检索结果-内蒙古大学图书馆

第三十八届中国控制会议

作者： Lei Wang Zhuoyue Song Housheng Su Yiqun Zou Xiafei Tang State Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology School of Automation Huazhong University of Science and Technology School of Automation Central South University School of Electrical and Information Engineering Changsha University of Science and Technology

This paper is concerned with the problem of cooperative attitude tracking and vibration reduction for multiple flexible spacecraft without modal variable measurement under a directed communication topology. Firstly, a distributed attitude synchronization control law for MRPs representation is proposed in the absence of external disturbances, where the modal information is obtained using a modal variable estimator. To deal with a more practical case that the spacecraft are affected by external disturbances, the control law is further modified by integrating a disturbance observer and a feedforward compensating scheme,in which the lumped disturbances including the external disturbances and errors of the estimated modal information are observed and compensated in finite time. Under this enhanced control scheme, the attitude tracking errors and vibration variables will converge to zero even in the presence of external disturbances, and the controller is continuous and chattering-free. Besides,compared with the existing results, the communication graph in this paper is assumed to be directed and contain a spanning tree with the virtual leader as the root node. A numerical example is illustrated to demonstrate the effectiveness of the proposed results.

关键词： Attitude tracking Multiple flexible spacecraft Directed graph External disturbance

来源：评论

学校读者我要写书评

暂无评论

Optimal design model of distributed simulation system based on quotient space

引用

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2009年第SUPPL. 1期40卷 268-272页

作者： Wu, Di Chen, Jie Flavio, Oquendo Zhang, Juan Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China VALORIA Laboratory University of South Brittany Vannes 56017 France

To answer the problem of ambiguous design levels, the hierarchical system model based on quotient space theory was proposed. The model consisted of the system global design level, the architecture level and the execution structure level. Furthermore, in order to establish the formal system design model, an allocation model was proposed based on simulation tasks, simulation resources and simulation services, including the relationship constraints between them. Finally, the model was verified based on a concrete simulation system design example.

关键词： systems analysis

来源：评论

学校读者我要写书评

暂无评论

Theoretical Study of Millimeter Wave Attenuation in Particulate Environment

Theoretical Study of Millimeter Wave Attenuation in Particul...

引用

UK, Europe, China Millimeter Waves and THz Technology Workshop (UCMMT)

作者： Xiaoming Liu Yixin Zhou Tao Qi Lu Gan Xiaofan Yang School of Physics and Electronic Information Anhui Normal University Anhui Provincial Engineering Laboratory on Information Fusion and Control for Intelligent Robot Wuhu Anhui China State Key Laboratory of Complex Electromagnetic Environment Effects on Electronic and Information System Luoyang Henan China

ISBN: (数字)9781728129938

ISBN: (纸本)9781728129945

Particulate environment is frequently encountered in the millimeter wave propagation path. The particles usually produce scattering and absorption to the millimeter wave. Unfortunately, these particles usually have different size, ingredients and even a mixture of many elements. This paper presents a preliminary study of the attenuation of particles on millimeter wave transmission. The dielectric property of water sand and ice were also discussed. The study was conducted at 110 GHz and 220 GHz. Calculation was based on the Mie theory. A full wave simulation was also conducted to better understand the attenuation effect.

关键词： Millimeter wave technology Attenuation Millimeter wave communication Dielectrics Electromagnetic scattering Ice

来源：评论

学校读者我要写书评

暂无评论

Blockchain based digital asset management system architecture for power grid big data

arXiv

引用

arXiv 2018年

作者： Jun, Zhang Fei-Yue, Wang State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Electrical Engineering Wuhan University Wuhan430072 China Qingdao Academy of Intelligent Industries Qingdao266071

Chinese power grid enterprises are in need for development of digital asset management system. The characteristics of decentralization, self-trust and self-confidence, pave a promising technical path for power grid digital assess management and Big Data applications. This article firstly introduces the state-of-the-art of power grid Big Data and digital asset management, and the related issues in power grid enterprises. The solution of blockchain based digital asset management technology and its implementation are presented in details, followed by a discussion of their future developmental directions. Copyright © 2018, The Authors. All rights reserved.

关键词： Big data

来源：评论

学校读者我要写书评

暂无评论

Malaria Cell Counting Diagnosis within Large Field of View

Malaria Cell Counting Diagnosis within Large Field of View

引用

Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Li-hui Zou Jie Chen Juan Zhang Narciso Garcia Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Grupo de Tratamiento de Imágenes E.T.S.I. Telecomunicación Universidad Politécnica de Madrid Madrid Spain

Malaria is one of the most serious parasitic infections of human. The accurate and timely diagnosis of malaria infection is essential to control and cure the disease. Some image processing algorithms to automate the diagnosis of malaria on thin blood smears are developed, but the percentage of parasitaemia is often not as precise as manual count. One reason resulting in this error is ignoring the cells at the borders of images. In order to solve this problem, a kind of diagnosis scheme within large field of view (FOV) is proposed. It includes three steps. The first step is image mosaicing to obtain large FOV based on space-time manifolds. The second step is the segmentation of erythrocytes where an improved Hough Transform is used. The third step is the detection of nucleated components. At last, it is concluded that the counting accuracy of malaria infection within large FOV is finer than several regular FOVs.

