检索结果-内蒙古大学图书馆

A Velocity Tracking Approach Based on Neural Networks for a Multimodal Wheel-Legged Composite Gait on a Parallel Structure Robot

引用

IEEE/ASME Transactions on Mechatronics 2025年

作者： Xue, Junfeng Wang, Shoukun Xu, Yongkang Wang, Junzheng Beijing Institute of Technology School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

Parallel-legged robots are favored by many researchers due to their potent environmental adaptability and load capacity. However, the work efficiency of the parallel leg structure is always confined due to its uptight workspace and extremely uneven force distributed among actuators. Therefore, this article proposes a new type of wheel-legged composite gait for the parallel structure, inspired by the characteristic of variation in the pitch angle of the foot-end when a human walks. First, the kinematic inverse solution of the wheel-legged composite gait is derived, where the reverse rotation of the wheel alleviates the slipping phenomenon of the foot-end on stance stage in humanoid gait from the kinematic level. Meanwhile, numerical simulation and experiments have verified that the proposed gait can enlarge the workspace of a single leg for 25.4% and alleviate the maximum force on the actuators for 16.4% minimizing actuator wear. Besides, a legged motion speed tracking approach is implemented for dynamics of the wheel-legged composite gait. Among them, a whole body dynamics model is constructed to adjust the neural network weights enabling real-time adjustment of incremental proportion–integration–differentiation control parameters based on the foot longitudinal force, to scale up its control efficiency. Finally, to ameliorate the issue of limited contact friction between the robot and the ground, an encoding approach to identify the sliding state of the robot's foot-end in the X-Y plane has been proposed. This approach adaptively modifies both the longitudinal force threshold of the foot-end and the desired linear velocity of the robot body. These adjustments are guided by specific control rules, which aim to enhance the accuracy of speed tracking during legged motion across varying terrains. The resulting linear and yaw velocity steady errors are constrained to 0.05 m/s and 0.012 rad/s, respectively. © 1996-2012 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Joint Local Contrast and First-Order Directional Derivative Methods for Detecting Infrared Small Targets in complex Backgrounds

IEEE Journal on Miniaturization for Air and Space Systems

引用

IEEE Journal on Miniaturization for Air and Space systems 2025年

作者： Zheng, Hanjia Zong, Xiaofeng China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Infrared target detection technology is one of the most key technologies of current detection systems, which is not only applied to automatic navigation, security protection and surveillance devices in daily life, but also widely used in the military. However, due to the influence of complex background, infrared detection system is often difficult to achieve accurate and fast detection of small targets, so the current small target detection methods still need to be improved. In this paper, an effective algorithm is proposed by complementally combining local contrast and first-order directional derivative algorithms, incorporating human visual characteristics for enhancement. Then according to the different characteristics of the background and small targets in infrared images, for the problem of excessive redundant information in infrared weak small target images, the high real-time and low leakage rate of LCM is used to find out the information-rich suspicious blocks, and then the low false alarm rate of FODD is used to find out the targets in the suspicious area. Through a lot number of experiments, and comparing with a variety of other algorithms. The results show that the detection algorithm proposed in this paper is significantly better than other algorithms in terms of low false alarm rate and can maintain good real-time performance. © 2019 IEEE.

关键词： Infrared imaging

来源：评论

学校读者我要写书评

暂无评论

Improving Collision-Free Success Rate For Object Goal Visual Navigation Via Two-Stage Training With Collision Prediction

arXiv

引用

arXiv 2025年

作者： Lian, Shiwei Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China

The object goal visual navigation is the task of navigating to a specific target object using egocentric visual observations. Recent end-to-end navigation models based on deep reinforcement learning have achieved remarkable performance in finding and reaching target objects. However, the collision problem of these models during navigation remains unresolved, since the collision is typically neglected when evaluating the success. Although incorporating a negative reward for collision during training appears straightforward, it results in a more conservative policy, thereby limiting the agent’s ability to reach targets. In addition, many of these models utilize only RGB observations, further increasing the difficulty of collision avoidance without depth information. To address these limitations, a new concept—collision-free success is introduced to evaluate the ability of navigation models to find a collision-free path towards the target object. A two-stage training method with collision prediction is proposed to improve the collision-free success rate of the existing navigation models using RGB observations. In the first training stage, the collision prediction module supervises the agent’s collision states during exploration to learn to predict the possible collision. In the second stage, leveraging the trained collision prediction, the agent learns to navigate to the target without collision. The experimental results in the AI2-THOR environment demonstrate that the proposed method greatly improves the collision-free success rate of different navigation models and outperforms other comparable collision-avoidance methods. Copyright © 2025, The Authors. All rights reserved.

