检索结果-内蒙古大学图书馆

Event-triggered leader-following formation control for multi-agent systems under communication faults: application to a fleet of unmanned aerial vehicles

引用

Journal of Systems engineering and Electronics 2021年第5期32卷 1014-1022页

作者： VAZQUEZ TREJO Juan Antonio GUENARD Adrien ADAM-MEDINA Manuel PONSART Jean-Christophe CIARLETTA Laurent ROTONDO Damiano THEILLIOL Didier Research Center for Automatic Control of Nancy University of LorraineNancy F-54000France Electronic Engineering Department National Institute of Technology of MexicoCuernavaca Morelos 62490Mexico Lorraine Research Laboratory in Computer Science and Its Applications University of LorraineNancy F-54000France University of Stavanger Department of Electrical and Computer EngineeringStavanger 4021Norway

The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication *** the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the *** matrix inequalities(LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization *** on the closed-loop system,an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy *** proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles(UAVs)under communication faults.A comparison between a state-of-the-art technique and the proposed technique has been provided,demonstrating the performance improvement brought by the proposed approach.

关键词： event-triggered leader-following consensus communication fault formation control unmanned aerial vehicle(UAV) experimental result

来源：评论

学校读者我要写书评

暂无评论

Rethinking development and major research plans of Industrial Internet in China

引用

Fundamental Research 2024年第1期4卷 3-7页

作者： Chunxiao Jiang Yang Cong Jiming Chen Chenghong Wang Guozheng Wu Ruizhen Zhao Zhiheng Wang Bin Xiao Ting Chen Beijing National Research Center for Information Science and Technology Tsinghua UniversityBeijing 100084China Tsinghua Space Center Tsinghua UniversityBeijing 100084China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China College of Control Science and Engineering Zhejiang UniversityHangzhou 310027China Division III Department of Information SciencesNational Natural Science Foundation of ChinaBeijing 100085China Division II Department of Information SciencesNational Natural Science Foundation of ChinaBeijing 100085China Chongqing Key Laboratory of Image Cognition School of Computer Science and TechnologyChongqing University of Posts and TelecommunicationsChongqing 400065China University of Electronic Science and Technology of China Chengdu 611731China

This paper gives a definition of the Industrial Internet and expounds on the academic connotation of the future Industrial *** this foundation,we outline the development and current status of the Industrial Internet in China and ***,we detail the avant-garde paradigms encompassed within the National Natural science Foundation of China(NSFC)’s“Future Industrial Internet Fundamental Theory and Key Technologies”research plan and its corresponding management *** research initiative endeavors to enhance interdisciplinary collaborations,aiming for a synergistic alignment of industry,academia,research,and practical *** primary focus of the research plan is on the pivotal scientific challenges inherent to the future industrial *** is poised to traverse the“first mile”,encompassing foundational research and pioneering innovations specific to the industrial internet,and seamlessly bridges to the“last mile”,ensuring the effective commercialization of scientific and technological breakthroughs into tangible industrial market *** anticipated contributions from this initiative are projected to solidify both the theoretical and practical scaffolding essential for the cultivation of a globally competitive industrial internet infrastructure in China.

关键词： Industrial Internet Academic connotation Major research plan Scientific problem Policy advice

来源：评论

学校读者我要写书评

暂无评论

Zero-Shot Sim2Real Transfer of Deep Reinforcement Learning controller for Tower Crane System

引用

IFAC-PapersOnLine 2023年第2期56卷 10016-10020页

作者： Mohammed B. Mohiuddin Abdel Gafoor Haddad Igor Boiko Yahya Zweiri Center for Autonomous Robotic Systems Khalifa University Abu Dhabi UAE Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi UAE Department of Aerospace Engineering and Director of Advanced Research and Innovation Center Khalifa University Abu Dhabi UAE

control of nonlinear systems is a challenging task that often requires linearization, which limits the operating envelope. Moreover, designing a controller for such nonlinear systems requires complex tuning rules and expert system knowledge. Deep Reinforcement Learning (DRL) has been used as a controller for nonlinear systems. However, its applicability is hindered by the Sim2Real gap, an issue where the DRL agent trained in simulation does not transfer to reality. In this work, we propose using DRL for the control of nonlinear systems across the Sim2Real gap by utilizing a detailed dynamic model of the nonlinear system. To demonstrate the proposed methodology, we use a tower crane as the nonlinear system of interest. The control policy of the DRL agent is learned rather than explicitly programmed. To highlight the effectiveness of the proposed DRL-based controller, the results are compared with the PI controller. The experimental results presented demonstrate the successful Sim2Real transfer and effectiveness of the proposed approach.

