检索结果-内蒙古大学图书馆

第40届中国控制会议

作者： Le Li Haoyu Liao Yongqiang Bai School of Automation Beijing Institude of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institude of Technology

KCF is an excellent target tracking algorithm with fast computing speed and high ***,it performs poorly in complex tracking situations such as target deformation,motion blur,scale change and *** view of target deformation and motion blur,we designed a feature fusion method,which combines CN feature and HOG feature to enhance the expression ability of the *** view of the change of scale,the scale pool is *** improve the ability of anti occlusion,we improved the model updating mechanism and designed a SVM detector to detect the target after it is *** experiments on OTB-100 showed that the improved method achieves a great improvement compared with KCF,the accuracy increases by 4.2%,the success rate increases by 12.1%,and our algorithm meets the real-time requirements.

关键词： KCF target tracking feature fusion scale pool anti occlusion

来源：评论

学校读者我要写书评

暂无评论

Temperature control system of Thermoelectric Cooler Based on Improved ADRC

Temperature Control System of Thermoelectric Cooler Based on...

引用

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

来源：评论

学校读者我要写书评

暂无评论

Long-term stable target tracking algorithm based on improved Staple

Long-term stable target tracking algorithm based on improved...

引用

第40届中国控制会议

作者： Haoyu Liao Le Li Yongqiang Bai School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Staple algorithm has been widely proven to be an efficient target tracking method, but it is still easy to fail in some tracking scenarios such as target deformation, motion blur, and complete occlusion. This paper makes improvements to the above problems. First of all, we use a binary mask based on spatial reliability to enhance the target information in Staple’s color features, which improves the tracking accuracy of the algorithm in complex scenes. Secondly, we propose a response graph evaluation index based on secondary detection, that is, the least square filter is used for convolution at the original response peak to obtain a more accurate tracking state judgment. Finally, if the current state is judged to be a failure, we use a particle filter-based motion estimation method to relocate the target, thereby improving the algorithm’s tracking success rate when the target is occluded. The test results on the OTB2015 data set show that the overall accuracy of the algorithm in this paper has reached 80%, and the overall success rate has reached 73.2%, which proves the long-term stable tracking performance of the algorithm.

关键词： Target tracking Staple Binary mask Particle filter Anti-occlusion

来源：评论

学校读者我要写书评

暂无评论

An Improved Active Disturbance Rejection control Method for Crane system

An Improved Active Disturbance Rejection Control Method for ...

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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.

关键词：

来源：评论

学校读者我要写书评

暂无评论

LAR Routing Stability Protocol Based on Mobility Prediction

LAR Routing Stability Protocol Based on Mobility Prediction

引用

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

来源：评论

学校读者我要写书评

暂无评论

Teleoperation of humanoid motion using 3G communication network

Teleoperation of humanoid motion using 3G communication netw...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

来源：评论

学校读者我要写书评

暂无评论

Motion-based Lidar-camera Calibration via Cross-modality Structure Consistency

TechRxiv

引用

TechRxiv 2023年

作者： Ou, Ni Cai, Hanyu Wang, Junzheng The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Lidar and cameras serve as essential sensors for automated vehicles and intelligent robots, and they are frequently fused in complicated tasks. Precise extrinsic calibration is the prerequisite of Lidar-camera fusion. Hand-eye calibration is almost the most commonly used targetless calibration approach. This paper presents a particular degeneration problem of hand-eye calibration when sensor motions lack rotation. This context is common for ground vehicles, especially those traveling on urban roads, leading to a significant deterioration in translational calibration performance. To address this problem, we propose a novel motion-based Lidar-camera calibration framework based on cross-modality structure consistency. It is globally convergent within the specified search range and can achieve satisfactory translation calibration accuracy in degenerate scenarios. To verify the effectiveness of our framework, we compare its performance to one motion-based method and two appearance-based methods using six Lidar-camera data sequences from the KITTI dataset. Additionally, an ablation study is conducted to demonstrate the effectiveness of each module within our framework. © 2023, CC BY.

关键词： Cameras

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：