检索结果-内蒙古大学图书馆

第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

来源：评论

学校读者我要写书评

暂无评论

Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

引用

IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

GB-RC4: Effective brute force attacks on RC4 algorithm using GPU 7

GB-RC4: Effective brute force attacks on RC4 algorithm using...

引用

7th International Green and Sustainable Computing Conference, IGSC 2016

作者： Xue, Pei Li, Tao Dong, Han Liu, Chunbo Ma, Wenjing Pei, Songwen College of Computer and Control Engineering Nankai University Tianjin300071 China Information Security Evaluation Center Civil Aviation University of China Tianjin300300 China Laboratory of Parallel Software and Computational Science State Key Laboratory of Computing Science Institute of Software CAS Beijing China Shanghai Key Lab of Modern Optical Systems Department of Computer Science and Engineering University of Shanghai for Science and Technology Shanghai200093 China

ISBN: (纸本)9781509051175

Encryption algorithms are applied to a variety of fields and the security of encryption algorithms depends heavily on the computational infeasibility of exhaustive key-space search. RC4 algorithm has an extensive application for stream encryption, however, the disadvantages of traditional RC4 serial algorithm are large computational quantity and slow computation speed, which means a great challenge for throughput of computing system. Graphics processors recently have been widely used as accelerators for high throughput computing. In this paper, GPU is used to improve the efficiency and performance of attacking RC4 algorithm. First, we revised RC4 algorithm to make it easier to parallelize on a GPU. Then we take advantage of constant memory and shared memory in GPU to search the key space of RC4 algorithm efficiently. Besides, we solved the bank conflict problem in shared memory to further improve the performance. Our approach was evaluated in the whole key space of 40-bit, and the results show it can complete searching of the whole key space within 12.8 hours. © 2016 IEEE.

关键词： Graphics processing unit

来源：评论

学校读者我要写书评

暂无评论

Direct identification for n-alkanes (n ≥ 4) by an ambient mass spectrometric method based on microwave plasma

Direct identification for n-alkanes (n ≥ 4) by an ambient m...

引用

作者： Zhang, T.Q. Hu, S.G. Jin, Q.H. Division of Energy and Environmental Measurement National Institute of Metrology Beijing China State Key Laboratory of Industrial System and Control Research Center for Analytical Instrumentation Institute of Cyber Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781138029330

n-Alkanes (n > 4) show very similar physical characteristics and it is quite difficult to identify them by direct observation. Here, a direct identification method based on ambient mass spectrometry was developed to distinguish n-alkanes (n ≥ 4). Three gaseous alkanes (propane, n-butane and iso-butane) and five liquid alkanes (n-pentane, n-hexane, n-nonane, n-dodecane, and n-tridecane) had been analyzed with two sampling ways: 1) the central tube sampling and, 2) the atmospheric pressure-volatilizing sampling. The sample was ionized through plasma, which was generated from a Microwave Plasma Torch (MPT). The results show that after the central tube sampling, the alkanes are more easily to dissociate by losing—CH2–, then the generated fragment ions will recombine to prolong the carbon chain lengths. The end products are the new alkanes by losing or adding n (–CH2–) (n is not fixed) from the original alkanes. While after the atmospheric pressure-volatizing sampling, n-alkanes (n ≥ 4) are more easily to produce ions of [M+13]+ regularly. Thus, based on this phenomenon, n-alkanes (n ≥ 4) can be identified directly. Also, the developed method shows very good detection limit, which can be as low as 0.7 nmol/mol. © 2015 Taylor & Francis Group, London.

关键词： Atmospheric pressure

来源：评论

学校读者我要写书评

暂无评论

Traversable region detection with a learning framework

Traversable region detection with a learning framework

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Qingquan Zhang Yong Liu Yiyi Liao Yue Wang Institute of Cyber-Systems and Control Zheiiang University Zheiiang China State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control

ISBN: (纸本)9781479969241

In this paper, we present a novel learning framework for traversable region detection. Firstly, we construct features from the super-pixel level which can reduce the computational cost compared to pixel level. Multi-scale super-pixels are extracted to give consideration to both outline and detail information. Then we classify the multiple-scale super-pixels and merge the labels in pixel level. Meanwhile, we use weighted ELM as our classifier which can deal with the imbalanced class distribution since we only assume that a small region in front of robot is traversable at the beginning of learning. Finally, we employ the online learning process so that our framework can be adaptive to varied scenes. Experimental results on three different style of image sequences, i.e. shadow road, rain sequence and variational sequence, demonstrate the adaptability, stability and parameter insensitivity of our method to the varied scenes and complex illumination.

关键词： Roads Training Measurement Frequency modulation Feature extraction Image segmentation Robots

来源：评论

学校读者我要写书评

暂无评论

Deadlock control policy for a class of automated manufacturing systems with key resources

Deadlock control policy for a class of automated manufacturi...

引用

IEEE International Conference on Networking, Sensing and control

作者： Huixia Liu Weimin Wu State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Ludong University Yantai China State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781479980703

For automated manufacturing systems (AMSs) without center resources that are one-unit resources shared by two or more maximal perfect resource transition circuits, the optimal Petri net-based polynomial complexity deadlock avoidance policies are synthesized in our previous work. Based on Petri net models of AMSs, this work focuses on the deadlock control problem for AMSs with center resources. First, the concepts of key resources and key transitions are presented. It can prove that key transitions can bring AMSs with key resources into secondary-deadlock, i.e. the controlled Petri nets of AMSs with key resources are not live. Second, for a class of AMSs with key resources, secondary-deadlock can be characterized by maximal perfect control transition circuits (MPCT-circuits) that are saturated at a reachable marking of the controlled system. Then, by adding a control place and related arcs to each MPCT-circuit, secondary-deadlock can be prevented. Thereby, a deadlock control policy for a class of AMSs with center resources is synthesized. Finally, a few examples are provided to demonstrate the presented policy and used to compare them with the state-of-the-art methods.

