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检索条件"机构=State Key Lab. of Intelligent Control and Decision of Complex Systems"

共 337 条记录，以下是121-130 订阅

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CFSeRec:A Contrastive Framework for Sequential Recommendation

CFSeRec:A Contrastive Framework for Sequential Recommendatio...

引用

第42届中国控制会议

作者： Tong Wang Yaping Dai Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In sequential recommender systems,the main problems are the long-tailed distribution of data and noise interference.A Contrastive Framework for Sequential Recommendation(CFSeRec) is proposed to solve these two problems *** shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data,so that the long-tailed problem is *** the application of projection head method,the sequence representation becomes more general and robust,rather than just adapted to the task of contrastive ***,the impact of noise on sequence recommender systems is effectively *** on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain,when comparing to the seven previous frameworks.

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Towards Pose Estimation for Large UAV in Close Range

Towards Pose Estimation for Large UAV in Close Range

引用

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

作者： Ni Ou Junzheng Wang Shangfei Liu Jiehao Li State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665465373

This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a novel pose estimation method based on vision fusion and point cloud registration is proposed. Our approach works on one-shot mode and only requires 10 samples with real poses for template construction. Through V-rep simulation environment, we generate two 200-sample datasets of different difficulty for evaluation. Error quantiles, 5cm5deg and 10cml0deg are three evaluation metrics used in our ablation experiments. It is illustrated that our method outperforms in robustness and precision due to proposed dimension extension modification and fusion of vision sensors.

关键词： Point cloud compression Measurement Cloud computing Pose estimation Vision sensors Autonomous aerial vehicles Laser modes

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems

Two Degree of Freedom Active Disturbance Rejection Control S...

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第42届中国控制会议

作者： Xiyuan Shan Tao Cai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

This paper is concerned with the controller design and the theoretical analysis for time-delay systems,a two degree of freedom(feedforward and feedback) control method is proposed,which combines advantages of the Smith predictor and the active disturbance rejection control(ADRC).The feedforward part of controller is used to track the set point,the feedback part of controller(ADRC) is used to suppress interferences and the Smith predictor is used to correct time *** proposed control design is easy to tune parameters and has been proved to effectively control systems with large time *** bounded input bounded output(BIBO) stability of closed-loop system is ***,numerical simulations show the effectiveness and practicality of the proposed design.

关键词： Time-delay Active Disturbance Rejection control(ADRC) Smith Predictor(SP)

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Forecasting Approach in Fuzzy Time Series Based on Information Granules

Forecasting Approach in Fuzzy Time Series Based on Informati...

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第40届中国控制会议

作者： Kaixin Zhao Yaping Dai Ye Ji Jiayi Sun School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at a large number of ambiguous,imprecise and incomplete data in the real world,fuzzy time series has come into being and developed into an effective forecasting *** the process of modeling and forecasting of fuzzy time series,the prediction performance of fuzzy time series can be effectively improved by partitioning the universe of discourse into different *** this paper,a forecasting approach for fuzzy time series,which introduces the granularity mechanism into interval division and employs differential data for incremental forecasting,is proposed to solve the problem of time series forecasting with high forecasting *** the proposed approach,in order to describe the fuzzy logic relationship and fuzzy trend of historical data,we first do differential processing on the historical ***,Fuzzy C-means(FCM) clustering algorithm is used to generate several partition intervals *** the sequel,we use the principle of justifiable granularity to constantly adjust the width of all the intervals,so that these information granules associated with corresponding intervals become the most"informative" information ***,the boundary of information granules is used as the basis of interval division to complete the forecasting *** illustrative example is provided to demonstrate the essence of the proposed *** comparative experiment with other representative approaches shows that the proposed approach can significantly improve the prediction accuracy of time series.

关键词： Fuzzy Time Series Information Granules Unequal-sized Intervals Forecasting

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Energy consumption analysis in multi-legged robots based on gait planning

Energy consumption analysis in multi-legged robots based on ...

