检索结果-内蒙古大学图书馆

QTFN:A General End-to-End Time-Frequency Network to Reveal the Time-Varying Signatures of the Time Series

Big Data Mining and Analytics 2024年第3期7卷 905-919页

作者： Tao Chen Yang Jiao Lei Xie Hongye Su State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou 310027China Shenzhen Key Laboratory of Intelligent Bioinformatics and College of Computer Science and Control EngineeringShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Nonstationary time series are ubiquitous in almost all natural and engineering *** the time-varying signatures from nonstationary time series is still a challenging problem for data *** Time-Frequency Distribution(TFD)provides a powerful tool to analyze these ***,they suffer from Cross-Term(CT)issues that impair the readability of ***,to achieve high-resolution and CT-free TFDs,an end-to-end architecture termed Quadratic TF-Net(QTFN)is proposed in this *** by classic TFD theory,the design of this deep learning architecture is heuristic,which firstly generates various basis functions through ***,more comprehensive TF features can be extracted by these basis ***,to balance the results of various basis functions adaptively,the Efficient Channel Attention(ECA)block is also embedded into ***,a new structure called Muti-scale Residual Encoder-Decoder(MRED)is also proposed to improve the learning ability of the model by highly integrating the multi-scale learning and encoder-decoder ***,although the model is only trained by synthetic signals,both synthetic and real-world signals are tested to validate the generalization capability and superiority of the proposed QTFN.

关键词： Time-Frequency Analysis(TFA) Multi-scale Residual Encoder-Decoder(MRED) quadratic Time-Frequency Distribution(TFD)

来源：评论

学校读者我要写书评

暂无评论

Collision Avoidance Trajectory Planning of Cluster spacecraft Considering Energy Optimization 7th

Collision Avoidance Trajectory Planning of Cluster Spacecraf...

引用

7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhao, Teng Yin, Junxiong Tan, Xiaoyu Huang, Jingmei Zhou, Wei Shanghai Aerospace Control Technology Insititute Shanghai China Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai China

ISBN: (纸本)9789819733354

Aimed at the matters of that it is a large fuel consumption, imbalance consumption and long time-consuming in the application of conventional cluster aggregation algorithm in cluster spacecraft trajectory planning, an energy optimal clustered collision avoidance algorithm based on centripetal aggregation was proposed. Firstly, based on the equation of Clohessy-Wiltshire of the cluster spacecraft and the model of the finite-time energy optimization, the algorithm established an adaptive centripetal aggregation energy optimization model. On this basis, for the matters of long time-consumed and collision, a clustering collision avoidance algorithm was proposed with optimal energy. The safe distance vector between modular spacecraft was used as the collision avoidance constraint, and the energy consumption was used as the clustering algorithm index. The simulation results show that the clustering algorithm can adaptively select the center of cluster spacecraft and collision-free effectively, reduce the total energy consumption of cluster spacecraft aggregation and the imbalance of energy consumption between modular spacecraft. So that the fluid consumption is globally optimal, and the time consumption is only in ten thousand of the conventional genetic algorithm. This algorithm provides an idea for r spacecraft rapid and safe clustering of cluster. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Time-Varying Formation Tracking control of Heterogeneous Multi-Agent Systems With Intermittent Communications and Directed Switching Networks

引用

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

来源：评论

学校读者我要写书评

暂无评论

Dictionary-Labeled A∗: Optimal Path-and-Posture Planning for Mobile Robots with Turning Radius Constraints

引用

IEEE Robotics and Automation Letters 2024年第12期9卷 10740-10747页

作者： Yang, Chen Lin, Zhiyun Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China Peng Cheng Laboratory Shenzhen518066 China

In this study, we introduce an algorithm called Dictionary-Labeled A∗ (DL-A∗), which addresses the critical problem of path-and-posture planning for mobile robots with turning radius constraints. DL-A∗ utilizes a dictionary to store and process multi-element information within an enhanced topological map. The algorithm categorizes the edges in the map into forward driving and reverse driving states, and constructs sets of successive states that adhere to road segment constraints through map pre-processing. Subsequently, the A∗ algorithm is employed to find an optimal path to reach the endpoint while satisfying the end posture constraint, with the objective of minimizing the total travelling cost. Simulation results demonstrate that, in comparison to other popular algorithms, our algorithm offers the capability to adapt the robot's forward and reverse driving postures to minimize total cost, and exhibits exceptional searching efficiency. © 2016 IEEE.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

A tactile sensor based on photoelasticity

引用

International Journal of Wireless and Mobile Computing 2024年第3期27卷 281-289页

作者： Tao, Bo Huang, Zhili Zhu, Wenqiong Li, Gongfa Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China

