检索结果-内蒙古大学图书馆

Incremental networked predictive control of multi-agent systems with plant-model mismatch and random communication constraints

引用

IET control THEORY AND APPLICATIONS 2022年第1期16卷 51-65页

作者： Dong, Zhe Zheng, Chang-Bing Pang, Zhong-Hua Sun, Jian North China Univ Technol Key Lab Fieldbus Technol & Automat Beijing Beijing 100144 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Beijing Inst Technol Sch Automat State Key Lab Intelligent Control & Decis Comple Beijing Peoples R China

In this paper, we discuss the cooperative output tracking problem for networked multi-agent systems (NMASs) with plant-model mismatch as well as random communication constraints in the forward and feedback channels of each agent. In order to compensate actively for random communication constraints, that is, network-induced delays and packet dropouts, an incremental networked predictive control scheme based on a state observer is proposed, which consists of a data buffer, an incremental networked predictor, and a network delay compensator. For both the plant-model mismatch case and the plant-model match case, the stability conditions of resulting closed-loop NMASs are derived, respectively. Using the proposed method, the simulation results for three DC motor systems are presented to indicate that desired tracking performance can be achieved.

关键词： Algebra control system analysis and synthesis methods Stability in control theory Optimal control Multivariable control systems Self-adjusting control systems Nonlinear control systems

来源：评论

学校读者我要写书评

暂无评论

Investigating day-to-day route choices based on multi-scenario laboratory experiments, Part Ⅱ: Route-dependent attraction-based stochastic process model

引用

Communications in Transportation Research 2024年第1期4卷 92-107页

作者： Hang Qi Ning Ji Xiaobo Qu Zhengbing He Institute for Advanced Studies in Finance and Economics Hubei University of EconomicsWuhan430205 China Laboratory of Computation and Analytics of Complex Management Systems Tianjin UniversityTianjin300072 China Institute of Systems Engineering College of Management and EconomicsTianjin UniversityTianjin300072 China State Key Laboratory of Intelligent Green Vehicle and Mobility School of Vehicle and MobilityTsinghua UniversityBejing100084 China Senseable City Lab Massachusetts Institute of TechnologyCambridgeMA02139USA

laboratory experiments are one of the important means used to investigate travel choice behavior under strategic *** experiment-based studies have shown that the Nash equilibrium can predict aggregated route choices,while the fluctuations,whose mechanisms are still unclear,continue to exist until the *** understand the fluctuations,this paper proposes a route-dependent attraction-based stochastic process model,which shares exactly the same behavioral foundation introduced in Part I of the study(Qi et al.,2023),i.e.,route-dependent inertia and route-dependent *** model predictions are carefully compared with the experimental observations obtained from the congestible parallel-route laboratory experiments containing 312 subjects and eight decision-making scenarios(Qi et al.,2023).The results show that the proposed stochastic process model can precisely reproduce the random oscillations both in terms of flow switching and route flow ***,an approximated model is developed to enhance the efficiency in evaluating the equilibrium distribution,providing a practical tool to evaluate the impacts of transportation policies in both long-and short-term *** the best of our knowledge,this paper is the first attempt to model and explain experimental phenomena by introducing stochastic process theories,as well as a successful example of applying experimental economics methodology to improve our understanding of human travel choice behavior.

关键词： Day-to-day dynamics Route choice behavior Markov process Stochastic process

来源：评论

学校读者我要写书评

暂无评论

Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection

引用

IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1210-1220页

作者： Guojun Wang Jian Wu Rui He Bin Tian State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the Qingdao Academy of Intelligent Industries ShandongChina

Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane *** road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant ***,an effective and fast solution for these problems has remained *** solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is *** proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary *** demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road *** experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic ***,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.

