检索结果-内蒙古大学图书馆

作者： Xinshen Huang Hao Li Zhenkun Zhang Jianguo Zheng Hailong Pei Guangzhou Customs Technology Center Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology

In view of complex modeling and inefficient calculation at existing stage finite element analysis method in bus body skeleton analysis. This paper presents a method on simulating complex large section beams by equivalent stiffness element. Equivalent stiffness element model is analyzed theoretically. Experiments are carried out to verify that the equivalent stiffness element method can be used in rapid analysis and calculation for girder, body frame and body optimization. It not only reduces modeling complexity, but also improves calculation efficiency. To a certain extent, it can provide a better analysis method for large-scale vehicle modeling and simulation.

关键词： Equivalent stiffness Fast calculation Aluminium alloy bus Finite element analysis

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From sensing to energy savings: A comprehensive survey on integrating emerging technologies for energy efficiency in WBANs

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Digital Communications and networks 2024年

作者： Shumaila Javaid Hamza Fahim Sherali Zeadally Bin He Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai 201804 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji University Shanghai 201210 China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210 China Department of Computer Science Faculty of Computer Sciences Ilma University Karachi 75190 Pakistan College of Communication and Information University of Kentucky Lexington KY USA Academy of Computer Science & Software Engineering University of Johannesburg Johannesburg South Africa

Energy is essential for human existence, and its high consumption is a growing concern in today's technology-driven society. Global initiatives aim to reduce energy consumption and pollution by developing and deploying energy-efficient sensing technologies for long-term monitoring, control, automation, security, and interactions. Wireless Body Area networks (WBANs) benefit a lot from the continuous monitoring capabilities of these sensing devices, which include medical sensors worn on or implanted in the human body for healthcare monitoring. Despite significant advancements, achieving energy efficiency in WBANs remains a significant challenge. A deep understanding of the WBAN architecture is essential to identify the causes of its energy inefficiency and develop novel energy-efficient solutions. We investigate energy efficiency issues specific to WBANs. We discuss the transformative impact that artificial intelligence and Machine Learning (ML) can have on achieving the energy efficiency of WBANs. Additionally, we explore the potential of emerging technologies such as quantum computing, nano-technology, biocompatible energy harvesting, and Simultaneous Wireless Information and Power Transfer (SWIPT) in enabling energy efficiency in WBANs. We focus on WBANs' architecture, hardware, and software components to identify key factors responsible for energy consumption in the WBAN environment. Based on our comprehensive review, we introduce an innovative, energy-efficient three-tier architecture for WBANs that employs ML and edge computing to overcome the limitations inherent in existing energy-efficient solutions. Finally, we summarize the lessons learned and highlight future research directions that will enable the development of energy-efficient solutions for WBANs.

关键词： Artificial intelligence Energy Healthcare Sensors Wireless body area networks

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Simultaneous dynamic controller and anti-windup synthesis for systems with sector-bounded and slope restrictions

Simultaneous dynamic controller and anti-windup synthesis fo...

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第三十九届中国控制会议

作者： Naizhou Wang Hailong Pei Lianwen Jin Tiancai Liang School of Electronic and Information Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology

This paper presents new techniques for construction of dynamic output feedback controllers with a static anti-windup compensator for a class of saturated systems with sector-bounded and slope-restricted nonlinearities. To handle the slope restriction, a so-called differential compensator is incorporated into the traditional nonlinear controller. Considering its sector-bounded property and convex-hull representation, respectively, two LMI-based synthesis methods are proposed to address the problems of the estimates of the region of attraction（ROA） and L2 performance analysis of the closed-loop system. A numerical example illustrates the effectiveness of the proposed approaches.

关键词： Anti-windup Lur’e system Region of attraction Slope restriction Linear matrix inequality（LMI）

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A Fast Compression Algorithm Based on the Variable Block for 3D Point Cloud Data

A Fast Compression Algorithm Based on the Variable Block for...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Zunran Wang Chenguang Yang Long Cheng Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

In this paper, a fast compression algorithm based on the variable block for 3D point cloud data is proposed, the key of the method is to reduce the temporal redundancy through finding the temporal correlation between the two consecutive frames. The first, the macroblock is generated by voxelizing the point cloud data. Then, the two consecutive frames are aligned, and the corresponding macroblocks inside the two consecutive frames are preliminarily judged whether they are consistent according to the point number of the macroblock and the color variance. Finally, the ICP algorithm is exploited to further match the two macroblocks. When the result of the ICP algorithm is lower than the Threshold, the macroblock in the current frame is replaced by the motion vectors for compressing the point cloud data. The motion vectors are acquired by the ICP algorithm applied for the corresponding macroblock between two consecutive frames. The Predicted-frame (P frame) consists of the motion vectors and no matched macroblock in the current frame while the Intra-frame (I frame) is the point cloud data. In our method, in order to improve the compression ratio, the size of the macroblock is set as a variable parameter. The experimental results demonstrate that the time delay will be decreased, meantime the compression ratio will be increased in our method. The visual result of our method also will be more smooth and the performance of our method is better than the state-of-the-art method.

