Yu Cao Yifei Guo Jian Huang Hubei Key Laboratory of Brain-inspired Intelligent Systems Key Laboratory for Image Processing and Intelligent ControlSchool of Artificial Intelligence and AutomationHuazhong University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Walking with a load brings a significant burden to human shoulders,resulting in increasing metabolic energy consumption and the risk of skeleton and muscle *** backpack has been widely conducted for load-bearing walking,but exiting time-dependent control methods and event-based control methods are unable to exploit the characteristics of human gait *** this case,a time-independent control(TIC) method capable of eliminating the time dependence and adapting to variable speed is *** on the dynamical model of human-backpack system,an assistance profile along with the parameter optimization method are introduced which allows the backpack to reduce the burden on human shoulders during load-bearing *** the simulation evaluation,the proposed TIC method is compared with an impedance controller based time-dependent method and a locked backpack,under both constant speed and variable speed *** results demonstrates that the TIC case achieves an 89.1% reduction in dynamic load on shoulder under the condition of constant speed and a 78.2% reduction under the condition of variable speed,compared with the LOCKED case.

关键词： suspended backpack load carriage time-independent control

来源：评论

学校读者我要写书评

暂无评论

Stability and Bifurcation control of Fractional BAM Neural Networks with Diffusion and Time Delays 42

Stability and Bifurcation control of Fractional BAM Neural N...

引用

42nd Chinese control Conference, CCC 2023

作者： Liu, Feng Wang, Wei Cai, Gang Zhou, Feifan Wang, Hua O Yang, Xiuqin School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Ministry of Education for Intelligent Technology of Earth Exploration China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Boston University Department of Mechanical Engineering BostonMA02215 United States School of Education Minzu University of China Beijing100081 China

ISBN: (纸本)9789887581543

Based on fractional calculus theory and reaction-diffusion equation theory, a fractional-order time-delay reaction-diffusion neural network with Neumann boundary conditions is investigated. By constructing the phase space basis based on the Laplace operator eigenvector, the system equation is linearized to obtain the characteristic equation. Then, the characteristic equation is analyzed, and the local stability of the system at the equilibrium point is discussed. And taking the time delay as the bifurcation parameter, the stability changes of the system at the equilibrium point and the generation conditions of the Hopf bifurcation are studied when the time delay changes. Moreover, a state feedback controller is designed to control the bifurcation of the system. Finally, the theoretical derivation is verified by numerical simulation. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

Long-term Solar Irradiance Forecasting Based on TimesNet with Multiple Weather Parameters

Long-term Solar Irradiance Forecasting Based on TimesNet wit...

引用

Chinese control and decision Conference, CCDC

作者： Fei Gong Shuo Shan Haikun Wei Kanjian Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In renewable energy grids, solar irradiance prediction is significant for electric operation planning. The emphasis of our work is forecasting irradiance changes over multiple days ahead using hourly irradiance data in association with weather parameters such as temperature, humidity, barometric pressure, wind speed, and cloud cover. Specifically, a framework based on TimesNet was proposed for 4-day global horizontal irradiance (GHI) forecasting and a comparative experiment was conduct with three well-performing models in long-term forecasting tasks. The experimental results indicate that the suggested method outperformed the accuracy when compared to other models, with MSE 0.198, MAE 0.259, RMSE 0.445 and R 2 0.787.

关键词： Solar irradiance Temperature distribution Computational modeling Wind speed Time series analysis Weather forecasting Predictive models

来源：评论

学校读者我要写书评

暂无评论

DR-WLC: Dimensionality Reduction cognition for object detection and pose estimation by Watching, Learning and Checking

arXiv

引用

arXiv 2023年

作者： Gao, Yu Xu, Xi Jiang, Tianji Chen, Siyuan Yang, Yi Yue, Yufeng Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Object detection and pose estimation are difficult tasks in robotics and autonomous driving. Existing object detection and pose estimation methods mostly adopt the same-dimensional data for training. For example, 2D object detection usually requires a large amount of 2D annotation data with high cost. Using high-dimensional information to supervise lower-dimensional tasks is a feasible way to reduce datasets size. In this work, the DR-WLC, a dimensionality reduction cognitive model, which can perform both object detection and pose estimation tasks at the same time is proposed. The model only requires 3D model of objects and unlabeled environment images (with or without objects) to finish the training. In addition, a bounding boxes generation strategy is also proposed to build the relationship between 3D model and 2D object detection task. Experiments show that our method can qualify the work without any manual annotations and it is easy to deploy for practical applications. Source code is at https: //***/IN2-ViAUn/DR-WLC. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Differential Steering control for 6 × 6 Wheel-drive Mobile Robot 26

Differential Steering Control for 6 × 6 Wheel-drive Mobile ...