关键词： 3D-LiDAR autonomous vehicle object detection point cloud road boundary

来源：评论

学校读者我要写书评

暂无评论

Short-term wind power forecast with turning weather based on DBSCAN-RFE-LightGBM

引用

RENEWABLE ENERGY 2025年 251卷

作者： Wu, Zhenlong Fan, Xinyu Bian, Guibin Liu, Yanhong Zhang, Xiaoke Chen, Yangquan Zhengzhou Univ Sch Elect & Informat Engn Zhengzhou 450001 Peoples R China Zhengzhou Univ State Key Lab Intelligent Agr Power Equipment Luoyang 471000 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China State Grid Henan Elect Power Co Elect Power Res Inst Zhengzhou 450052 Peoples R China Univ Calif Merced Mechatron Embedded Syst & Automation MESA Lab Dept Mech Engn Sch Engn Merced CA 95343 USA

At present, the wind power prediction technology is becoming more and more mature, however, the turning weather brings a decrease in prediction accuracy due to its suddenness and instability. In this paper, a wind power prediction method considering the turning period and non-turning period respectively is proposed to weaken the adverse effects caused by turning weather. Firstly, the prediction effects of multiple models are compared, density-based spatial clustering of applications with noise (DBSCAN) is selected as the outlier processing method, recursive feature elimination (RFE) is used as the feature selection method, and Light gradient boosting machine (LightGBM) is used for prediction. The combined prediction method based on DBSCAN-RFE-LightGBM can reduce the influence of abnormal data and redundant features and improve the prediction effect. Then, the sliding window is set to detect the turning period. Considering that the turning weather is an emergency and does not happen frequently, the amount of data is small, which leads to the inability to train the model well. Generative adversarial networks (GAN) are applied to expand the turning period data. The LightGBM is trained and predicted by using the expended turning period data. Finally, the time-division prediction results are merged. Using the data collected from wind farms for short-term power prediction experiments, the time-segment prediction method proposed in this paper with GAN reduces MAE by 1.913 and RMSE by 3.351 on a single unit compared with the non-differentiated period.

关键词： Turning weather Combination model Generative adversarial networks Multi-unit Wind power forecast DBSCAN-RFE-lightGBM

来源：评论

学校读者我要写书评

暂无评论

A Vagueness Adaptive Efficiency Evaluation Method of Science and Technology Resources Opening and Sharing Platforms Based on FAHP and BP Neural Network

引用

IEEE TRANSACTIONS ON ENGINEERING management 2024年 71卷 2049-2062页

作者： Zhang, Hui Feng, Xin Wei, Yigang Li, Zonggan Beihang Univ Sch Comp Sci & Engn State Key Lab Software Dev Environm Beijing 100190 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Beihang Univ Sch Comp Sci & Engn Beijing 100191 Peoples R China Beihang Univ Sch Econ & Management Beijing 100191 Peoples R China Beihang Univ Lab Low Carbon Intelligent Governance Beijing 100191 Peoples R China Beihang Univ Beijing Key Lab Emergency Support Simulat Technol Beijing 100191 Peoples R China

With the vigorous development of big data and information technology, promoting science and technology resources opening and sharing (STROS) has become a promising strategy to develop national innovation capacity. China has established various STROS platforms (STROSP) at the national and regional levels to encourage resources and knowledge sharing. However, STROSP efficiency evaluation is challenged in a vague environment, in which subjective and imprecise information in acquiring evaluation preferences of decision makers is a key obstacle. To solve these problems, an innovative model for STROSP efficiency evaluation is developed. An indicator assessment system explicitly considers the key evaluation aspects, namely, service quantity, service quality, and service effect. This article combines fuzzy analytic hierarchy process (FAHP) and backpropagation (BP) neural network algorithm into an integrated model to quantify the efficiency of STROS. Prior knowledge of experts was fully utilized by FAHP. The neural network algorithm enabled the intelligent extraction and rapid inference of sample data features. The proposed model maximizes fuzzy mathematics in solving fuzzy and nonquantifiable problems and utilizes the advantages of the BP neural network on nonlinear mapping. The accuracy and reliability of the model are validated by a case study of six national STROSP in China. Estimation results demonstrate that the model is a powerful method for the real-time evaluation of STROS efficiency evaluation.

