检索结果-内蒙古大学图书馆

CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

IEEE Internet of Things Journal 2025年第12期12卷 21866-21875页

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

来源：评论

学校读者我要写书评

暂无评论

Retinal Vessels Segmentation Based on Multi-scale Hybrid Convolutional Network 4th

Retinal Vessels Segmentation Based on Multi-scale Hybrid Con...

引用

4th International Conference on Smart Vehicular technology, Transportation, Communication and Applications, VTCA 2021

作者： Li, Rui Li, Zuoyong Cao, Xinrong Teng, Shenghua College of Electronic and Information Engineering Shandong University of Science and Technology Qingdao266590 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350121 China Fuzhou Digital Healthcare Industry Technology Innovation Center Minjiang University Fuzhou350121 China

ISBN: (纸本)9789811640384

Retinal fundus image can reveal the information on the early symptoms of diabetes, hypertension, hyperlipidemia and other diseases. Accurate segmentation of retinal vessels can assist the detection and diagnosis of the related diseases. Due to the intricate characteristic information of retinal vessels images, traditional segmentation methods lead to inaccurate segmentation for small vessels and pathological segmentation errors. In this paper, we propose a new multi-scale hybrid convolution U-Net. Firstly, we take the hybrid convolution module by combining dilated convolution and standard convolution as the core structure for feature extraction to obtain more abundant semantic feature information, while expanding the receptive field. Then, we add a multi-scale fusion module to the network encoding and decoding connection part, which fuses the feature information of different layers to reduce the loss of information and enhance the representation ability of the network. We evaluate the performance of the proposed method on two public retinal datasets (DRIVE and CHASE_DB1). The results of quantitative and qualitative experiments show that the proposed model can improve good accuracy in retinal vessels segmentation. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

来源：评论

学校读者我要写书评

暂无评论

An Integrated Bifunctional Pressure‒Temperature Sensing system Fabricated on a Breathable Nanofiber and Powered by Rechargeable Zinc–Air Battery for Long‑Term Comfortable Health Care Monitoring

引用

Advanced Fiber Materials 2024年第4期6卷 1037-1052页

作者： Peng Wang Gengsheng Liu Guifen Sun Chuizhou Meng Guozhen Shen Yang Li School of Mechanical Engineering University of JinanJinan 250022China State Key Laboratory for Reliability and Intelligence of Electrical Equipment Engineering Research Center of Ministry of Education for Intelligent Rehabilitation Device and Detection TechnologyHebei Key Laboratory of Smart Sensing and Human‑Robot InteractionSchool of Mechanical EngineeringHebei University of TechnologyTianjin 300401China School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081China Shandong Provincial Key Laboratory of Network Based Intelligent Computing School of Information Science and EngineeringUniversity of JinanJinan 250022China School of Microelectronics Shandong UniversityJinan 250101China

Bulky external power supplies largely limit the continuous long-term application and miniaturization development of smart sensing ***,we fabricate a flexible and wearable integrated sensing system on an electrospun all-nanofiber *** three parts of the sensing system are all obtained by a facile ink-based direct writing *** resistive pressure sensor is realized by decorating MXene sheets on TPU ***,the resistive temperature sensor is prepared by compositing MXene sheets into poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate)(PEDOT:PSS).The thin-film zinc–air battery(ZAB)includes an interdigital zinc–air electrode that is bonded with a gel polymer *** can supply a high open-circuit voltage of 1.39 V and a large areal capacity of 18.2 mAh cm^(-2) for stable and reliable power-supplying sensing parts *** to the hydrophobic nature of TPU and open-ended micropores in the TPU nanofiber,the sensing system is waterproof,self-cleaning,and air and moisture *** application,the above-mentioned functional components are seamlessly integrated into an intelligent electronic wristband,which is comfortably worn on a human wrist to monitor pulse and body temperature in real time with continuous operation of up to 4 *** the novel design and remarkable performance,the proposed integrated all-nanofiber sensing system presents a promising solution for developing advanced multifunctional wearable electronics.

关键词： Pressure‒temperature sensor Rechargeable zinc–air battery Electrospun nanofibers Permeable electronic Integrated sensing system

来源：评论

学校读者我要写书评

暂无评论

Initialization-Free Distributed Constrained Optimization Algorithms with a Pre-Specified Time

Initialization-Free Distributed Constrained Optimization Alg...

