检索结果-内蒙古大学图书馆

8th Symposium on Novel Photoelectronic Detection Technology and Applications

作者： Shan, Liu Ming, Li Long Hui, Wei Dong Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China China Aerospace Science and Industry Corporation Limited Beijing100048 China

ISBN: (数字)9781510653122

ISBN: (纸本)9781510653115

Aiming at the forward-looking distance perception requirements of obstacles such as mountains, forests and trees during the ultra-low-altitude flight of subsonic aircraft, an obstacle distance estimation method based on deep learning is proposed. Firstly, the relationship between adjacent hyper-pixels is modeled by the conditional random fields, the neural network model is trained using the data set, and then the loss function of the pose parameter regression is designed, and the representation of the neural network model is input to the constructed loss function to optimize the weight of the regression model. Simulation experiments show that the proposed method can effectively perceive obstacles within 3km ahead, and the distance estimation error is not more than 20% of the relative distance, which can meet the obstacle avoidance requirements of most sudden obstacles during ultra-low-altitude flight. © 2022 SPIE

关键词： Vision

来源：评论

学校读者我要写书评

暂无评论

Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Muyang Hou Zhenya Lei Haidong Hu Zhong Wang Yong Wang Le Xie Hesheng Wang Department of Automation Shanghai Jiao Tong University Shanghai China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Beijing Institute of Control Engineering Beijing China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant; on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A* which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion.

关键词： Hands Trajectory tracking Trajectory planning Service robots Stability analysis Safety Mobile robots Resource management Splines (mathematics) Trajectory optimization

来源：评论

学校读者我要写书评

暂无评论

Design and Development of New Solid-state DC Circuit Breaker 6

Design and Development of New Solid-state DC Circuit Breaker

引用

6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Zhong, Jianying Deng, Yuan Yan, Xin Qu, Lu Fan, Naiyuan Feng, Jian Gan, Zhizheng Pinggao Group CO. Ltd Pingdingshan China Tsinghua University State Key Laboratory of Control and Simulation of Power System and Generation Equipment Department of Electrical Engineering Beijing China Dc Research Center Sichuan Energy Internet Research Institute Tsinghua University Chengdu China

ISBN: (纸本)9798350346671

Solid-state DC circuit breakers are key equipment for the protection of medium and low voltage DC systems and are the most effective means of isolating short-circuit faults. With the development of high-power power electronics, the performance of solid-state DC circuit breakers has also improved. In this paper, a new topology of anti-parallel connection is proposed based on the reverse blocking IGCT, which requires fewer switches, lower cost and smaller loss than the anti-series and diode-bridge structure. Besides, a snubber branch design method based on MOV-C is proposed, which can effectively suppress the breaking overvoltage and AC harmonics. Finally, a prototype of low-voltage solid-state DC circuit breaker with rated voltage of 750V was developed, and the breaking test and temperature test were carried out. © 2023 IEEE.

关键词： Electric circuit breakers

来源：评论

学校读者我要写书评

暂无评论

RPViT: Vision Transformer Based on Region Proposal 2022

RPViT: Vision Transformer Based on Region Proposal

引用

5th International Conference on Image and Graphics Processing, ICIGP 2022

作者： Ge, Jing Wang, Qianxiang Tong, Jiahui Gao, Guangyu School of Computer Science and Technology Beijing Institute of Technology China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781450395465

Vision Transformers constantly absorb the characteristics of convolutional neural networks to solve its shortcomings in translational invariance and scale invariance. However, dividing the image by a simple grid often destroys the position and scale features in the image at the beginning of the network. In this paper, we propose a vision transformer based on region proposal, which obtains the inductive bias in a simple way. Specifically, RPViT achieves locality and scale-invariance by extracting regions with locality using a traditional region proposal algorithm and deflating objects of different scales to the same scale by a bilinear interpolation algorithm. In addition, to enable the network to fully utilize and encode diverse candidate objects, a multi-class token approach based on orthogonalization is proposed and applied. Experiments on ImageNet demonstrate that RPViT outperforms baseline converters and related work. © 2022 ACM.