关键词： Three-dimensional displays Octrees Image color analysis Iterative closest point algorithm Prediction algorithms Encoding Transforms

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Neural network control using composite learning for USVs with output error constraints

Neural network control using composite learning for USVs wit...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Xu, Puyong Yang, Chenguang Dai, Shi-Lu Mao, Zhaoyong Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9781728158594

In this paper, by focusing on trajectory tracking control of unmanned surface vessel (USV), we present a control method considering uncertain dynamics and output error constrains. Firstly, by using the properties of tan-type barrier Lyapunov function (BLF), the output tracking error can be constrained. Secondly, we use radical basis function neural network (RBF NN) to approximate the uncertain dynamics. Considering that the estimated parameters convergence cannot be achieved in the absence of persistent excitation (PE) conditions, the composite learning update law of the weight matrix in the NN is adopted to guarantee the parameters convergence under interval excitation (IE) conditions which is easier to reach. In simulation studies, it is proven that the USV have good ability to follow the pre-designed trajectory with small tracking error and the parameters convergence can be ensured. © 2019 IEEE.

关键词： Lyapunov functions

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OD-SLAM: Real-Time Localization and Mapping in Dynamic Environment through Multi-Sensor Fusion

OD-SLAM: Real-Time Localization and Mapping in Dynamic Envir...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Hua Xu Chenguang Yang Zhijun Li Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China School of Information Science and Technology University of Science and Technology of China Anhui China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Only when the robot knows its position can it execute some specific functions. But in many cases, the robot faces an unknown environment and doesn't know where it is. Visual SLAM system uses the camera on the robot to capture the image of the surrounding environment for positioning. This is a method that relies on external information for positioning. When the external information is dynamic, the pose estimated by the traditional visual SLAM system is inaccurate. So a novel SLAM system is proposed in this paper, which mainly uses a neural network and multi-sensor fusion to realize robot positioning in a dynamic environment. The SLAM system is developed based on ORB-SLAM2. It recognizes highly dynamic objects in the image through the neural network and removes them from the image. Because the neural network can't accurately identify dynamic objects every time, it will affect the pose estimation of the SLAM system. Therefore, the SLAM system proposed in this paper uses odometer to constrain features extracted in the image, so as to obtain static features, and finally estimate a more accurate pose. Finally, the experimental results show that our system has better real-time and accuracy compared with the traditional visual SLAM systems and other dynamic SLAM systems.

关键词： Feature extraction Simultaneous localization and mapping Visualization Vehicle dynamics Semantics Real-time systems

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Observer-based Dynamic Surface control for Robotic Manipulator with Fixed-time Convergence

Observer-based Dynamic Surface Control for Robotic Manipulat...

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Chengzhi Zhu Lei Zuo Ning Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China School of Electronic and Control Engineering Chang'an University Xi'an China School of Information Engineering Chang'an University Xi'an China

ISBN: (数字)9781728162461

ISBN: (纸本)9781665419352

A state feedback dynamic surface tracking control algorithm is proposed for parametric linearized manipulator model in this paper. Different from ordinary finite-time control schemes, fixed-time convergence can be achieved in the proposed algorithm via both of high and low-degree terms in the controller such that the settling time can be preestablished by the designed parameters independent of the system initial conditions. Moreover, the problem of the “explosion of complexity” and the singularity can be avoided by constructing an auxiliary controller with a first-order filter. The semi-global fixed-time uniform convergence of all the signals in the closed-loop system can be proved by Lyapunov theorem. In order to avoid the employment of acceleration signals and obtain better tracking performance during the procedure, a kind of observer based on uniform exact differentiators was used to compensate the uncertainties online. Finally the superiority of the proposed method has been verified by simulations based on a 2-DOF robot manipulator.