关键词： Backpropagation (BP) neural network China efficiency evaluation fuzzy analytic hierarchy process (FAHP) science and technology resources opening and sharing vague environment

来源：评论

学校读者我要写书评

暂无评论

Implementation of Autonomous Docking and Charging for a Supporting Robotic Fish

引用

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第7期70卷 7023-7031页

作者： Dong, Huijie Wu, Zhengxing Wang, Jian Chen, Di Tan, Min Yu, Junzhi Taiyuan Univ Technol Key Lab Adv Transducers & Intelligent Control Sys Minist Educ Taiyuan 030024 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Peking Univ Coll Engn Dept Adv Mfg & Robot State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Guangdong Ocean Univ Coll Elect & Informat Engn Zhanjiang 524088 Peoples R China

Underwater energy supplements for autonom- ous underwater vehicles (AUVs) are significant for ocean exploitation owing to energy storage and data communication limitations. Aiming at the energy supplement for bionic robotic fish, an autonomous recharging-oriented docking approach is proposed in this article. First, an omnidirectional docking system containing a supporting robotic fish capable of visual recognition and wireless charging and a docking platform is presented. Next, five locomotive modes are designed and analyzed based on the hybrid swimming and gliding patterns for the robot fish. Utilizing the five modes, a docking procedure is planned, and an onboard-visual-based autonomous docking control strategy is presented. Aquatic experiments, including docking with the platform and refloating a small robot, are performed to verify the effectiveness of the proposed approach. The obtained results offer valuable insights into the development of autonomous docking of bionic robots, laying a solid foundation for the permanent operation of various underwater devices and robots.

关键词： Robots Visualization Tail Shape Batteries Cameras Buoyancy Autonomous docking gliding robotic fish motion control underwater energy supplementation underwater robotics

来源：评论

学校读者我要写书评

暂无评论

Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

引用

IEEE ROBOTICS AND AUTOMATION LETTERS 2025年第6期10卷 6456-6463页

作者： Sun, Ning Wang, Zelong Cheng, Long Li, Houcheng Niu, Ben Sun, Xijin Li, Ke Shandong Normal Univ Sch Informat Sci & Engn Jinan 250358 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Shandong Univ Inst Intelligent Med Engn Sch Control Sci & Engn Jinan 250061 Peoples R China

Hand exoskeletons have become increasingly crucial for the rehabilitation of hand function, as relevant studies have shown that using the exoskeletons to assist in rehabilitation training can improve hand motor function. However, developing a human-robot kinematic compatibility exoskeleton while providing sufficient assistance torque is still a challenge. This letter develops a series-parallel self-aligning index finger exoskeleton to assist the index finger in flexion/extension and adduction/abduction training. A series-parallel mechanism driven by two motors simultaneously was proposed for the metacarpophalangeal (MCP) joint, which can ensure human-robot joint axes self-alignment and increase the joint assistance torque. A kinematic compatibility analysis method was proposed, and the kinematic compatibility of the series-parallel mechanism was analyzed. The degrees of freedom and forward kinematics of the proposed mechanism were analyzed, and its workspace was calculated, which results show that the motion range of the MCP joint can meet the grasping training requirements. Preliminary experiments were carried out, and the results indicate that the motion trajectory coefficients of the marker points at the MCP, PIP, and DIP joints averaged for all subjects with and without the proposed exoskeleton are 0.993, 0.956, and 0.939, respectively, which can verify the kinematic transparency of the proposed mechanism. The assistance torque generated by the proposed mechanism on the MCP joint can meet the joint assistance torque requirements. In a word, the proposed exoskeleton can achieve flexion/extension and adduction/abduction training, human-robot joint axes self-alignment, and provide sufficient assistance torque.