关键词： Reinforcement learning and deep learning in control Mechatronic systems control of constrained systems Simulation to reality transfer

来源：评论

学校读者我要写书评

暂无评论

Generalized Correspondence Matching via Flexible Hierarchical Refinement and Patch Descriptor Distillation

Generalized Correspondence Matching via Flexible Hierarchica...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Yu Han Ziwei Long Yanting Zhang Jin Wu Zhijun Fang Rui Fan School of Computer Science and Technology Donghua University Shanghai P. R. China Shanghai Research Institute for Intelligent Autonomous Systems the State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems Machine Intelligence & Autonomous Systems (MIAS) Group the College of Electronics & Information Engineering Tongji University Shanghai P. R. China Department of Electronics and Computer Engineering The Hong Kong University of Science and Technology P. R. China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Correspondence matching plays a crucial role in numerous robotics applications. In comparison to conventional hand-crafted methods and recent data-driven approaches, there is significant interest in plug-and-play algorithms that make full use of pre-trained backbone networks for multi-scale feature extraction and leverage hierarchical refinement strategies to generate matched correspondences. The primary focus of this paper is to address the limitations of deep feature matching (DFM), a state-of-the-art (SoTA) plug-and-play correspondence matching approach. First, we eliminate the pre-defined threshold employed in the hierarchical refinement process of DFM by leveraging a more flexible nearest neighbor search strategy, thereby preventing the exclusion of repetitive yet valid matches during the early stages. Our second technical contribution is the integration of a patch descriptor, which extends the applicability of DFM to accommodate a wide range of backbone networks pre-trained across diverse computer vision tasks, including image classification, semantic segmentation, and stereo matching. Taking into account the practical applicability of our method in real-world robotics applications, we also propose a novel patch descriptor distillation strategy to further reduce the computational complexity of correspondence matching. Extensive experiments conducted on three public datasets demonstrate the superior performance of our proposed method. Specifically, it achieves an overall performance in terms of mean matching accuracy of 0.68, 0.92, and 0.95 with respect to the tolerances of 1, 3, and 5 pixels, respectively, on the HPatches dataset, outperforming all other SoTA algorithms. Our source code, demo video, and supplement are publicly available at ***/GCM.

关键词： Performance evaluation Accuracy Semantic segmentation Source coding Image matching Supervised learning Pose estimation

来源：评论

学校读者我要写书评

暂无评论

OA-ECBVC: A Cooperative Collision-Free Encirclement and Capture Approach in Cluttered Environments

OA-ECBVC: A Cooperative Collision-Free Encirclement and Capt...

引用

IEEE Conference on Decision and control

作者： Xinyi Wang Yulong Ding Yizhou Chen Ruihua Han Lele Xi Ben M. Chen Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Department of Control Science and Engineering Tongji University Shanghai China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems China Department of Computer Science The University of Hong Kong Hong Kong China Hebei University of Science and Technology Shijiazhuang China

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the evader by reacting to collisions. An efficient approach is presented for constructing an obstacle-aware evader-centered bounded Voronoi cell (OA-ECBVC), which strictly ensures collision avoidance in various obstacle scenarios when pursuing the evader. The evader can be efficiently enclosed in a convex hull given random initial configurations. Furthermore, to cooperatively capture the evader, each pursuer continually compresses the boundary of its OA-ECBVC to quickly reduce the movement space of the evader while maintaining encirclement. Our OA-ECBVC algorithm is validated in various simulated environments with different dynamic systems of robots. Real-time performance of resisting uncertainties shows the superior reliability of our method for deployment on multiple robot platforms.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Measurement of atmospheric nanoparticles:Bridging the gap between gas-phase molecules and larger particles