引用

26th International Conference on automation and Computing, ICAC 2021

作者： Zhao, Hongqiang Luo, Chao Xu, Yongkang Li, Jiehao Central South University State Key Laboratory of High Performance Complex Manufacturing School of Mechanical and Electrical Engineering ChangSha China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China

ISBN: (纸本)9781860435577

The 6 × 6 Wheel-drive mobile robot is widely used in the field of special operations, and there is the phenomenon of slipping in the process of steering. To study the steering accuracy and stability of mobile robot, the dynamic model of 6 × 6 Wheel-drive Mobile Robot is established, and the sliding mode control strategy of differential steering based on mobile robot is proposed. Firstly, taking the torque of six wheels and the operator's direction control as input, the three-dimensional attitude and the relative position of the steering center of the mobile robot are obtained by using the position and attitude sensor, to determine the reference steering angle of the mobile robot. Secondly, considering the relationship between the position error and the velocity error, a recursive sliding surface is designed, and a neural network is introduced to approach the uncertain part of the mobile robot model. Then, a nonlinear gain function is applied to construct a dynamic surface control law. Finally, through the Trucksim/Simulink co-simulation model, the nonlinear gain recursive sliding mode dynamic surface adaptive control method for mobile robot trajectory tracking can improve the tracking speed and control precision, and the control force and torque are smooth and reasonable. The results show that the method is effective in improving the steering accuracy and stability of mobile robot. © 2021 Chinese automation and Computing Society in the UK-CACSUK.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Stability and Bifurcation control of Fractional-Order Coupled Hindmarsh-Rose Neural Networks 42

Stability and Bifurcation Control of Fractional-Order Couple...

引用

42nd Chinese control Conference, CCC 2023

作者： Liu, Feng Zhou, Feifan Wang, Wei Cai, Gang Wang, Hua O Yang, Xiuqin School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Ministry of Education for Intelligent Technology of Earth Exploration China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Boston University Department of Mechanical Engineering BostonMA02215 United States School of Education Minzu University of China Beijing100081 China

ISBN: (纸本)9789887581543

This article investigates a fractional-order coupled Hindmarsh-Rose neural networks model. Firstly, the existence and stability of an equilibrium point in the system are verified. Then, the periodic bifurcation behavior of the system on a two-parameter plane is studied, and numerical simulations show the existence of both non -chaotic and chaotic plus periodic bifurcation behavior on the two-parameter plane. Finally, a feedback controller was designed to stabilize the bifurcation point of the delayed system and increase the stable range of the system. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Neural network models

来源：评论

学校读者我要写书评

暂无评论

MC-NeRF: Multi-Camera Neural Radiance Fields for Multi-Camera Image Acquisition systems

arXiv

引用

arXiv 2023年

作者： Gao, Yu Su, Lutong Liang, Hao Yue, Yufeng Yang, Yi Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Neural Radiance Fields (NeRF) use multi-view images for 3D scene representation, demonstrating remarkable performance. As one of the primary sources of multi-view images, multi-camera systems encounter challenges such as varying intrinsic parameters and frequent pose changes. Most previous NeRF-based methods assume a unique camera and rarely consider multi-camera scenarios. Besides, some NeRF methods that can optimize intrinsic and extrinsic parameters still remain susceptible to suboptimal solutions when these parameters are poor initialized. In this paper, we propose MC-NeRF, a method that enables joint optimization of both intrinsic and extrinsic parameters alongside NeRF. The method also supports each image corresponding to independent camera parameters. First, we tackle coupling issue and the degenerate case that arise from the joint optimization between intrinsic and extrinsic parameters. Second, based on the proposed solutions, we introduce an efficient calibration image acquisition scheme for multi-camera systems, including the design of calibration object. Finally, we present an end-to-end network with training sequence that enables the estimation of intrinsic and extrinsic parameters, along with the rendering network. Furthermore, recognizing that most existing datasets are designed for a unique camera, we construct a real multi-camera image acquisition system and create a corresponding new dataset, which includes both simulated data and real-world captured images. Experiments confirm the effectiveness of our method when each image corresponds to different camera parameters. Specifically, we use multi-cameras, each with different intrinsic and extrinsic parameters in real-world system, to achieve 3D scene representation without providing initial poses. The Code and supplementary materials are available at https://***/MC-NeRF Copyright © 2023, The Authors. All rights reserved.