In the new industrial revolution, the market demands integrated talents in new engineering fields. To meet the requirements of the new era for cultivating high-level talents in integrated disciplines, this paper takes the photoelastic tactile sensor as a carrier, developing a task-driven teaching method oriented to student achievement. Combining society’s need with professional knowledge learning and innovation ability cultivation of students, a practical and innovative platform is built to meet the needs of different stages of integrated graduate education for bachelor’s and master’s degrees. Achieving simultaneous enhancement of learning, scientific research and innovation capabilities, it proposes a multi-dimensional assessment mechanism for integrated graduate education, involving long-term assessment of students at different stages and levels. It implements a strict entry and exit policy and comprehensively improves the quality of talent cultivation. The results show very obvious effects, significantly improving the quality of graduates and promoting student development. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Tactile sensors

来源：评论

学校读者我要写书评

暂无评论

Formation control and path planning of multi-robot systems via large language models

引用

science China(Information sciences) 2025年第5期68卷 72-88页

作者： Dong XUE Xuanjie ZHOU Ming WANG Fangzhou LIU Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of EducationEast China University of Science and Technology Research Institute of Intelligent Control and Systems School of Astronautics Harbin Institute of Technology

Existing path planning and coordination control methods for multi-robot systems(MRS) typically rely on predefined rules and rudimentary algorithms. However, these methods often struggle to adapt flexibly to complex environments and to adjust motion targets appropriately. To address this challenge, this study presents a large language model(LLM)-assisted framework. By integrating textual descriptions of complex motion constraints, robot information, and local environmental data as inputs, LLMs generate motion objectives and translate them into executable control commands for the robots, thereby achieving coordinated control and path planning. This framework facilitates the generation, maintenance, and reshaping of formations in MRSs during path planning, applicable to both obstacle-free and obstacle-avoidance environments. Simulation results demonstrate that LLM-based control strategies enhance the autonomy, adaptability, flexibility, and robustness of MRS by processing complex information, making intelligent decisions, adapting to environmental changes, and handling disturbances and uncertainties.

关键词： multi-robot systems formation control path planning obstacle avoidance large language models

来源：评论

学校读者我要写书评

暂无评论

Calibration of the Solar X-ray Detector on-board the Macao science Satellite-1B for Soft X-ray Detection

引用

science China Earth sciences 2025年第1期68卷 11-26页

作者： Man-Hei NG Xiaoping ZHANG Jianwu CHEN Yongqiang SHI Fuchang ZUO Wenxi PENG Weichun FU Liansheng LI Pengwei LUO Chi-Long TANG Guozheng ZHANG Zhiwu MEI Li WANG Cunhui LI Jiaming OU Yanyan Xu State Key Laboratory of Lunar and Planetary Sciences Macao University of Science and TechnologyMacao999078China Space Optoelectronic Measurement and Perception Laboratory Beijing Institute of Control EngineeringBeijing100190China Institute of High Energy Physics Chinese Academy of SciencesBeijing100049China Science and Technology on Vacuum Technology and Physics Laboratory Lanzhou Institute of PhysicsLanzhou730000China China National Space Administration(CNSA) Macao Center for Space Exploration and ScienceMacao999078China

The Solar X-ray Detector(SXD)on-board the Macao science Satellite-1B(MSS-1B)was successfully launched via the Chinese Long March-2C rocket on 21 May 2023,and commenced operations in early June of the same *** MSS-1B/Soft X-ray Detection Units(SXDUs)employ two silicon drift detectors(SDDs),providing a wide range of energy spectra spanning from 0.7 to 24 ***,the SXDUs deliver a high-resolution capability of 0.14 keV@5.9 keV and operate with a time cadence of 1 ***,we perform thorough calibrations of the MSS-1B/SXDUs,employing a combination of ground experiments and *** addition,quantitative analysis comparing the flux measurements obtained by the MSS-1B/SXDUs to the data collected by the Geostationary Operational Environmental Satellite(GOES),provides compelling evidence of their ***,the preliminary spectral analysis results showcase the robustness and expected performance of the MSS-1B/SXDUs,unlocking their potential for facilitating the study of dynamic evolution of solar ***,the innovative MSS-1B/Solar X-ray Detector facilitates concurrent observations of solar soft and hard X-rays,thereby making valuable contributions to the advancements in solar research.

关键词： Macao science Satellite-1B(MSS-1B) Calibration Solar X-Ray Detector Spectrometer Soft X-rays Solar flares Solar abundances

来源：评论

学校读者我要写书评

暂无评论

Robots can feel: LLM-based Framework for Robot Ethical Reasoning 2

Robots can feel: LLM-based Framework for Robot Ethical Reaso...