引用

IEEE Conference on Decision and control

作者： Xiasheng Shi Chaoxu Mu Changyin Sun Lu Ren Yanxu Su School of Artificial Intelligence Anhui University Hefei China Ministry of Education Engineering Research Center of Autonomous Unmanned System Technology Anhui University Hefei China Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Anhui University Heifei China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education Dalian University of Technology School of Electrical and Information Engineering Tianjin University Tianjin China

The distributed constrained optimization problem over an undirected communication topology is investigated in this study. It focuses on addressing a global coupled equality constraint that applies to all agents. To tackle this problem, a distributed approach with arbitrary initialization is developed by virtue of the aperiodic sampling control idea and the consensus-based multi-agent system(MAS) technology. This approach is developed to address constrained optimization problems within a pre-specified time. In addition, this predefined time is freely defined by users and irrelevant to the initial states, control coefficients, and network structure of systems. The Lyapunov stability theory completes the convergence proof of the developed method. Then, the developed method is extended to handle distributed nonlinear constrained optimization problems. Finally, The availability of two developed methods is demonstrated through two simulation examples.

关键词：

来源：评论

学校读者我要写书评

暂无评论

H∞ control for Discrete-Time Interconnected Large-Scale systems With Round-Robin Scheduling Protocol

H∞ Control for Discrete-Time Interconnected Large-Scale Sys...

引用

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Wei Chen Tao Yu Shuping He School of Electrical Engineering and Automation Anhui University Hefei China School of Artificial Intelligence Anhui University Hefei China Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Hefei China Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Hefei China

This paper explores the H ∞ control issue for discrete-time interconnected large-scale systems based on Round-Robin scheduling protocol. Round-Robin scheduling protocol is used to eliminate overload conditions in the sensor-to-controller network. For difficulties with more systems, the matrices of subsystems are widened to facilitate processing and the decentralized control mechanism is selected to enhance system stability. Minimal upper bound on the cost function is found by the expectation and perfect square method. In addition, the desired gain matrices of a certain structure with elements only on the diagonal are obtained by means of the Riccati equations and an optimization issue. Finally, the proposed scheme is verified by a numerical example of continuous stirred-tank reactor systems.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Transient Voltage Analysis for Hybrid Grid-Following and Grid-Forming Converters

Transient Voltage Analysis for Hybrid Grid-Following and Gri...

引用

IEEE Asia Power and Energy engineering Conference (APEEC)

作者： Xindi Liu Shanshan Qiu Changhui Ma Xing Lei Xinyu Wei Changgang Li Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China State Grid Shandong Electric Power Research Institute Shandong Smart Grid Technology Innovation Center Jinan China State Grid Shanghai Municipal Electric Power Company Shanghai China

ISBN: (数字)9798331517540

ISBN: (纸本)9798331517557

With the integration of power electronic devices, the dynamic characteristics of power system have become increasingly complex. Renewable energy units are integrated into the grid through grid-following (GFL) and grid-forming (GFM) converters. In order to reveal the impact of hybrid GFL and GFM converters on transient voltage in renewable energy base, this paper analyzes the terminal voltage characteristics. Firstly, this paper simplifies the renewable energy base and proposes a formula for calculating terminal voltage. Next, this paper analyzes the impact of GFL converter parameters, GFM converter parameters, and the capacity ratio of GFL to GFM converters on terminal voltage. Then, we propose a calculation formula for the capacity configuration ratio of GFM converters in renewable energy bases. Finally, the theoretical analysis in this paper is verified.