引用

Journal of Environmental sciences 2023年第1期123卷 183-202页

作者： Chao Peng Chenjuan Deng Ting Lei Jun Zheng Jun Zhao Dongbin Wang Zhijun Wu Lin Wang Yan Chen Mingyuan Liu Jingkun Jiang Anpei Ye Maofa Ge Weigang Wang State Key Laboratory for Structural Chemistry of Unstable and Stable Species Beijing National Laboratory for Molecular Sciences(BNLMS)CAS Research/Education Center for Excellence in Molecular SciencesInstitute of ChemistryChinese Academy of SciencesBeijing 100190China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China School of Environment Science and Engineering Nanjing University of Information Science&TechnologyNanjing 210044China School of Atmospheric Sciences Sun Yat-sen UniversityZhuhaiGuangdong 519082China State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China Shanghai Key Laboratory of Atmospheric Particle Pollution and Prevention(LAP3) Department of Environmental Science&EngineeringFudan UniversityShanghai 200433China Key Laboratory for the Physics and Chemistry of Nanodevices Department of ElectronicsSchool of Electronics Engineering and Computer SciencePeking UniversityBeijing 100871China University of Chinese Academy of Sciences Beijing 100049China

Atmospheric nanoparticles are crucial components contributing to fine particulate matter(PM_(2.5)),and therefore have significant effects on visibility,climate,and human *** to the unique role of atmospheric nanoparticles during the evolution process from gas-phase molecules to larger particles,a number of sophisticated experimental techniques have been developed and employed for online monitoring and characterization of the physical and chemical properties of atmospheric nanoparticles,helping us to better understand the formation and growth of new *** this paper,we firstly review these state-of-the-art techniques for investigating the formation and growth of atmospheric nanoparticles(e.g.,the gas-phase precursor species,molecular clusters,physicochemical properties,and chemical composition).Secondly,we present findings from recent field studies on the formation and growth of atmospheric nanoparticles,utilizing several advanced ***-more,perspectives are proposed for technique development and improvements in measuring atmospheric nanoparticles.

关键词： Nanoparticle Measurement techniques Size distributions Physical properties Chemical composition

来源：评论

学校读者我要写书评

暂无评论

AN ALGORITHM for AUTOMATED DETECTION of DELAYED BRAIN ISCHEMIA INDICATOR from VIDEO-EEG MONITORING DATA

AN ALGORITHM for AUTOMATED DETECTION of DELAYED BRAIN ISCHEM...

引用

2023 International Workshop on Photogrammetric and computer Vision Techniques for Environmental and infraStructure Monitoring, Biometrics and Biomedicine, PSBB 2023

作者： Murashov, D. Obukhov, Y. Kershner, I. Sinkin, M. Federal Research Center Computer Science and Control of RAS Moscow119333 Russia Kotel'Nikov Institute of Radio Engineering and Electronics of RAS Moscow125009 Russia N.V. Sklifosovsky Research Institute for Emergency Medicine Moscow Healthcare Department Moscow129090 Russia

In this work, we propose a new algorithm for detecting the indicator of delayed cerebral ischemia from video-EEG monitoring data. The proposed algorithm combines an algorithm for detecting the effect of interchannel time-frequency synchronization of wavelet spectrogram ridges of EEG signals and an algorithm for detecting motion artifacts in video recording frames. Using the EEG analysis algorithm, we identify an indicator that is used to predict the occurrence of ischemia. By analyzing the optical flow, we exclude time intervals in which erroneous fixation of ischemia indicators is possible. The developed algorithm was tested on the clinical data of video-EEG monitoring. The preliminary results obtained during testing confirm the fundamental possibility of detecting the ischemia indicators and the acceptable accuracy of detecting motion artifacts leading to an erroneous diagnosis. © Author(s) 2023. CC BY 4.0 License.

