检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Biomimetics

作者： Di Chen Zhengxing Wu Junzhi Yu State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing China

In this paper, a novel compliant passive joint with two torsion springs is designed for a multi-joint robotic fish to improve propulsive performance. The motion of the multi-joint robotic fish is governed by the central pattern generator (CPG) control method. Using this multi-joint robotic fish as a testbed, the effect of compliant passive joint on swimming speed with changes in spring constant and CPG parameters such as oscillation frequency and phase difference is explored. As for the multi-joint robotic fish with a compliant passive joint, the swimming speed increases directly with the increase of oscillation frequency and the swimming speed achieved at maximum oscillation frequency increases with the decrease of phase difference. In addition, the comparison of swimming performance between robotic fish with a compliant passive joint and a fixed passive joint is made. Remarkably, the maximum swimming speed after improvement increases approximately 9.43 cm/s, corresponding to 0.17 BL/s. Experimental results reveal that adding an extra compliant passive joint can not always bring an improvement in swimming performance. Appropriate stiffness of passive joint and control parameters are needed to achieve better swimming performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Motion Optimization for a Robotic Fish Based on Adversarial Structured control

Motion Optimization for a Robotic Fish Based on Adversarial ...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Shuaizheng Yan Jian Wang Zhengxing Wu Junzhi Yu Min Tan State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing China

This paper proposes a task-based control optimization method for the robotic fish. It is essentially an adversarial structured control consisting of a global control module and a local compensation control module. In detail, the global control module emulates an optimized central pattern generator with Evolutionary Strategy, while the local control module produces targeted compensation control signals with Soft Actor-Critic. The linear summation of two control laws works for the final robotic fish control. Considering that the evolutionary computation optimization algorithms generally have the defect of falling into the local optimum, we propose a method of antagonistic training to improve the optimization performance. The effectiveness of the designed controller is validated by simulation on agents in Mujoco. Noticeably, the simulation results demonstrate that the proposed method teaches the agent fish to move to any target point with a low energy consumption, which lays a good foundation for application of reinforcement learning in real robotic fish control.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and Yaw control of a Two-Motor-Actuated Biomimetic Robotic Fish

Design and Yaw Control of a Two-Motor-Actuated Biomimetic Ro...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Sheng Du Zhengxing Wu Junzhi Yu State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing China

This paper addresses the design and control of a novel tuna-inspired robotic fish able to realize both fast swimming and high maneuverability. A two-stage transmission mechanism is proposed, aiming at reducing the volume and mass of caudal peduncle. Benefited by it, both volumes and mass of moving parts can be reduced to allow higher swing frequency. At the same time, two joints driven by two motors ensure the flexibility of steering. The robotic fish achieves a maximum speed up to 1.65 body lengths per second (BL/s) and a minimum turning radius less than 0.35 body lengths (BL), based on the open-loop control designed by Central Pattern Generator (CPG) method. Furthermore, a yaw control is proposed to maintain course angle at high swimming speed, and simulation in Automatic Dynamic Analysis of Mechanical systems (ADAMS) software reveals the effectiveness. The results show that the proposed yaw control method can regulate the fluctuation of anterior body to desired range but without compensation of sideways drift.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on integrating Simulink model in KD-DRT platform based on TLC

Research on integrating Simulink model in KD-DRT platform ba...

引用

2014 International Conference on Logistics Engineering, management and Computer Science, LEMCS 2014

作者： Yao, Xinyu Li, Lin Wu, Wenbo State Key Lab. Complex Electromagnetic Envi. Effects Elect. Infor. Syst. Luoyang471003 China College of Information Systems and Management National University Of Defense Technology Changsha410073 China

ISBN: (纸本)9789462520103

KD-DRT simulation platform tries to manage MATlab.Simulink models, and make them compatible and cooperating with other C/C++ models in distributed realtime simulation. MATlab.Simulink together with KD-DRT are compared and analyzed in system structure and properties. The shortages of MATlab.Simulink in distributed real-time simulation are proposed, and KD-DRT is chosen as the support platform instead. KD-DRT chooses S-Function mode to create simulation models, and chooses Target Language Compiler(TLC) to inline S-Function and collect information of relationship, parameters and ports from Simulink models. Correlated RTW file is created and the structure is analyzed to extract these informations through TLC. Tests are carried out in the end to prove that KD-DRT can control parameters of Simulink models online, and transfer signals between multiple models outside the MATlab.environment. KD-DRT proves to be more suitable to serve as the support platform for distributed real-time simulation,and is able to combine Simulink models with C/C++ ones in simulation system. © 2014. The authors - Published by Atlantis Press.

关键词： Simulink

来源：评论

学校读者我要写书评

暂无评论

Limit-Cycle-Based Design of Formation control for Mobile Agents

Limit-Cycle-Based Design of Formation Control for Mobile Age...

