检索结果-内蒙古大学图书馆

Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Siyuan Ma Sheng Gao Xiaozhong Zuo Zhengyang Lv Chenyang Zou State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai China College of Electrical and Control Engineering Shenyang Jianzhu University Shenyang China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This study proposes a fault diagnosis method based on attention-LSTM for the satellite attitude control system. First, the hidden correlation information between high-dimensional variables is exploited through the variable attention layer. Then, deep temporal features are extracted with using the LSTM network layer. Finally, the time attention layer is introduced to increase the weight of important temporal information, effectively avoiding the problem of being forgotten due to too long input sequence and too many deep temporal features. The identification accuracy of slow fault in satellite attitude control system can be improved. The method is validated using data from the satellite semi-physical simulation platform, which demonstrates the effectiveness of this method.

关键词： Fault diagnosis Analytical models Visualization Satellites Recurrent neural networks Correlation Attitude control

来源：评论

学校读者我要写书评

暂无评论

Safe Tracker: A Robust Aerial System for Safe Tracking in Cluttered Environments

Safe Tracker: A Robust Aerial System for Safe Tracking in Cl...

引用

Chinese control Conference (CCC)

作者： Yulin Hui Bailing Tian Xuewei Zhang Hanchen Lu Hongming Shen School of Electrical and Information Engineering Tianjin University Tianjin P. R. China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing P. R. China

This paper proposes Safe Tracker, an autonomous aerial tracking framework based on vision sensor that can deal with challenging tracking missions and guarantee safety and visibility. Firstly, a RGB-D sensor based segmentation method is employed to locate the target in real-time. Then target motion is predicted for a short time horizon, based on which a heuristic path searching method is applied to generate an occlusion-free path. Finally, particular formulations to balance visibility and safety are designed, and an effective non-linear trajectory optimization method enables to generate an optimal tracking trajectory. Autonomous aerial tracking experiments using a vision sensor are conducted to demonstrate the effectiveness of the proposed Safe Tracker in a challenging cluttered forest and a room full of sharp turns using Gazebo. Benchmark comparisons validate that our method tracks more safely and robustly than the state-of-art method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Decentralized Trajectory Planning for Formation Flight in Unknown and Dense Environments

Decentralized Trajectory Planning for Formation Flight in Un...

引用

IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Jianxin Zeng Yaonan Wang Zhiqiang Miao Wei He Hesheng Wang Department of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Changsha China School of Intelligence Science and Technology University of Science and Technology Beiing Beijing China Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing China Department of Automation Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

For aerial swarms, formation flight has been applied in various scenes. However, most existing works do not consider balancing the conflicting requirements among keeping formation, keeping the smoothness of trajectories, and obstacle avoidance within the limited time. To address this issue, we propose a decentralized trajectory planning framework for formation flight in unknown and dense environments. To ensure that feasible trajectories can be found within the limited time, the formation optimization problem is decoupled into formation affine transformation and iterative trajectory generation. Firstly, the optimization problem based on affine transformation is designed to obtain the optimal affine transformation sequence, which provides the formation reference of trajectory optimization. Secondly, the iterative optimization framework of trajectory planning is designed, which balances the conflicting requirements of formation, smooth flight, and obstacle avoidance. Besides, to escape the local minima caused by non-convex dense environments, the method of topological path planning is designed to provide distinctive initial solutions for trajectory optimization. Finally, the proposed methods are proven to be effective through the simulations and real-world experiments.

关键词： Trajectory planning Planning Iterative methods Collision avoidance Trajectory optimization intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Robust order scheduling in the fashion industry: A multi-objective optimization approach

arXiv

引用

arXiv 2017年

作者： Du, Wei Tang, Yang Leung, Sunney Yung Sun Tong, Le Vasilakos, Athanasios V. Qian, Feng Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Institute of Textile and Clothing Hong Kong Polytechnic University Hong Kong Hong Kong Department of Computer Science Electrical and Space Engineering Lulea University of Technology Lulea97187 Sweden

—In the fashion industry, order scheduling focuses on the assignment of production orders to appropriate production lines. In reality, before a new order can be put into production, a series of activities known as pre-production events need to be completed. In addition, in real production process, owing to various uncertainties, the daily production quantity of each order is not always as expected. In this research, by considering the pre-production events and the uncertainties in the daily production quantity, robust order scheduling problems in the fashion industry are investigated with the aid of a multi-objective evolutionary algorithm (MOEA) called nondominated sorting adaptive differential evolution (NSJADE). The experimental results illustrate that it is of paramount importance to consider pre-production events in order scheduling problems in the fashion industry. We also unveil that the existence of the uncertainties in the daily production quantity heavily affects the order scheduling. Copyright © 2017, The Authors. All rights reserved.