关键词： Optical flows

来源：评论

学校读者我要写书评

暂无评论

control-oriented modeling and passivity analysis of thermal dynamics in a multi-producer district heating system

引用

IFAC-PapersOnLine 2023年第1期56卷 175-180页

作者： Saeed Ahmed Juan E. Machado Michele Cucuzzella Jacquelien M.A. Scherpen Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen The Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Italy

Climate change and geopolitics have led to the conception of plans for reducing greenhouse gas emissions and improving the sustainability of existing fossil-based energy systems. In this respect, district heating has been identified as an indispensable player for its potential to integrate seamlessly environmentally-friendly heat sources. To improve the efficiency of these district heating systems, optimal operation schemes can be devised and enforced through control systems. To this end, we present a control-oriented nonlinear ODE-based model of temperature dynamics in a multi-producer district heating system. The model features a modular design and comprises the thermal dynamics of heat exchangers of producers and consumers interconnected by a distribution network of meshed topology. Then, we establish passivity properties and zero-state detectability for the modeled temperature dynamics that could be exploited for controller design and solving constrained optimization problems.

关键词： District heating thermal dynamics Krasovskii passivity shifted passivity zero-state detectability

来源：评论

学校读者我要写书评

暂无评论

Theory of phase reduction for systems with higher-order interactions: a route to Kuramoto models on hypergraphs

arXiv

引用

arXiv 2025年

作者： León, Iván Muolo, Riccardo Hata, Shigefumi Nakao, Hiroya Department of Applied Mathematics and Computer Science Universidad de Cantabria Santander39005 Spain Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan Graduate School of Science and Engineering Kagoshima University Kagoshima890-0065 Japan Research Center for Autonomous Systems Materialogy Institute of Innovative Research Tokyo Institute of Technology Yokohama226-8501 Japan

Phase reduction is a powerful technique in the study of nonlinear oscillatory systems. Under certain assumptions, it allows us to describe each multidimensional oscillator by a single phase variable, giving rise to simple phase models such as the Kuramoto model. Classically, the method has been applied in the case where the interactions are only pairwise (two-body). However, increasing evidence shows that interactions in real-world systems are not pairwise but higher-order, i.e., many-body. Although synchronization in higher-order systems has received much attention, analytical results are scarce because of the highly nonlinear nature of the framework. In this paper, we fill the gap by presenting a general theory of phase reduction for the case of higher-order interactions. We show that the higher-order topology is preserved in the phase reduced model at the first order and that only odd couplings have an effect on the dynamics when certain symmetries are present. Additionally, we show the power and ductility of the phase reduction approach by applying it to a population of Stuart-Landau oscillators with an all-to-all configuration and with a ring-like hypergraph topology;in both cases, only the analysis of the phase model can provide insights and analytical results. © 2025, CC BY-NC-ND.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

Non-Convex Potential Games for Finding Global Solutions to Sensor Network Localization

Non-Convex Potential Games for Finding Global Solutions to S...

引用

European control Conference (ECC)

作者： Gehui Xu Guanpu Chen Yiguang Hong Baris Fidan Thomas Parisini Karl H. Johansson Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Electrical and Electronic Engineering Imperial College London London UK Department of Engineering and Architecture University of Trieste Trieste Italy

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Sensor network localization (SNL) problems require determining the physical coordinates of all sensors in a network. This process relies on the global coordinates of anchors and the available measurements between non-anchor and anchor nodes. Attributed to the intrinsic non-convexity, obtaining a globally optimal solution to SNL is challenging, as well as implementing corresponding algorithms. In this paper, we formulate a non-convex multi-player potential game for a generic SNL problem to investigate the identification condition of the global Nash equilibrium (NE) therein, where the global NE represents the global solution of SNL. We employ canonical duality theory to transform the non-convex game into a complementary dual problem. Then we develop a conjugation-based algorithm to compute the stationary points of the complementary dual problem. On this basis, we show an identification condition of the global NE: the stationary point of the proposed algorithm satisfies a duality relation. Finally, simulation results are provided to validate the effectiveness of the theoretical results.

关键词： Location awareness Coordinate measuring machines Simulation Current measurement Noise Europe Games

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：