引用

Chinese control Conference (CCC)

作者： Xiaolong Du Shoukun Wang Xiaoyan Zong Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509009107

Currently, the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of robots. Aimed at the problem of energy consumption for mobile robots, this paper provides the analysis in terms of the gait planning. Firstly, two kinds of gait curves Respectively, cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction (SLR). The length of step (S), the height of step (H) and the duty ratio of gait cycle (β) are set as the primary research points about the gait of mobile robot. In this work, we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait parameters. Finally, the results provide some recommendations for the gait planning of the quadruped robot, that is, the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Three-dimensional displays

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Temperature control System of Thermoelectric Cooler Based on Improved ADRC

Temperature Control System of Thermoelectric Cooler Based on...

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第34届中国控制与决策会议

作者： Xiyuan Shan Tao Cai Zhicheng Zong Hongbo Mu School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at the problems containing complex working conditions,modeling difficulties and long-time delay of thermoelectric cooler temperature control system,an improved ADRC control method combining ADRC and Smith predictor is proposed in this *** deals with the disturbances and uncertain dynamics in the system,SP compensates the time delay to improve the control *** with the traditional PID controller,the proposed control method has faster response speed and stronger anti-disturbance ability,meanwhile,overcomes the dependence of Smith predictor on object parameters to a certain *** simulation and experimental verification,a good control effect is obtained,which provides a positive guidance of the related application of thermoelectric cooler.

关键词： Thermoelectric cooler(TEC) Active Disturbance Rejection control(ADRC) Smith Predictor(SP) Temperature control System

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

引用

第42届中国控制会议

作者： Tianyi Wang Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

With the aim of 2-AMT electric vehicles,a comprehensive shift schedule that considers both power and economy is ***,the objective function of the comprehensive shift schedule is constructed,which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit ***,Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift ***,AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an *** results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance,and the economy is optimized by 3%.The feasibility of the comprehensive shift schedule is verified.

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Glucose Regulation for Subjects with Type 1 Diabetes Using Active Disturbance Rejection control

Glucose Regulation for Subjects with Type 1 Diabetes Using A...

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第三十八届中国控制会议

作者： Deheng Cai Jiliang Song Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In artificial pancreas(AP) systems, control algorithms play an important role in the blood glucose(BG) *** ability of active disturbance rejection control(ADRC), which can deal with various disturbances, enables it to become a promising approach in the control algorithm design for BG regulation when facing many disturbances(e.g. glucose fluctuation caused by meal intakes and exercises). In this paper, an ADRC controller is proposed for the AP systems. To ensure the safety,the insulin on board(IOB) constraints and the insulin delivery constraints are introduced to the ADRC controller. The controller is evaluated on the FDA-accepted UVA/Padova T1 DM simulator with the 10-adult cohort. For both announced and unannounced meals, the controller achieves satisfactory performance in terms of mean glucose(139.9 mg/dl for announced meals, 157.9 mg/dl for unannounced meals) and percentage time in [70, 180] mg/dl(91.5% for announced meal, 68.9% for unannounced meals)without having the risk of hypoglycemia.

关键词： Glucose Regulation Type 1 Diabetes Artificial Pancreas Active Disturbance Rejection control

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An Improved Active Disturbance Rejection control Method for Crane System

An Improved Active Disturbance Rejection Control Method for ...

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第34届中国控制与决策会议

作者： Yubo Sun Xiyuan Shan Zhicheng Zong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In order to improve the dynamic performance of the underdriven crane system,an improved linear active disturbance rejection controller(LADRC) based on the new error was *** improved LADRC takes the error value between the disturbance and its observed value multiplied by a coefficient as the basis for adjusting the linear extended state observer(LESO).The improved method has two ***,the new error can prevent the traditional LESO from choosing larger parameter adjustment disturbances,which will limit the performance of the ***,the pole can be configured by adjusting the coefficient to obtain better dynamic ***,the effectiveness of the proposed method is verified by simulation and *** proposed method can effectively restrain the swing of the payload and it is robust to system parameters perturbation as well.

关键词： Crane LADRC New Error Underdriven System

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LAR Routing Stability Protocol Based on Mobility Prediction

LAR Routing Stability Protocol Based on Mobility Prediction

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第35届中国控制会议

作者： Tang Chao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.

关键词： Ad Hoc high-relative velocity motion model link lifetime

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