关键词： Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Neural Network-Based Terminal Sliding Mode controller Design for Manipulator systems 1

引用

UNIfied Conference of International Workshop on Defence Applications of Multi-Agent systems, DAMAS 2023, International Conference on Maintenance engineering, IncoME-V 2023, International conference on the Efficiency and Performance engineering Network, TEPEN 2023

作者： Qu, Lufeng Fan, Qiming Kang, Yang Yang, Jun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China School of Intelligent Manufacturing Tianjin Sino-German University of Applied Technology Tianjin300350 China School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9783031494130

ISBN: (纸本)9783031494123

In the context of nonlinear and uncertain manipulator systems, achieving fast and accurate desired trajectories for each joint of the manipulator is crucial. Our study aims to improve current control methods by combining sliding mode control and neural network techniques. Specifically, we leverage the neural networks’ approximation capabilities to estimate both the modeling error and external disturbance in our research. These estimates are then integrated into the synovial control as additional gains. This approach allows for the sliding mode controller’s switch gain to adapt to changing modeling error and external disturbance, thereby avoiding the vibration production typically associated with traditional sliding mode controllers. It can be observed from the simulation results that the combination of the proposed nonsingular terminal sliding mode controller and neural network achieves fast and precise tracking of desired trajectories. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Data selection strategy in data-driven model predictive control of uncertain systems

Data selection strategy in data-driven model predictive cont...

引用

第34届中国过程控制会议

作者： Lingyi Yang dewei Li Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai Engineering Research Center of Intelligent Control and Management

In this paper,a novel data-driven methodology for MPC with data selection strategies is *** novel selection strategy involves two ***,we check the similarity between the current data and the past data items already existing in the data *** enables the controller to pick a set of informative data items which contain sufficient information on each direction of the signal ***,for the data items within the data oracle,we integrate multiple similar data vectors into a single vector to cut down amount of *** simulation examples displays the upgraded performance and smaller amount of calculation of selection strategies.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Language-Queried Target Sound Extraction Without Parallel Training Data

Language-Queried Target Sound Extraction Without Parallel Tr...

引用

2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Ma, Hao Peng, Zhiyuan Li, Xu Li, Yukai Shao, Mingjie Kong, Qiuqiang Liu, Ju School of Information Science and Engineering Shandong University Qingdao China Department of Computer Science North Carolina State University NC United States ARC Lab Tencent PCG China Key Laboratory of System and Control AMSS Chinese Academy of Sciences Beijing China The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9798350368741

Language-queried target sound extraction (TSE) aims to extract specific sounds from mixtures based on language queries. Traditional fully-supervised training schemes require extensively annotated parallel audio-text data, which are labor-intensive. We introduce a parallel-data-free training scheme, requiring only unlabelled audio clips for TSE model training by utilizing the contrastive language-audio pre-trained model (CLAP). In a vanilla parallel-data-free training stage, target audio is encoded using the pre-trained CLAP audio encoder to form a condition embedding, while during testing, user language queries are encoded by CLAP text encoder as the condition embedding. This vanilla approach assumes perfect alignment between text and audio embeddings, which is unrealistic. Two major challenges arise from training-testing mismatch: the persistent modality gap between text and audio and the risk of overfitting due to the exposure of rich acoustic details in target audio embedding during training. To address this, we propose a retrieval-augmented strategy. Specifically, we create an embedding cache using audio captions generated by a large language model (LLM). During training, target audio embeddings retrieve text embeddings from this cache to use as condition embeddings, ensuring consistent modalities between training and testing and eliminating information leakage. Extensive experiment results show that our retrieval-augmented approach achieves consistent and notable performance improvements over existing state-of-the-art with better generalizability. © 2025 IEEE.

关键词： contrastive language-audio pre-training retrieval-augmented strategy target sound extraction uni-modal training for multi-modal tasks

来源：评论

学校读者我要写书评

暂无评论

Line Feature Based Visual Servo control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

引用

IEEE International Conference on Unmanned systems (ICUS)

作者： Yunfei Zhang Xinyu Bian Yize Sun Zongyu Zhang Hai Huang Xu Yang National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features.

关键词： Visualization Heuristic algorithms Dynamics Estimation Grasping Stability analysis Servomotors Vehicle dynamics Underwater vehicles Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

The Enhancing Effect of the East Asian Subtropical Westerly Jet on Summer Extreme High-Temperature Events over Central-Eastern China Since the Late 1990s