关键词： Multiobjective optimization

来源：评论

学校读者我要写书评

暂无评论

On Embeddings and Inverse Embeddings of Input Design for Regularized System Identification

arXiv

引用

arXiv 2022年

作者： Mu, Biqiang Chen, Tianshi Kong, He Jiang, Bo Wang, Lei Wu, Junfeng Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Key Laboratory for NSLSCS of Jiangsu Province School of Mathematical Sciences Nanjing Normal University Nanjing China College of Control Science and Engineering Zhejiang University Hangzhou China

Input design is an important problem for system identification and has been well studied for the classical system identification, i.e., the maximum likelihood/prediction error method. For the emerging regularized system identification, the study on input design has just started, and it is often formulated as a non-convex optimization problem that minimizes a scalar measure of the Bayesian mean squared error matrix subject to certain constraints, and the state-of-art method is the so-called quadratic mapping and inverse embedding (QMIE) method, where a time domain inverse embedding (TDIE) is proposed to find the inverse of the quadratic mapping. In this paper, we report some new results on the embeddings/inverse embeddings of the QMIE method. Firstly, we present a general result on the frequency domain inverse embedding (FDIE) that is to find the inverse of the quadratic mapping described by the discrete-time Fourier transform. Then we show the relation between the TDIE and the FDIE from a graph signal processing perspective. Finally, motivated by this perspective, we further propose a graph induced embedding and its inverse, which include the previously introduced embeddings as special cases. This deepens the understanding of input design from a new viewpoint beyond the real domain and the frequency domain viewpoints. Copyright © 2022, 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

Comprehensive,Continuous,and Vertical Measurements of Seawater Constituents with Triple-Field-of-View High-Spectral-Resolution Lidar

引用

Research 2024年第2期2023卷 191-201页

作者： Kai Zhang Yatong Chen Hongkai Zhao Zhongping Lee Emmanuel Boss Iwona Stachlewska Davide Dionisi Cedric Jamet Paolo D.Girolamo Aleksey Malinka Chengchong Jiang Hongda Wu Lingyun Wu Feitong Chen Xiaolei Zhu Nanchao Wang Chuxiao Chen Qun Liu Lan Wu Yudi Zhou Weibiao Chen Dong Liu Ningbo Research Institute State Key Laboratory of Modern Optical InstrumentationCollege of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China ZJU-Hangzhou Global Scientific and Technological lnnovation Center Zhejang UniversityHangzhou 311200China Donghai Laboratory.Zhoushan 316021 China State Key Lab of Marine Environmental Science College of Ocean and Earth SciencesXiamen UniversityXiamen 361102China School of Marine Sciences University of MaineOronoME 04469-5741USA Faculty of Physics University of WarsawWarsaw 02093Poland institute of Marine Sciences Italian National Research CouncilRome 00133Italy Universitédu Littoral Cote d'Opale CNRSUniv.LilleIRDUMR 8187-LOG-Laboratoire d'Oceanologie et de GéosciencesWimereux F-6293 Francen Institute Scuola di Ingegneria Universita della BasilicataPotenza 85100Italy Institute of Physics National Academy of Sciences of BelarusMinsk 220072Belarus Key Laboratory of Space Laser Communication and Detection Technology Shanghai lnstitute of Optics and Fine MechanicsChinese Academy of SciencesShanghai 201800China Inteligent Optics&Photonics Research Center Jiaxing Research Institute Zhejiang UniversityJiaxing 314000China Jiaxing Key Laboratory of Photonic Sensing&Intelligent Imaging Jiaxing 314000China

Measuring the characteristics of seawater constituent is in great demand for studies of marine ecosystems and ***,existing techniques based on remote sensing or in situ samplings present various tradeoffs with regard to the diversity,synchronism,temporal-spatial resolution,and depth-resolved capacity of their data ***,we demonstrate a novel oceanic triple-field-of-view(FOV)high-spectral-resolution lidar(HSRL)with an iterative retrieval *** technique provides,for the first time,comprehensive,continuous,and vertical measurements of seawater absorption coefficient,scattering coefficient,and slope of particle size distribution,which are validated by simulations and field ***,it depicts valuable application potentials in the accuracy improvement of seawater classification and the continuous estimation of depth-resolved particulate organic carbon *** triple-FOV HSRL with high performance could greatly increase the knowledge of seawater constituents and promote the understanding of marine ecosystems and biogeochemistry.