关键词： Diseases Strips Brightness Blood Image color analysis Image motion analysis Computer vision

来源：评论

学校读者我要写书评

暂无评论

A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

引用

International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

来源：评论

学校读者我要写书评

暂无评论

Local Path Planning Algorithm for UGV Based on Improved Covariance Matrix Adaptive Evolution Strategy

Local Path Planning Algorithm for UGV Based on Improved Cova...

引用

第33届中国控制与决策会议

作者： Jiangbo Zhao Jiaquan Zhang Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Techenology Center of Special Vehicle Manufacture and Evaluation Engineering of Beijing Beijing North Vehicle Group Co.Ltd.

Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance of the algorithm,a non-uniform column grid lines modeling method is introduced,and on this basis,a modeling method for planning paths is *** at the path planning problem in a multi-obstacle environment,the evaluation function of the path is constructed from four aspects,and the covariance matrix adaptive evolution strategy(CMA-ES)is used to solve the nonlinear optimization *** order to further reduce the amount of calculation,the CMA-ES algorithm is improved by the dynamic adjustment strategy of population *** results show that the path planning algorithm can effectively realize the local path planning in complex environment.

关键词： Local path planning CMA-ES Unmanned ground vehicle

来源：评论

学校读者我要写书评

暂无评论

Event-triggered Observability: A Set-membership Perspective

arXiv

引用

arXiv 2022年

作者： Zheng, Kaikai Shi, Dawei Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

This work attempts to discuss the observability of linear time-invariant systems with event-triggered measurements. A new notion of observability, namely, ǫ-observability is defined with parameter ǫ, which relates to the worst-case performance of inferring the initial state based on not only the received measurement but also the implicit information in the event-triggering conditions at no-event instants. A criterion is developed to test the proposed ǫ-observability of discrete-time linear systems, based on which an iterative event-triggered set-membership observer is designed to evaluate a set containing all possible values of the state. The proposed set-membership observer is designed as the outer approximation of the ellipsoids predicted based on previous state estimates and the ellipsoids inferred by fusing the received measurement and communication conditions, which is optimal in the sense of trace at each step and is proved to be asymptotically bounded. The efficiency of the proposed event-triggered set-membership state observer is verified by numerical experiments. © 2022, CC BY.

关键词： state estimation

来源：评论

学校读者我要写书评

暂无评论

Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field

Path Planning and Evaluation for Obstacle Avoidance of Manip...

引用

第33届中国控制与决策会议

作者： Jiangbo Zhao Qiang Zhao Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Technology Center of Special Vehicle Manufacture and Evaluation Enginneering of Beijing Beijing North Vehicle Group Co.Ltd.

This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.

关键词： Artificial potential field Danger field Obstacle avoidance Path planning Collision detection

来源：评论

学校读者我要写书评

暂无评论

An Adaptive Disturbance Rejection controller for Artificial Pancreas

引用

IFAC-PapersOnLine 2020年第2期53卷 16372-16379页

作者： Deheng Cai Wei Liu Eyal Dassau Francis J. Doyle Iii Xiaoling Cai Junzheng Wang Linong Ji Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China Department of Endocrine and Metabolism Peking University People’s Hospital Beijing China. Harvard John A. Paulson School of Engineering and Applied Sciences Harvard University Cambridge MA 02138 USA.

Artificial pancreas (AP) systems are designed to automate glucose management for patients with type 1 diabetes. In this work, we propose an adaptive disturbance rejection control approach for AP systems to achieve safe and effective glucose regulation. The controller is built within the framework of active disturbance rejection control, but incorporates safety operation constraints, and glucose- and velocity-dependent parameter adaptation modules for the key control parameters. In silico performance comparison between the proposed controller and an adaptive zone model predictive controller (MPC) (Shi, Dassau, and Doyle III, 2019a) is conducted on the 10-adult cohort of the FDA-accepted UVA/Padova T1DM simulator. For both announced and unannounced meals, the controller achieves comparable glucose regulation performance in terms of mean glucose (134.9 mg/dL vs. 135.4 mg/dL, p < 0.001; 149.7 mg/dL vs. 151.7 mg/dL, p < 0.001, respectively) and percentage time in [70, 180] mg/dL (93.8% vs. 92.4%, p < 0.001; 76.0% vs. 72.4%, p < 0.001, respectively) without increasing the risk of hypoglycemia. The results indicate the feasibility of achieving comparable glucose regulation performance through a non-optimization control law for AP systems.

关键词： Artificial pancreas Active disturbance rejection control Adaptive control Glucose regulation

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：