引用

2nd International Conference on Foundation and Large Language Models, FLLM 2024

作者： Lykov, Artem Cabrera, Miguel Altamirano Fidele Gbagbe, Koffivi Tsetserukou, Dzmitry Skolkovo Institute of Science and Technology Intelligent Space Robotics Laboratory Moscow Russia

ISBN: (纸本)9798350354799

This paper presents the development of a novel ethical reasoning framework for robots. "Robots can feel"is the first system for robots that utilizes a combination of logic and human-like emotion simulation to make decisions in morally complex situations akin to humans. The key feature of the approach is the management of the Emotion Weight Coefficient, a customizable parameter to assign the role of emotions in robot decision-making. The system aims to serve as a tool that can equip robots of any form and purpose with ethical behavior close to human standards. Besides the platform, the system is independent of the choice of the base model. During the evaluation, the system was tested on 8 top-up-to-date LLMs (Large Language Models). This list included both commercial and open-source models developed by various companies and countries. The research demonstrated that, regardless of the model choice, the Emotions Weight Coefficient influences the robot's decision similarly. According to ANOVA analysis, the use of different Emotion Weight Coefficients influenced the final decision in a range of situations, such as in a request for a dietary violation (F (4, 35) = 11.2, p = 0.0001) and in an animal compassion situation (F (4, 35) = 8.5441, p = 0.0001). A demonstration code repository is provided at: https://***/TemaLykov/robots_can_feel © 2024 IEEE.

关键词： Decision making

来源：评论

学校读者我要写书评

暂无评论

Many-to-many GEO on-orbit refueling mission optimization under time-varying fuel demands via modified differential evolution 74

Many-to-many GEO on-orbit refueling mission optimization und...

引用

74th International Astronautical Congress, IAC 2023

作者： Li, Chuanjiang Han, Peng Zhang, Haibo Guo, Yanning Harbin Institute of Technology China Beijing Institute of Control Engineering National Key Laboratory of Science and Technology on Space Intelligent Control China

As a kind of on-orbit servicing technology, on-orbit refueling (OOR) has essential significance in prolonging the lifetime of satellites and decreasing the generation of space debris, especially for the expensive satellites located in geosynchronous orbit (GEO). Recently, several one-to-one mode-based OOR missions have been successfully conducted in space. To further reduce the economic cost, the mode of using several refuel satellites (RS) to refuel some dozens of client satellites (CS) in one mission has been proposed, that is, the many-to-many OOR mode. To maximize the efficiency of this mode, the mission optimization problem that determines the refueling sequence and time should be further investigated. The mission optimization is usually carried out before the OOR mission starts, and the fuel demand of CS is obtained in advance. However, the OOR mission for multiple GEO CSs usually takes a long time, and some temporarily unrefueled CSs may perform orbit maintenance by consuming the remaining fuel, leading to a time-varying fuel demand change. In this case, performing the initial mission optimization results may lead to efficiency reduction or even mission failure. To address this problem, in this paper, a many-to-many mode-based OOR mission optimization model is established considering the time-varying fuel demands, and a differential evolution (DE) based algorithm is designed to solve the problem. Firstly, a remaining fuel varying law is obtained according to the periodic orbit maintenance strategy of GEO CSs. Based on that, the mission profit model is further established. Then, by additionally considering several constraints like RS fuel capacity, mission duration, and orbital maneuver duration, the mission optimization model is established. Next, by taking the refueling sequence, the instant of refueling begins as the design variable, and a modified DE is designed to solve the problem. Unlike existing DE, a greedy-search-based mechanism generates high-qualit

关键词： differential evolution geosynchronous orbit on-orbit refueling time-varying fuel demands

来源：评论

学校读者我要写书评

暂无评论

LLM-BRAIn: AI-driven Fast Generation of Robot Behaviour Tree based on Large Language Model 2

LLM-BRAIn: AI-driven Fast Generation of Robot Behaviour Tree...

引用

2nd International Conference on Foundation and Large Language Models, FLLM 2024

作者： Lykov, Artem Tsetserukou, Dzmitry Skolkovo Institute of Science and Technology Intelligent Space Robotics Laboratory Moscow Russia

ISBN: (纸本)9798350354799

This paper introduces a pioneering methodology in autonomous robot control, denoted as LLM-BRAIn, enabling the generation of adaptive behaviors in robots in response to operator commands, while simultaneously considering a multitude of potential future events. Unlike traditional step-by-step behavior generation methods, LLM-BRAIn leverages a behavior tree (BT) format that inherently encompasses various potential outcomes, thus reducing the frequency of model queries and optimizing resource utilization and decision-making time. LLM-BRAIn is a transformer-based Large Language Model (LLM) fine-tuned from the Stanford Alpaca 7B model to generate a BT from text descriptions. The model was trained on 8.5k instruction-following demonstrations generated using GPT-3.5. LLM-BRAIn accurately builds complex robot behavior while remaining small enough to run on the robot's onboard microcomputer. The model generates structurally and logically correct BTs and can manage instructions not presented in the training set. Experiments revealed no significant subjective differences between BTs generated by LLM-BRAIn and human-created BTs, with participants distinguishing between them correctly in only 4.53 out of 10 cases, indicating performance close to random *** proposed approach holds promise for applications across various domains, including mobile robotics, drone operations, robot manipulator systems, and Industry 5.0. This applicability stems from the BT framework's inherent consideration of numerous potential outcomes, obviating the need for exhaustive deliberation at each step, thereby expediting the robot's operations. We provide a dataset for LLM-BRAIn replication: ***/datasets/ArtemLykov/LLM BRAIn dataset. © 2024 IEEE.

关键词： Manipulators

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：