In this study,a localisation system without cumulative errors is ***,depth odometry is achieved only by using the depth information from the depth *** the point cloud cross-source map registration is realised by 3D pa...
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In this study,a localisation system without cumulative errors is ***,depth odometry is achieved only by using the depth information from the depth *** the point cloud cross-source map registration is realised by 3D particle filtering to obtain the pose of the point cloud relative to the ***,we fuse the odometry results with the point cloud to map registration results,so the system can operate effectively even if the map is *** effectiveness of the system for long-term localisation,localisation in the incomplete map,and localisation in low light through multiple experiments on the self-recorded dataset is *** with other methods,the results are better than theirs and achieve high indoor localisation accuracy.
Time-varying problems are widely encountered in various engineering fields,such as signal processing,construction monitoring,and ***,traditional arithmetics intrinsically aim at time-invariant problems *** running on ...
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ISBN:
(纸本)9781538629185
Time-varying problems are widely encountered in various engineering fields,such as signal processing,construction monitoring,and ***,traditional arithmetics intrinsically aim at time-invariant problems *** running on relatively low-speed processing units,traditional arithmetics may generate quite large and unacceptable lagging *** this paper,the problems of discrete time-varying four fundamental operations(TVFFO) are *** order to eliminate the lagging errors,based on Zhang dynamics(ZD) and Euler forward difference(EFD) formula,discrete computing models,which are named Euler-implemented discrete ZD(EIDZD) models,are proposed and *** that the EIDZD models are with an error pattern 0(g),where g denotes the sampling ***,illustrative numerical experiments of EIDZD models are also conducted,which show the high accuracy of EIDZD models.
Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-...
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Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.
Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns ...
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ISBN:
(纸本)9781509009107
Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.
The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in f...
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ISBN:
(纸本)9781509009107
The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.
Dear Editor,This letter is concerned with developing meta-learning models for fast,stable,and effective few-shot learning across tasks over a few training ***,deep and reinforcement learning(RL)is widely used in auton...
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Dear Editor,This letter is concerned with developing meta-learning models for fast,stable,and effective few-shot learning across tasks over a few training ***,deep and reinforcement learning(RL)is widely used in autonomous intelligent systems(e.g.,target recognition[1],path planning[2],and robot control[3],[4]).
The blended teaching model, combining online and traditional classroom education, has become a normalized instructional approach in the artificial intelligence (AI) era. However, effectively integrating diverse educat...
The blended teaching model, combining online and traditional classroom education, has become a normalized instructional approach in the artificial intelligence (AI) era. However, effectively integrating diverse educational data, accurately evaluating student learning, and providing personalized teaching recommendations remain key challenges. To address these, this study develops an AI-driven framework for evaluating teaching quality in blended classrooms. The framework aggregates multi-source educational data from both physical and digital learning environments, enabling a comprehensive assessment of student progress. Based on the evaluation outcomes, it leverages AI to generate personalized teaching strategies aligned with each student’s learning profile. Applied on a large scale in Western China, this framework has demonstrated significant improvements in teaching quality and efficiency. By bridging educational theory and AI-driven applications, this study offers a scalable model for enhancing personalized learning experiences in global digital education.
This paper considers the finite-time drive-response synchronization of stochastic nonlinear systems consisting of continuous-time and discrete-time subsystems. To save communication resources and reduce control cost, ...
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This paper considers the finite-time drive-response synchronization of stochastic nonlinear systems consisting of continuous-time and discrete-time subsystems. To save communication resources and reduce control cost, quantized controllers, which only work on continuous-time intervals, are designed. Owing to the hybrid characteristics of continuous-and discrete-time subsystems, existing finite-time stability theorems are not applicable. By developing novel analytical techniques, three criteria are derived to guarantee the finite-time synchronization. Moreover, the settling time is explicitly estimated. It is shown that the settling time is dependent not only on the control gains and systems’ initial conditions, but also on the control width and uncontrolled width. Numerical examples demonstrate the effectiveness of the theoretical analysis.
This paper presents a new method for simultaneous synthesis of dynamic controller and static anti-windup compensator for saturated Lipschitz systems. Thanks to the reformulated Lipschitz property, the Lipschitz system...
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LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamili...
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ISBN:
(纸本)9781509046584
LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamiliar environment with uncertain position and orientation. On the issue of setting the dynamic threshold value to zone the LIDAR scanning points in the process of constructing the geometry map, with the consideration of the character of RPLIDAR which is used in our research, this paper has analyzed and proposed the specific dynamic threshold values, which make the zoning of LIDAR scanning points more reasonable. In order to improve the robustness of SLAM, we have used regular particle filter(RPF) as the location algorithm. In order to solve the problem of unable to add auxiliary information under the traditional MCL framework, we have taken full use of the high accuracy character of the geometry matching and locating, and have used the result of it to improve the importance density function of RPF. Based on the idea of Rao-Blackwellization, the improved RBPF-SLAM has been proposed. The validity and feasibility of the improved RBPF-SLAM have been proved with simulations and experiments.
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