检索结果-内蒙古大学图书馆

2023 International Conference on Ocean Studies, ICOS 2023

作者： Timoshenko, Aleksandr Zuev, Aleksandr Filaretov, Vladimir Institute of Marine Technology Problems Feb Ras Institute of the World Ocean Far Eastern Federal University Laboratory of Intelligent Information Sustems for Marine Robots M.D. Ageev Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Information Sustems for Marine Robots M.D. Ageev Vladivostok Russia Institute of Automation and Control Processes Feb Ras Sevastopol State University Laboratory of Robotic Systems Vladivostok Russia

ISBN: (纸本)9798350382457

In this paper, a new approach is proposed to the construction of control systems for autonomous underwater vehicles equipped with multi-link manipulators for high-precision execution of various technological operations on underwater infrastructure objects, including those requiring force action on these objects, in fully automatic mode. The approach is based on creating a force effect on the work object using the thrusters of the underwater vehicle. In this case, all mutual influences from the manipulator moving in a viscous water space are taken into account, including nominal mutual influences between its links, the action of the added masses and moments of inertia of the liquid, as well as viscous friction. At the same time, the values of the added masses and moments of inertia of the liquid are proposed to be identified before the start of any technological operations using sliding mode observers and identification methods based on Kalman filters. Sliding mode observers allow us to estimate the values of generalized external torques acting in each actuator of the manipulator, as well as the values of rotational velocities and accelerations of their output shafts. The resulting minor displacements of the underwater vehicle during the execution of technological operations, due to errors in determining the force effect on the body of the vehicle from the operating manipulator, are compensated with the help of onboard stabilization systems of the underwater vehicle. © 2023 IEEE.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Air-Ground Robots’ Cooperation-Based Mountain Glaciers Thickness Continuous Detection: systems And Applications 16th

Air-Ground Robots’ Cooperation-Based Mountain Glaciers Thic...

引用

16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Zhong, Jikang Li, Peng Liu, Xu Zhao, Pinhui Jiang, Han Yang, Liying Li, Decai Bu, Chunguang He, Yuqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964826

In this article, we present a multi-robot continuous ice thickness measurement system that can operate in plateau glacial environments with natural slopes up to 30°, large crevasses of glacier, slippery snow/ice ground surface, and inevitable terrain undulations. The ground station operator can operate the unmanned ground vehicle (UGV) with improved safety driving ability by following the optimal driving advice provided by the driving skill learning model. The air-ground robot collaboration algorithm coordinated the operation of the UGV with the unmanned aerial vehicle (UAV) to improve the mobility of the UGV in complex glacier environments. We obtain multi-scale and multi-aspect environmental information through air-ground collaboration and use a lightweight environmental modeling method to obtain a three-dimensional model of the glacier surface and subglacial terrain. The system was applied in the Korchung Gangri Glacier in the Tibet Plateau in June 2022. The experimental results show that the system can operate in the extreme environment of plateau glaciers and collect high-precision continuous ice thickness distribution data. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Thickness measurement

来源：评论

学校读者我要写书评

暂无评论

A Framework for Automatic Identification of Neural Network Structural Redundancy Based on Reinforcement Learning 5

A Framework for Automatic Identification of Neural Network S...

引用

5th International Conference on computer Information Science and Artificial Intelligence, CISAI 2022

作者： Wu, Tingting Song, Chunhe Zeng, Peng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510662520

The increasing structure of neural networks makes it difficult to deploy on edge devices with limited computing resources. Network pruning has become one of the most successful model compression methods in recent years. Existing works usually compress models by removing unimportant filters based on the importance. However, the importance-based algorithms tend to ignore the parameters that extract edge features with small criterion values. And recent studies have shown that the existing criteria rely on norm and lead to similar model compression structures. Aiming at the problems of ignoring edge features and manually specifying the pruning rate in current importance-based model pruning algorithms, this paper proposes an automatic recognition framework for neural network structure redundancy based on reinforcement learning. First, we perform cluster analysis on the filters of each layer, and map the filters into a multidimensional space to generate similar sets with different functions. We then propose a criterion for identifying redundant filters within similar sets. Finally, we use reinforcement learning to automatically optimize the cluster dimension, and then determine the optimal pruning rate for each layer to reduce the performance loss caused by pruning. Extensive experiments on various benchmark network architectures and datasets demonstrate the effectiveness of our proposed framework. © 2023 SPIE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

A Very-Short-Term Online PV Power Prediction Model Based on RAN With Secondary Dynamic Adjustment