关键词： Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Unsupervised Learning of Gaussian Mixture Model with Application to Image Segmentation

引用

Chinese Journal of Electronics 2023年第3期19卷 451-456页

作者： Bo Li Wenju Liu Lihua Dou School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China

Density estimation via Gaussian mixture modeling has been successfully applied to image segmentation, speech processing and other fields relevant to clustering analysis and Probability density function (PDF) modeling. Finite Gaussian mixture model is usually used in practice and the selection of number of mixture components is a significant problem in its application. For example, in image segmentation, it is the donation of the number of segmentation regions. The determination of the optimal model order therefore is a problem that achieves widely attention. This paper proposes a degenerating model algorithm that could simultaneously select the optimal number of mixture components and estimate the parameters for Gaussian mixture model. Unlike traditional model order selection method, it does not need to select the optimal number of components from a set of candidate models. Based on the investigation on the property of the elliptically contoured distributions of generalized multivariate analysis, it select the correct model order in a different way that needs less operation times and less sensitive to the initial value of EM. The experimental results show the effectiveness of the algorithm.

关键词： Training Image segmentation Analytical models Parameter estimation Estimation Probability density function Speech processing

来源：评论

学校读者我要写书评

暂无评论

Sector Patch Embedding: An Embedding Module Conforming to The Distortion Pattern of Fisheye Image

arXiv

引用

arXiv 2023年

作者： Yang, Dianyi Tang, Jiadong Gao, Yu Yang, Yi Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Fisheye cameras suffer from image distortion while having a large field of view(LFOV). And this fact leads to poor performance on some fisheye vision tasks. One of the solutions is to optimize the current vision algorithm for fisheye images. However, most of the CNN-based methods and the Transformer-based methods lack the capability of leveraging distortion information efficiently. In this work, we propose a novel patch embedding method called Sector Patch Embedding(SPE), conforming to the distortion pattern of the fisheye image. Furthermore, we put forward a synthetic fisheye dataset based on the ImageNet-1K and explore the performance of several Transformer models on the dataset. The classification top-1 accuracy of ViT and PVT is improved by 0.75% and 2.8% with SPE respectively. The experiments show that the proposed sector patch embedding method can better perceive distortion and extract features on the fisheye images. Our method can be easily adopted to other Transformer-based models. Source code is at https://***/IN2-ViAUn/Sector-Patch-Embedding. Copyright © 2023, The Authors. All rights reserved.

关键词： Embeddings

来源：评论

学校读者我要写书评

暂无评论

Temperature control System of Thermoelectric Cooler Based on Improved ADRC

Temperature Control System of Thermoelectric Cooler Based on...

引用

Chinese control and decision Conference, CCDC

作者： Xiyuan Shan Tao Cai Zhicheng Zong Hongbo Mu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

ISBN: (纸本)9781665478977

Aiming at the problems containing complex working conditions, modeling difficulties and long-time delay of thermoelectric cooler temperature control system, an improved ADRC control method combining ADRC and Smith predictor is proposed in this paper. ADRC deals with the disturbances and uncertain dynamics in the system, SP compensates the time delay to improve the control performance. Compared with the traditional PID controller, the proposed control method has faster response speed and stronger anti-disturbance ability, meanwhile, overcomes the dependence of Smith predictor on object parameters to a certain extent. Through simulation and experimental verification, a good control effect is obtained, which provides a positive guidance of the related application of thermoelectric cooler.

关键词： Robust control Employee welfare Delay effects Simulation Perturbation methods Predictive models control systems

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：