关键词： Maximum likelihood detection Heuristic algorithms Nonlinear filters Observers Explosions Manipulator dynamics Convergence

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Regret and Cumulative Constraint Violation Analysis for Distributed Online Constrained Convex Optimization

arXiv

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arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden The Digital Futures Stockholm10044 Sweden The Department of Control Science and Engineering College of Electronics and Information Engineering The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore

This paper considers the distributed online convex optimization problem with time-varying constraints over a network of agents. This is a sequential decision making problem with two sequences of arbitrarily varying convex loss and constraint functions. At each round, each agent selects a decision from the decision set, and then only a portion of the loss function and a coordinate block of the constraint function at this round are privately revealed to this agent. The goal of the network is to minimize the network-wide loss accumulated over time. Two distributed online algorithms with full-information and bandit feedback are proposed. Both dynamic and static network regret bounds are analyzed for the proposed algorithms, and network cumulative constraint violation is used to measure constraint violation, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. In particular, we show that the proposed algorithms achieve O(T max{κ,1-κ}) static network regret and O(T 1-κ/2) network cumulative constraint violation, where T is the time horizon and κ ∈ (0, 1) is a user-defined trade-off parameter. Moreover, if the loss functions are strongly convex, then the static network regret bound can be reduced to O(T κ). Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Economic and social effects

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network Security Situation Awareness Technology Based on Multi-source Heterogeneous Data

Network Security Situation Awareness Technology Based on Mul...

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2020 International Conference on Cyberspace Innovation of Advanced Technologies, CIAT 2020

作者： Zhang, Daojuan Qian, Kexiang Wang, Wenhui Fang, Fuyang Wang, Chonghua Luo, Xi State Grid Key Laboratory of Information and Network Security Global Energy Interconnection Research Institute Co. Ltd Beijing China Information Science Academy China Electronics Technology Group Corporation Beijing China Department of Security Technology China Industrial Control Systems Cyber Emergency Response Team Beijing China Cyber Space Institute of Advanced Technology Guangzhou University Guangzhou China

ISBN: (纸本)9781450387828

With the development of information technology, the scale of the network continues to expand, and the security issues continue to increase. The complexity of the network security situation is increasing and the importance of the network security situational awareness continues to increase. The data sources are wide, the type and the number are large in a large-scale network environment currently. This paper comprehensively studies the network security situational awareness technology based on multi-source heterogeneous data. In addition, this paper introduces the origin, concept and the model of the network situational awareness, as well as the characteristics of network security situational awareness based on multi-source heterogeneous data fusion. Finally, the key technologies in the security situational awareness such as the extraction of situational elements, multi-source data fusion, situation assessment, situation prediction and visual display are introduced. © 2020 ACM.

关键词： Data fusion

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Ecological Efficiency Evaluation and Spatiotemporal Characteristics Analysis of the Coupling Coordination of the Logistics Industry and Manufacturing Industry

Research Square

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Research Square 2021年

作者： Su, Juan Shen, Tong Jin, Shuxin College of Transportation Engineering Key Laboratory of Transport Industry of Management Control and Cycle Repair Technology for Traffic Network Facilities in Ecological Security Barrier Area Chang’an University Xi’an710064 China College of Equipment and Support Engineering University of PAP Xi’an710086 China School of Intelligent Systems Engineering Sun Yat-Sen University Guangzhou510006 China

The coupling coordination of the logistics industry and manufacturing industry conducive to the sustainable development of logistics and manufacturing and the stability of sustainable supply chain. The logistics and manufacturing industries are not only the basic industries that support social development, but also the industries with high carbon emissions. Firstly, this paper classifies the carbon emissions from the logistics industry and manufacturing industry as undesirable outputs, evaluates the ecological efficiency of the logistics industry (LEE) and manufacturing industry (MEE) in the Yangtze River Delta from 2006 to 2019 by using the unexpected slacks-based measure (SBM) model. Secondly, the coupling coordination method is used to analyze the coupling coordination scheduling of industrial ecological efficiency. Thirdly, the paper analyzes the spatial differences of the coupling coordination ecological efficiency between logistics industry and manufacturing industry (MLCC) by using the exploratory spatial data analysis method. Finally, the spatial econometric model is used to analyze the driving factors of the MLCC. The results show: The ecological efficiency of the manufacturing industry has steadily improved. The ecological efficiency of the logistics industry presents the rising trend in fluctuation. The level of the coupling coordination development between the logistics and manufacturing industries is high. The results of the spatial heterogeneity analysis show that the spatial differentiation of high-high agglomeration and low-low agglomeration is obvious. The spatial agglomeration characteristics are relatively stable, and the spatial diffusion effect is strong;In space, the MLCC shows a trend of developing from multiple agglomeration areas to one agglomeration area. The results of driving factor analysis show that foreign direct investment(FDI), government intervention(GI) and human capital(HP) have positive effects on the MLCC, while industrial struc

关键词： Environmental regulations

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