关键词： lidar Vertical seawater

来源：评论

学校读者我要写书评

暂无评论

Quasi-Synchronization of Heterogeneous Lur'e Networks With Impulsive Feedback control

Quasi-Synchronization of Heterogeneous Lur'e Networks With I...

引用

第40届中国控制会议

作者： Chongfang Jin Sangli Shi Zhengxin Wang Wangli He Guo-Ping Jiang School of Science Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) Nanjing University of Posts and Telecommunications The Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and Technology School of Automation Nanjing University of Posts and Telecommunications

The target of this paper is studying the quasi-synchronization problems of the heterogeneous Lur'e networks with impulsive feedback control. By introducing impulsive feedback control, the heterogeneous Lur'e network is analyzed. The sufficient condition for guaranteeing quasi-synchronization is derived by means of linear matrix inequality(LMI), the Schur complement and the principle of comparison. More over, the upper bound of exponential quasi-synchronization errors is further calculated. Finally, the numerical simulations are presented to illustrate the effectiveness of the control protocol and theoretical results.

关键词： Exponential quasi-synchronization Lur'e network Feedback Impulsive control

来源：评论

学校读者我要写书评

暂无评论

A new hybrid tracking strategy based on Pulse Coupled Neural Network

A new hybrid tracking strategy based on Pulse Coupled Neural...

引用

International Conference on Information and Automation (ICIA)

作者： Songmin Jia Tao Xu Zhengyin Dong Xiuzhi Li Peng Zhang College of Electronic and Control Engineering Beijing University of Technology Beijing China Engineering Research Center of Digital Community Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China School of Mechanical and Electrical Engineering Henan Institute of Science and Technology Xinxiang China

ISBN: (纸本)9781467391054

Visual object tracking is a fundamental research topic in computer vision. In this paper, we proposed a novel hybrid tracking method based on Pulse Coupled Neural Network (PCNN) and Multiple Instance Learning (MIL). Most modern trackers may be inaccurate when the training samples are imprecise which causes drift. To resolve these problems, MIL method is introduced into the tracking task, which can alleviate drift to some extent. However, the MIL tracker may detect the positive sample that is less important. PCNN is different from traditional artificial neural networks, which can be applied in many image processing fields, such as image segmentation. So, the PCNN was employed as sample detector which can know the most important sample when training the classifier. Then, a more robust and much faster tracker is proposed to approximately maximize the bag likelihood function. Empirical results on a large set of sequences demonstrate the superior performance of the proposed approach in robustness, stability and efficiency to state-of-the-art methods in the literature.

关键词： Target tracking Neurons Visualization Object tracking Image segmentation Computer vision Computational modeling

来源：评论

学校读者我要写书评

暂无评论

Human-like Walking of a Biped Robot Actuated by Pneumatic Artificial Muscles and Springs*

Human-like Walking of a Biped Robot Actuated by Pneumatic Ar...

引用

IEEE International Conference on Automation science and Engineering (CASE)

作者： Yixiang Liu Qing Bi Xizhe Zang Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Human walking gait is much more natural looking and energy efficient compared with biped robots. This paper presents a bio-inspired approach to realizing more human-like biped robotic walking. For this purpose, a biped robot actuated coordinately by pneumatic artificial muscles and springs is developed, capable of exploiting passive compliance of the mechanical system in locomotion. And a control scheme for human-like walking is designed based on finite state machine. Experiments show that the biped robot can walk stably on the treadmill even with some small obstacles. The realized gait has the important features of human walking, including heel strike and toe off, stretched knees, and variation in the height of the body's center of mass, which demonstrates the effectiveness of the proposed approach.

关键词： Conferences Automation Computer aided software engineering

来源：评论

学校读者我要写书评

暂无评论

H_∞ filtering with Diagonal Interacting Multiple Model Algorithm for Maneuvering Target Tracking

H_∞ filtering with Diagonal Interacting Multiple Model Algo...

引用

American control Conference

作者： X. Fu Y. Jia J. Du J. Zhang W. Li X. Liu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing Key Laboratory of Intelligent Telecommunication Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunication school of Electronic and Information Engineering Beihang University (BUAA) Department of Automatic Beijing Information and Science of University

ISBN: (纸本)9781479901777

This paper is devoted to the problem of state estimate of discrete-time stochastic systems with Markov jump parameters. A robust algorithm-diagonal interacting multiple model algorithm based on H_∞ filtering (DIMMH) is presented for maneuvering target tracking when measurement noise is of unknown statistics. Extensive Monte Carlo simulations show the effectiveness and superiority of the proposed algorithm.

关键词： Maneuvering Target Tracking Markov jump parameters effectiveness Target tracking maneuvering target State estimation Filtration tracking Noise measurement Diagonal Monte Carlo technique

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：