关键词： Electrical engineering Renewable energy sources Grid following Power system dynamics Voltage Power electronics Topology Transient analysis Voltage control Grid forming

来源：评论

学校读者我要写书评

暂无评论

Association between Long-Term Exposure to PM_(2.5) Inorganic Chemical Compositions and Cardiopulmonary Mortality: A 22-Year Cohort Study in Northern China

引用

Environment & Health 2024年第8期2卷 530-540页

作者： Hongyue Sun Xi Chen Wenzhong Huang Jing Wei Xueli Yang Anqi Shan Liwen Zhang Honglu Zhang Jiayu He Chengjie Pan Jingjing Li Jing Wu Tong Wang Jie Chen Yuming Guo Shilu Tong Guanghui Dong Nai-Jun Tang Department of Occupational and Environmental Health School of Public HealthTianjin Medical UniversityTianjin 300070China Tianjin Key Laboratory of Environment Nutrition and Public Health Tianjin Medical UniversityTianjin 300070China Center for International Collaborative Research on Environment Nutrition and Public Health Tianjin 300070China Key Laboratory of Prevention and Control of Major Diseases in the Population Ministry of EducationTianjin Medical UniversityTianjin 300070China Climate Air Quality Research UnitSchool of Public Health and Preventive MedicineMonash UniversityMelbourne 3004Australia Department of Atmospheric and Oceanic Science Earth System Science Interdisciplinary CenterUniversity of MarylandCollege ParkMaryland 20740United States Shandong Provincial Hospital Affiliated to Shandong First Medical University Ji nan 250021ShandongChina National Center for Chronic and Noncommunicable Disease Control and Prevention Chinese Center for Disease Control and PreventionBeijing 100050China Department of Epidemiology and Biostatistics School of Public HealthTianjin Medical UniversityTianjin 300070China School of Public Health Shanxi Medical UniversityTaiyuan 030001China School of Public Health and Social Work Queensland University of TechnologyBrisbane 4072QLD Australia National Institute of Environmental Health Chinese Centre for Disease Control and PreventionBeijing 100021China Guangdong Provincial Engineering Technology Research Center of Environmental Pollution and Health Risk Assessment Department of Occupational and Environmental HealthSchool of Public HealthSun Yat-sen UniversityGuangzhou 510080China

Particulate matter with diameters≤2.5μm(PM_(2.5))has been identified as a significant air pollutant contributing to premature ***,the specific compositions within PM_(2.5) that play the most crucial role remain unclear,especially in areas with high pollution *** study aims to investigate the individual and joint mortality risks associated with PM_(2.5) inorganic chemical compositions and identify primary *** 1998,we conducted a prospective cohort study in four northern Chinese cities(Tianjin,Shenyang,Taiyuan,and Rizhao).Satellite-based machine learning models calculated PM_(2.5) inorganic chemical compositions,including sulfate(SO_(4)^(2–)),nitrate(NO_(3)^(–)),ammonium(NH_(4)^(+)),and chloride(Cl^(-)).A time-varying Cox proportional hazards model was applied to analyze associations between these compositions and cardiorespiratory mortality,encompassing nonaccidental causes,cardiovascular diseases(CVDs),nonmalignant respiratory diseases(RDs),and lung *** quantile-based g-computation model evaluated joint exposure effects and relative contributions of the *** analysis was used to identify vulnerable *** 785,807 person-years of follow-up,5812(15.5%)deaths occurred from nonaccidental causes,including 2932(7.8%)from all CVDs,479(1.3%)from nonmalignant RDs,and 552(1.4%)from lung *** interquartile range(IQR)increase in SO_(4)^(2–)was associated with mortality from nonaccidental causes(hazard ratio:1.860;95%confidence interval:1.809,1.911),CVDs(1.909;1.836,1.985),nonmalignant RDs(2.178;1.975,2.403),and lung cancer(1.773;1.624,1.937).In the joint exposure model,a simultaneous rise of one IQR in all four compositions increased the risk of cardiorespiratory mortality by at least 36.3%,with long-term exposure to SO_(4)^(2–)contributing the most to nonaccidental and cardiopulmonary *** with higher incomes and lower education levels were found to be more vulnerable.

关键词： PM_(2.5)inorganic chemical compositions mortality cohort study cardiorespiratory disease joint association

来源：评论

学校读者我要写书评

暂无评论

Chaos synchronization of semiconductor lasers over 1040-km fiber relay transmission with hybrid amplification

引用

Photonics research 2023年第6期11卷 953-960页

作者： LONGSHENG WANG JUNLI WANG YUSHAN WU YUEHUI SUN SONGSUI LI LIANSHAN YAN YUNCAI WANG ANBANG WANG Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan 030024China College of Physics and Optoelectronics Taiyuan University of TechnologyTaiyuan 030024China School of Information Engineering Guangdong University of TechnologyGuangzhou 510006China Guangdong Provincial Key Laboratory of Photonics Information Technology Guangzhou 510006China Center for Information Photonics&Communications School of Information Science and TechnologySouthwest Jiaotong UniversityChengdu 610031China