引用

Advances in Atmospheric Sciences 2025年第3期42卷 453-466页

作者： Chujie GAO Yuyu NIU Gen LI Shanlei SUN Bo LU Chaofan LI Bei XU Jinglong HUANG Xiubao SUN College of Oceanography&Key Laboratory of Marine Hazards Forecasting Ministry of Natural ResourcesHohai UniversityNanjing 210098China Key Laboratory of Meteorological Disaster Ministry of Education(KLME)&Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)Nanjing University of Information Science and TechnologyNanjing 210044China State Key Laboratory of Tropical Oceanography South China Sea Institute of OceanologyChinese Academy of SciencesGuangzhou 510301China Laboratory for Climate Studies and CMA-NJU Joint Laboratory for Climate Prediction Studies National Climate CenterChina Meteorological AdministrationBeijing 100081China Xiong’an Institute of Meteorological Artificial Intellegence Xiong'an 071708China Center for Monsoon System Research Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China College of Earth and Planetary Sciences University of the Chinese Academy of SciencesBeijing 100049China College of Intelligent Science and Control Engineering Jinling Institute of TechnologyNanjing 211169China

The increase in frequency and intensity of Extreme High-temperature Events(EHEs)over Central-Eastern China(CEC)in recent decades has severely impacted social development and *** observation and reanalysis datasets,this study explores the effect of the East Asian subtropical westerly jet stream(EAJ)on the CEC EHEs for the summers spanning 1979–*** its general relative location to the right side of the upper-level jet stream exit region,CEC would theoretically suffer more EHEs with a stronger and northwardly-shifted EAJ in summer due to the likelihood of abnormal subsidence induced by the ***,such an EAJ–EHE connection has been unstable over the past four decades but has displayed an evident interdecadal *** the late 1990s,the interannual variation of the EAJ was manifested mainly by its meridional displacement in the northeastern part of East Asia;thus,the atmospheric responses were essentially located to the east of CEC,exerting less of an influence on the CEC ***,since the late 1990s,the EAJ variation has featured an intensity change in its center over the northwest portion of the CEC,which has resulted in a westward shift in atmospheric responses to cover the CEC ***,the EAJ could potentially affect the summer CEC EHEs during 2000–*** findings offer support for an in-depth understanding of the formation mechanisms of extreme weather/climate events of this nature and thus provide a scientific reference for seasonal climate predictions.

关键词： summer extreme high-temperature events East Asian subtropical jet atmospheric circulation central-eastern China interdecadal change

来源：评论

学校读者我要写书评

暂无评论

Biochars derived from carp residues:characteristics and copper immobilization performance in water environments

引用

Frontiers of Environmental Science & engineering 2023年第6期17卷 99-112页

作者： Hongtao Qiao Yongsheng Qiao Cuizhu Sun Xiaohan Ma Jing Shang Xiaoyun Li Fengmin Li Hao Zheng Institute of Applied Chemistry&Department of Chemistry Xinzhou Teachers UniversityXinzhou 034000China Institute of Coastal Environmental Pollution Control Ministry of Education Key Laboratory of Marine Environment and EcologyCollege of Environmental Science and EngineeringFrontiers Science Center for Deep Ocean Multispheres and Earth SystemOcean University of ChinaQingdao 266100China Department of Environmental Science School of Geography and TourismShaanxi Normal UniversityXi'an 710119China Sanya Oceanographic Institution Ocean University of ChinaSanya 572000China

Heavy metal pollution has attracted worldwide attention because of its adverse impact on the aquatic environment and human *** production of biochar from biowaste has become a promising strategy for managing animal carcasses and remediating heavy metal pollution in the aquatic ***,the sorption and remediation performance of carp residue-derived biochar(CRB)in Cu-polluted water is poorly ***,batches of CRB were prepared from carp residues at 450–650℃(CRB450–650)to investigate their physicochemical characteristics and performance in the sorption and remediation of Cu-polluted *** with a relatively low-temperature CRB(e.g.,CRB450),the high-temperature biochar(CRB650)possessed a large surface area and thermodynamic ***650 contained higher oxygen-containing functional groups and P-associated minerals,such as *** the pyrolytic temperature increased from 450 to 650℃,the maximum sorption capacity of the CRBs increased from 26.5 to 62.5 mg/*** adsorption process was a type of monolayer adsorption onto homogenous materials,and the sorption of Cu^(2+)on the CRB was mainly based on chemical *** most effective potential adsorption mechanisms were in order of electrostatic attraction and cation-πinteraction>surface complexation and precipitation>pore-filling and cation ***,the CRBs efficiently immobilized Cu^(2+)and reduced its bioavailability in *** results provide a promising strategy to remediate heavy metal-polluted water using designer biochars derived from biowastes,particularly animal carcasses.

关键词： Biowaste Pyrolytic temperature Immobilization Bioavailability Remediation

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：