引用

作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

An Efficient 3D Pedestrian Detector with Calibrated RGB Camera and 3D LiDAR

An Efficient 3D Pedestrian Detector with Calibrated RGB Came...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Lei Pang Zhiqiang Cao Junzhi Yu Shuang Liang Xuechao Chen Weimin Zhang State Key Lab Management and Control for Complex Systems CAS Beijing China BAICIRS Beijing China

Pedestrian detection plays an important role in the environmental perception and autonomous navigation for robotics, which provides critical information for the safe operation in complex environments. In this paper, a 3D pedestrian detector with calibrated LiDAR and RGB Camera is proposed, which takes full advantage of the precise range information of 3D LiDAR scanner and semantic information acquired from RGB image. The proposed approach integrates the segmented object clusters of point cloud and 2D bounding boxes generated by a visual object detector. The point cloud is segmented by a three-step segmentation approach, which can segment point cloud with both high precision and high efficiency. By fusion multi-sensor information in the image domain, the proposed approach provides 3D information of pedestrians in both LiDAR and camera coordinate systems. Experiments was conducted to evaluate the performance of the proposed approach.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Color object tracking in five degrees of freedom stereo vision system

International Journal of Digital Content Technology and its ...

引用

International Journal of Digital Content Technology and its Applications 2012年第20期6卷 43-52页

作者： Xin, Du Xiaoguang, Zhao Yu, Huang Jingjing, Ye School of Electrical Engineering Beijing Jiaotong University Beijing China State Key Lab. of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

From the view of combination of stereo vision and robot control, an active stereo vision for object tracking and location system is built to work on flexible manufacturing system. A method based on local HSV image and shape of object to recognize object is used for robot tracking. After the color segment, use the knowledge of shape of objects to recognize objects. And a technique for camera calibration based on plane square is proposed. It only requires the camera to observe a square at two (or more) different unknown orientations. Use the result of object recognize and camera calibration the robot can position and track the object. At the last of the paper, the results of object tracking experiments prove that the method is correct.

关键词： Stereo vision

来源：评论

学校读者我要写书评

暂无评论

Evolution of Cooperation in Snowdrift Game with Multi-Memory Mechanism 42

Evolution of Cooperation in Snowdrift Game with Multi-Memory...

引用

42nd Chinese control Conference, CCC 2023

作者： Liu, Yaojun Liu, Xingwen Tashi, Nyima College of Electrical Engineering Southwest Minzu University Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission Sichuan Chengdu610225 China Engineering Research Center for Tibetan Information Processing School of Information Science and Technology Tibet University Lhasa850000 China

ISBN: (纸本)9789887581543

Cooperative behavior has been of great concern in evolutionary game researches because of its important role in social life and natural evolution. Since memory can greatly influence the emergence of cooperative behavior, memory-based research on evolutionary games has proliferated in recent years. In the present paper, inspired by the well-known 'Stanford marshmallow experiment' (SME), we proposed a multi-memory mechanism in Snowdrift game (SDG) on spatial lattice networks whose core lies in what follows: Players are divided into two groups according to individual self-control;different memory lengths are set by group and by time in a single realization. The simulation results show that our proposed mechanism promotes cooperation level of the considered evolutionary game. More specifically, as memory length increases to an intermediate length, the cooperation level increases as well. For mechanism with short memory length, the effect of population structure is obvious and small values of adjusting factor can intensively facilitate high-frequency cooperative behavior. These findings may be helpful to understand the connection between population heterogeneity and the emergence of high cooperation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Behavioral research

来源：评论

学校读者我要写书评

暂无评论

What Does ChatGPT Say:The DAO from Algorithmic Intelligence to Linguistic Intelligence

引用

IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 575-579页

作者： Fei-Yue Wang Qinghai Miao Xuan Li Xingxia Wang Yilun Lin School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China Urban Computing Lab Department of Applied ResearchShanghai AI LaboratoryShanghai 200232China IEEE

THE well-known ancient Chinese philosopher Lao Tzu(老子)or Laozi(6th~4th century BC during the Spring and Autumn period)started his classic Tao Teh Ching《道德经》or Dao De Jing(see Fig.1)with six Chinese characters:"道(Dao)可(Ke)道(Dao)非(Fei)常(Chang)道(Dao)",which has been traditionally interpreted as“道可道,非常道”or"The Dao that can be spoken is not the eternal Dao".

关键词： DAO Intelligence Spring

来源：评论

学校读者我要写书评

暂无评论

Polsar Image Feature Extraction Based on Co-Regularization

Polsar Image Feature Extraction Based on Co-Regularization

引用

IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Xiayuan Huang Xiangli Nie Hong Qiao State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728163741

ISBN: (纸本)9781728163758

Wishart distance of covariance matrices and Euclidean distance of polarimetric features are two important similarity measurements for polarimetric synthetic aperture radar (Pol-SAR) image classification. This paper proposes a feature extraction method by combing the two distances for Pol-SAR image classification. Firstly, two weight graphs are constructed based on the two distances to represent the local information of the data. Specifically, the neighbouring samples are sought in a local region to reduce the computation burden and utilize the spatial information. Then the dimensionality reduction model is constructed based on the two weight graphs and co-regularization. The co-regularization aims to minimize the dissimilarity of low-dimensional features corresponding to two graphs. Finally, the obtained low-dimensional features are used for PolSAR image classification. Experimental results on real PolSAR datasets demonstrate the effectiveness and superiority of the proposed method.

关键词： Feature extraction Radar polarimetry Covariance matrices Euclidean distance Dimensionality reduction Measurement Matrix decomposition

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：