关键词： Exoskeletons Fingers Kinematics Hands Motors Training Torque Sun Prototypes Electronics packaging Kinematic compatibility analysis self-aligning index finger exoskeleton series-parallel mechanism

来源：评论

学校读者我要写书评

暂无评论

Detection of Stealthy False Data Injection Attacks Against Cyber-Physical systems:A Stochastic Coding Scheme

引用

Journal of systems Science & complexity 2022年第5期35卷 1668-1684页

作者： GUO Haibin PANG Zhonghua SUN Jian LI Jun State Key Lab of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongging Innovation Center Chongqing 401120China Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China

This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive *** detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI *** order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller *** this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an *** design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection *** minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.

关键词： Attack detection cyber-physical systems(CPSs) stealthy FDI attacks stochastic coding

来源：评论

学校读者我要写书评

暂无评论

Sora-Based Parallel Vision for Smart Sensing of intelligent Vehicles: From Foundation Models to Foundation Intelligence

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

引用

IEEE TRANSACTIONS ON intelligent VEHICLES 2024年第2期9卷 3123-3126页

作者： Yu, Hongkai Liu, Xinyu Tian, Yonglin Wang, Yutong Gou, Chao Wang, Fei-Yue Cleveland State Univ Dept Elect & Comp Engn Cleveland OH 44115 USA Cleveland State Univ Dept Comp Sci Cleveland OH 44115 USA Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100045 Peoples R China Sun Yat sen Univ Sch Intelligent Syst Engn Shenzhen Campus Shenzhen 518063 Peoples R China

There are a large number of functional sensors installed on the modern intelligent vehicles. Many Artificial Intelligence based foundation models have been proposed for smart sensing to recognize the known object classes in the new but similar scenarios. However, it is still challenging for the foundation models of smart sensing to detect all the object classes in both seen and unseen scenarios. This letter aims at pushing the boundary of smart sensing research for intelligent vehicles. We first summarize the current widely-used foundation models and the foundation intelligence needed for smart sensing of intelligent vehicles. We then explain Sora-based Parallel Vision to boost the foundation models of smart sensing from basic intelligence (1.0) to enhanced intelligence (2.0) and final generalized intelligence (3.0). Several representative case studies are discussed to show the potential usages of Sora-based Parallel Vision, followed by its future research direction.

关键词： intelligent vehicles smart sensing sora-based parallel vision

来源：评论

学校读者我要写书评

暂无评论

A Passive Compliance Obstacle-Crossing Robot for Power Line Inspection and Maintenance

引用

IEEE ROBOTICS AND AUTOMATION LETTERS 2023年第5期8卷 2772-2779页

作者： Chen, Minghao Cao, Yinghua Tian, Yunong Li, En Liang, Zize Tan, Min Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Engn Lab Ind Vis & Intelligent Equipment Technol Beijing 100190 Peoples R China

In scenarios of the overhead power line system, manual methods are inefficient and unsafe. Meanwhile, the majority of cantilevered robots have poor efficiency when crossing obstacles. This letter proposes a novel power line inspection and maintenance robot to solve these problems. The robot employs a passive compliance obstacle-crossing principle, which could rapidly cross obstacles with the cooperation of gas springs and climbing wheels. Under high payload, the robot could take 5-15 seconds without any complex strategies to roll over obstacles. A variable configuration platform is also designed, which has a multiple line mode and a single line mode. It makes the robot suitable for different kinds of overhead power lines. Meanwhile, the related adaptability analyses are presented. Manipulators are also installed to help the robot perform specific maintenance tasks. The results of lab experiments and field tests reveal that the robot could stably and rapidly cross obstacles, such as suspension clamps, vibration dampers, and spacers, and could perform three kinds of maintenance tasks on the line.

关键词： Robots Wheels Mobile robots Maintenance engineering Inspection Clamps Task analysis Power line inspection robot mechanical design telerobotics field robotics maintenance tasks

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

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

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：