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2023年第5期4卷 1214-1224页

作者： Zhang, Tengfei Ma, Fumin Peng, Chen Yu, Yang Yue, Dong Dou, Chunxia O'Hare, Gregory M. P. Nanjing University of Posts and Telecommunications College of Automation College of Artificial Intelligence The Jiangsu Engineering Laboratory of Big Data Analysis and Control for Active Distribution Network Nanjing210023 China Nanjing University of Finance and Economics College of Information Engineering Nanjing210023 China Shanghai University School of Mechatronic Engineering and Automation Shanghai200072 China Nanjing University of Posts and Telecommunications Institute of Advanced Technology Nanjing210023 China Trinity College Dublin School of Computer Science and Statistics Dublin 2 Ireland

Photovoltaic (PV) power is progressively being subsumed into power grids. As a consequence, reliable PV power forecasting has become essential in order to ensure the optimal functioning of the power grid. Neural networks remain the dominant prediction model utilized. Conventional neural network forecasting models are wholly dependent upon offline data. Subsequent to offline training, no further structural adjustments can be made during the forecasting process, which therefore they fail to cater for PV power supply fluctuations that are fundamentally dynamic. To address this failing, this article proposes a very-short-term online prediction model based on a resource-allocating network (RAN) incorporating a secondary dynamic adjustment. The RAN is initially trained offline to obtain a basic forecasting model. Thereafter, in an online prediction process, those samples with large prediction errors that exceed a preset value are recorded in a specific buffer. When the set conditions are triggered, the secondary dynamic adjustment strategy is employed, which enables the online prediction model to effectively relearn previously unmodeled samples while shielding external interference. Experimental results obtained from actual testing demonstrate the validity of the secondary dynamic adjustment strategy for online learning while also providing higher accuracy levels from the prediction model. © 2020 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

AGV semantic attack detection based on extended stochastic Petri net

AGV semantic attack detection based on extended stochastic P...

引用

作者： Zhang, Sichao Liang, Wei Zhang, Yinlong Wang, Kai State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

Semantic attack, as a covert and highly destructive network attack, seriously threatens the security of automatic guided vehicle (AGV) system. To make it worse, the dynamic change of wireless channel makes semantic attack detection more non-intractable. In order to solve the issues on the current semantic attack detection in wireless network environment, this paper proposes an extended stochastic Petri net (ESPN)-based detection method. It builds a stochastic Petri net (SPN) model for the normal operation process of AGV system, and detects the semantic attack by comparing the characteristics of relevance matrix, average dwell time and token density. Additionally, we innovatively add the wireless channel evaluation parameter in the SPN model, to estimate the current wireless channel state and eliminate the impact of wireless interference on attack detection. Eventually, an AGV attack detection system experimental platform has been developed to verify the effectiveness of the proposed method. The experimental results show that the proposed algorithm can effectively eliminate the impact of wireless channel interference on semantic attack detection, and has impressive detection performance. Copyright © 2023 Inderscience Enterprises Ltd.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Temperature Effect on the Optical Characteristics of a Microoptoelectromechanical Accelerometer

Temperature Effect on the Optical Characteristics of a Micro...

引用

Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Evgenij S. Barbin Tamara G. Nesterenko Aleksej N. Koleda Alena A. Talovskaia Ivan V. Kulinich Denis M. Mokhovikov Laboratory of microsystems engineering The Tomsk State University of Control Systems and Radioelectronics. Laboratory of Radiophotonics V.E. Zuev Institute of Atmospheric Optics of SB RAS Tomsk Russia Laboratory of microsystems engineering The Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Radiophotonics The Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Laboratory of Radiophotonics The Tomsk State University of Control Systems and Radioelectronics. Laboratory of Intelligent Computer Systems V.E. Zuev Institute of Atmospheric Optics of SB RAS Tomsk Russia

ISBN: (数字)9798350389234

ISBN: (纸本)9798350353051

The treatise studies the temperature sensitivity of the optical transmission coefficient of an microoptoelectromechanical accelerometer (MOEMA) based on the optical tunneling effect in a temperature range from minus $40^{\circ} \mathrm{C}$ to plus $100^{\circ} \mathrm{C}$. Two types of optical measuring transducers are studied: based on a directional coupler or a resonator. It is shown that the major contribution to the temperature error of the MOEMA’s transmission coefficient is made by the alteration of the optical transmission coefficient (OTC). For a measuring transducer based on a directional coupler, the temperature sensitivity of the OTC amounted to $0.00058{ }^{\circ} \mathrm{C}^{-1}$. That for a transducer based on a resonator amounted to $0.33{ }^{\circ} \mathrm{C}^{-1}$, which definitely speaks of its inability to operate without a thermostatic system. Following the results, the contribution of the refraction index alteration depending on temperature more than 5 times exceeds that of the MOEMA’s mechanical parameters for optical measuring transducers based on the directional coupler and more than 3000 times for the resonator.