关键词： Petri nets System recovery Manufacturing systems Firing Fires Polynomials Complexity theory

来源：评论

学校读者我要写书评

暂无评论

Comparison of Different Optimization Methods with Support Vecto Machine for Blast Furnace Multi-Fault Classification

引用

IFAC-PapersOnLine 2015年第21期48卷 1204-1209页

作者： Yang, Ruqiao An Chunjie Zhou, Zhe Wang, Lin Pan, Yijun State Key Laboratory of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hangzhou 310027 [Tel.: +86-571-87951442-808. Fax: +86-571-87951921 Zhejiang China

Aiming at the complex and volatile conditions of the blast furnace, a support vector machine with multi-fault classification is proposed to solve the problem on blast furnace fault diagnosis. The normal or failure data is handled with a normalization and dimensionality reduction of principal component analysis (PCA). As a small amount of failure sample, a C-support vector classification (C-SVC) is applied in this filed. Different optimization methods have been performed for optimizing SVM parameters, including the grid-search method (GSM), the genetic algorithm (GA) and the particle swarm optimization (PSO). It compares these optimization algorithm strengths and limitations for multi-fault classification on classification ability and classification speed. © 2015

关键词： Failure analysis

来源：评论

学校读者我要写书评

暂无评论

Web Prefetching of Smart Wireless Access Point

Web Prefetching of Smart Wireless Access Point

引用

2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Hui Li Hongqiang Lv Jianwen Zhang Qingqi Lin College of Information Science and Technology Beijing University of Chemical Technology The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Fluid Mechanics and Heat Transfer Laboratory Beijing University of Chemical Technology

Proven to be a viable and cost effective solution for ubiquitous internet access, wireless access network have proliferated at homes, offices, and cafes all over the globe. Being placed at the very edge of the computer network, with increasingly powerful computational ability, wireless access points are more and more suitable for deploying configurable and personalized services for mobile clients. In this paper we propose an intelligent wireless service framework over enhanced wireless access points(refered to as Smrart Wireless Access Point) that prefetch and aggregate web contents on the wired side based on user profiles and delivery it to the user in a wireless network environment. We modify the source code of browser to enhance its data collection capabilities and develop some practical smartphone applications on the mobile client-side. Additionally, we perform some caching stratagy and algorithms when a user have created considerable usage data or rated enough information. Measuring the download latency shows that DNS caching and content caching yields significant improvements in page load time. Prefetching mechanism, recommend system and some rich featured wireless local applications all benefit users much.

关键词： service Web Prefetching of Smart Wireless Access Point

来源：评论

学校读者我要写书评

暂无评论

GA-simplex algorithm and its application: a case study of gas emission estimation

GA-simplex algorithm and its application: a case study of ga...

引用

2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Hui Li Hongqiang Lv Qingqi Lin Jianwen Zhang Information Science and Technology College Beijing University of Chemical Technology State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Fluid Mechanics and Heat Transfer Laboratory Beijing University of Chemical Technology

Among the mathematical optimization algorithms, simplex algorithm is a popular and practical algorithm which was listed as one of the top 10 algorithms of the twentieth century by the journal Computing in Science and Engineering. Although simplex algorithm is efficient in the linear programming, the quality of convergence is unacceptable in practice as a numerical breakdown of the algorithm, even for smooth and well-behaved functions. On the other hand, full convergence might be seen in genetic algorithms(GA) using only crossover. So in this paper we combine the GA and simplex algorithm by initializing simplex from the final individual in GA and getting the converged result through simplex algorithm thereafter. A case study in estimating gas emission shows noteworthy improvement of efficiency and stability, compared with GA or simplex algorithm.

关键词： Multidimensional optimization genetic algorithm Simplex algorithm Nelder-Mead algorithm Linear programming

来源：评论

学校读者我要写书评

暂无评论

Performance Evaluation of the Deep Learning Approach for Traffic Flow Prediction at Different Times

Performance Evaluation of the Deep Learning Approach for Tra...

引用

2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Yanjie Duan Yisheng Lv Fei-Yue Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences

Traffic flow prediction is very important in the deployment of intelligent transportation system. Based on our previous research on deep learning approach for traffic data prediction, we further evaluates the performance of the SAE model for traffic flow prediction at daytime and *** 250 experimental tasks training a SAE model and evaluating its performance at daytime and nighttime with 3different criteria, we obtain the best combination of hyper parameters for each criterion at different times on weekday and non-weekday, respectively. Experimental results show that the MAE and RMSE at daytime are larger than that at nighttime,while the MRE at daytime are smaller than that at *** different criteria, the hyper parameters of the SAE model should vary accordingly. The results in this paper indicate that in real applications, traffic flow prediction using the deep learning approach can be a combination of multiple SAE models with different parameters suitable for different periods, which is of significance in future research.

关键词： SAE MAE Performance Evaluation of the Deep Learning Approach for Traffic Flow Prediction at Different Times

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：