Optical chaos communication and key distribution have been extensively demonstrated with high-speed advantage but only within the metropolitan-area network range of which the transmission distance is restricted to around 300 *** secure-transmission requirement of the backbone fiber link,the critical threshold is to realize long-reach chaos ***,we propose and demonstrate a scheme of long-reach chaos synchronization using fiber relay transmission with hybrid amplification of an erbium-doped fiber amplifier(EDFA)and a distributed fiber Raman amplifier(DFRA).Experiments and simulations show that the hybrid amplification extends the chaos-fidelity transmission distance thanks to that the low-noise DFRA suppresses the amplified spontaneous emission noise and self-phase *** of the hybrid-relay conditions are studied,including launching power,gain ratio of DFRA to EDFA,single-span fiber length,and number of fiber span.A 1040-km chaos synchronization with a synchronization coefficient beyond 0.90 is experimentally achieved,which underlies the backbone network-oriented optical chaos communication and key distribution.

关键词： synchronization fiber amplifier

来源：评论

学校读者我要写书评

暂无评论

Two-step Optimal Allocation of Stationary and Mobile Energy Storage systems in Resilient Distribution Networks

引用

Journal of Modern Power systems and Clean Energy 2021年第4期9卷 788-799页

作者： Xinyi Jiang Jian Chen Qiuwei Wu Wen Zhang Yicheng Zhang Jie Liu Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong UniversityJinan 250061China Center for Electric Power and Energy(CEE) Department of Electrical EngineeringTechnical University of Denmark(DTU)2800 Kongens LyngbyDenmark Institute for Infocomm Research(I2R) Agency for ScienceTechnology and Research(A*STAR)Singapore State Grid Yantai Power Supply Company YantaiChina

Energy storage systems (ESSs) are acknowledged to be a promising option to cope with issues in high penetration of renewable energy and guarantee a highly reliable power supply. In this paper, a two-step optimal allocation model is proposed to obtain the optimal allocation (location and size) of stationary ESSs (SESSs) and mobile ESSs (MESSs) in the resilient distribution networks (DNs). In the first step, a mixed-integer linear programming (MILP) problem is formulated to obtain the preselected location of ESSs with consideration of different scenarios under normal operation conditions. In the second step, a two-stage robust optimization model is established to get the optimal allocation results of ESSs under failure operation conditions which are solved by column-and-constraint generation (C&CG) algorithm. A hybrid ESS allocation strategy based on the subjective and objective weight analysis is proposed to give the final allocation scheme of SESSs and MESSs. Finally, the proposed two-step optimal allocation model is demonstrated on a modified IEEE 33-bus system to show its effectiveness and merits.

关键词： Resilient distribution network stationary energy storage system mobile energy storage system optimal allocation

来源：评论

学校读者我要写书评

暂无评论

Design of Temperature Measurement and Identification system based on STM32 22

Design of Temperature Measurement and Identification System ...

引用

2022 International Workshop on control Sciences and Automation, WCSA 2022

作者： Hu, Xusheng Liu, Juan Tao, Binbin Ma'anshan Engineering Technology Research Center for Wireless Sensor Network and IntelliSense Ma'anshan243031 China Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot Anhui Wuhu241002 China Ma'anshan Technical College Ma'anshan243030 China

ISBN: (纸本)9781450389396

In order to carry out contactless temperature measurement and identification and improve the speed of authentication, a temperature measurement and identification system based on STM32 is designed. Infrared temperature sensor is used for contactless temperature acquisition and measurement, and openmv system is used for identification. Openmv accurately recognizes the face and transmits the data to the single chip microcomputer, so as to control the LED lamp and buzzer for corresponding data output and alarm. The infrared temperature sensor collects the temperature and accurately displays it on the OLED screen through the single chip microcomputer. The experimental data show that the temperature control accuracy is ± 0.7 g, the success rate of identity recognition is higher than 80%, and the temperature and identity recognition effect are obvious. © 2022 ACM.

关键词： Temperature measurement

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：