关键词： Temperature measurement Temperature sensors Temperature distribution Transducers Optical resonators Optical variables measurement Optical coupling

来源：评论

学校读者我要写书评

暂无评论

An Improved Deep Learning Method-based Detection of Transmission Line Insulator Defects

An Improved Deep Learning Method-based Detection of Transmis...

引用

2023 International Conference on computer, Artificial Intelligence, and control Engineering, CAICE 2023

作者： Gao, Pengpei Song, Chunhe Yu, Shimao Wu, Tingting State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510665040

The insulator is a vital component of power equipment that aids in power transmission. Aiming at transmission line faults caused by missing insulator pieces, this paper proposed to divide insulator detection and defect location into two steps. Additionally, we add Squeeze-and-Excitation (SE) module into the Faster R-CNN model at the insulator detection stage, which could enhance insulator detection accuracy under similar model complexity and also improve the detection efficiency of the YOLOv3 model on insulator defect location. © 2023 SPIE.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Baseline Results for Selected Nonlinear System Identification Benchmarks

arXiv

引用

arXiv 2024年

作者： Champneys, Max D. Beintema, Gerben I. Tóth, Roland Schoukens, Maarten Rogers, Timothy J. Dynamics Research Group University of Sheffield Sheffield United Kingdom Control System Group Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

Nonlinear system identification remains an important open challenge across research and academia. Large numbers of novel approaches are seen published each year, each presenting improvements or extensions to existing methods. It is natural, therefore, to consider how one might choose between these competing models. Benchmark datasets provide one clear way to approach this question. However, to make meaningful inference based on benchmark performance it is important to understand how well a new method performs comparatively to results available with well-established methods. This paper presents a set of ten baseline techniques and their relative performances on five popular benchmarks. The aim of this contribution is to stimulate thought and discussion regarding objective comparison of identification methodologies. © 2024, CC BY.

关键词： Nonlinear simulations

来源：评论

学校读者我要写书评

暂无评论

The System of Coordinated Semi-Automatic Remote control by Two Mobile Robots

The System of Coordinated Semi-Automatic Remote Control by T...

引用

International Ural Conference on Measurements (UralCon)

作者： Vladimir Filaretov Alexey Katsurin Robotic Systems Laboratory Institute of Automation and Control Processes Vladivostok Russia Far Eastern Federal University Institute for Problems of Marine Technologies Vladivostok Russia

The paper discusses a method that ensures the coordinated operation of two mobile robots, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. At the same time, the task of remote control of the manipulator of the main mobile robot performing operations in the cramped conditions of the working area, when the objects of work are out of sight of its vision system, is solved. In this situation, the vision system of an auxiliary and more maneuverable mobile robot is used to monitor the objects of work when performing various operations with them. In addition, this vision system is able to change the spatial orientation by rotating about two mutually perpendicular axes. The mathematical apparatus proposed in the paper allows to take into account the different current spatial orientation of the base platforms of both mobile robots at the angles of roll, pitch and yaw in the absolute coordinate system. The results of the simulation confirmed the efficiency of the proposed method.

关键词：

来源：评论

学校读者我要写书评

暂无评论

AR-C&P: A Tangible Programming for Children Based Augmented Reality 22

AR-C&P: A Tangible Programming for Children Based Augmented ...

引用

Proceedings of the Tenth International Symposium of Chinese CHI

作者： Danli Wang Yanyan Zhao Shuo Feng The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences China and School of Artificial Intelligence University of Chinese Academy of Sciences China

ISBN: (纸本)9781450398695

Augmented Reality (AR) technology enables continuous visual feedback and varied digital scenes on the real world. This paper presents AR-C&P, an AR-based tangible programming tool for young children. It allows children to create AR maze map with low-cost materials and plan the route by constructing tangible program sequences. Meanwhile, a variety of real-time visual feedback from the screen will be superimposed on the real scenes of the whole process. AR-C&P is intuitive and intriguing which could enrich children’s creating experience, develops their cognitive developmental skills and helps children learn fundamental programming concepts. We conducted two experiments. The first experiment reveals the relationship between task completion and cognitive developmental skills. The second experiment reveals the effect of AR on learning programming.

关键词： Augmented Reality children edutainment programming languages tangible programming

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：