关键词： Deep reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Lyapunov-based stochastic model predictive control of stochastic nonlinear systems with input-delay using multi-dimensional Taylor network

引用

Journal of the Franklin Institute 2025年第9期362卷

作者： Zheng, Xiao-Yi Yan, Hong-Sen Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Jiangsu Nanjing210096 China School of Automation Southeast University Jiangsu Nanjing210096 China

Most of the existing stability control approaches to stochastic nonlinear systems with input-delay are based on robust mechanisms, which tend to be too conservative. Here, a Lyapunov-based stochastic model predictive control (LSMPC) scheme using the Fokker–Planck equation (FPE) is proposed to solve the problem. In the framework of the LSMPC approach, input-delay is compensated by the predictor feedback strategy, and the LSMPC method is extended to stochastic nonlinear systems with input-delay. FPE is introduced to describe the dynamic evolution of the probability density function (PDF) for stochastic nonlinear systems. The multi-dimensional Taylor network (MTN) is applied for approximating the solution of FPE. The proposed FPE-based LSMPC method proves to be capable of securing the probabilistic feasibility and stability of the closed-loop system. The closed-loop states turn out to succeed in converging to the small region around the origin in probability. The validity of the presented scheme is verified by an example. © 2025 The Franklin Institute

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

In Memory of Wolter J. Fabrycky: A Pioneer of systems Engineering and US-Sino Academic Exchange

引用

IEEE/CAA Journal of Automatica Sinica 2025年第5期12卷 839-840页

作者： Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China Faculty of Innovation Engineering Macau University of Science and Technology Macao China

The passing of Professor Wolter “Wolt” Fabrycky, an outstanding member and great leader, is a big loss to our international systems engineering professional community. “Wolt was a legend in the systems engineering community with his teaching, advising, and dissemination of knowledge through the books he authored.”, as stated by Professor Eileen Aken, a former student of Wolt and the head of the Virginia Tech's Grado Department of Industrial and systems Engineeirng where Wolt had served and led for 30 years and retired as John L. Lawrence Professor emeritus.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Efficient Facial Expression Recognition Network Based on Spot-Adaptive Knowledge Distillation 26

Efficient Facial Expression Recognition Network Based on Spo...

引用

26th International Conference on Industrial Technology, ICIT 2025

作者： Wen, Xin Liu, Zhen-Tao Chen, Dan School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

ISBN: (纸本)9798331521950

Facial expression recognition plays a key role in promoting the development of comprehensive intelligence and building friendly human-computer interaction. Due to the interference of feature noise in expression data, the lightweight facial expression recognition model with fewer parameters is difficult to learn more expression features through simple training, which limits the improvement of its recognition performance. An efficient facial expression recognition network based on Spot-adaptive Knowledge Distillation is proposed in this paper. Inspired by VoVNetV2, the network designed in this paper is lightweightly improved using Depthwise Separable Convolution and the parameter-free SimAM attention mechanism, reducing the number of parameters to 0.21 M. To further improve the recognition accuracy of the model, Spot-adaptive Knowledge Distillation is employed to improve the characterization ability of the model. The recognition accuracies of the student network designed in this paper on the KDEF and RAF-DB datasets are 93.05% and 81.17% respectively after spot-adaptive distillation. © 2025 IEEE.

关键词： Facial Expression Recognition Knowledge Distillation Lightweight Neural Network

来源：评论

学校读者我要写书评

暂无评论

Mechanical and Geometric Properties of Nanosprings Based on Carbon Nanotubes with Dislocation Dipoles

引用

ACS Applied Nano Materials 2025年第18期8卷 9192-9200页

作者： Lei, Xiao-Wen Koyane, Jumpei Lu, Tong Matsuzaki, Kenichiro Yan, Yi Shi, Jin-Xing Fujii, Toshiyuki School of Materials and Chemical Technology Institute of Science Tokyo 2-12-1 Ookayama Meguro-ku Tokyo152-8550 Japan Department of Engineering Mechanics MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi’an710072 China Department of Production Systems Engineering and Sciences Komatsu University Nu 1-3 Shicyomachi Ishikawa Komatsu923-8511 Japan

Carbon nanotubes (CNTs) are lightweight materials with excellent mechanical, electrical, and thermal conductivity, which make helical CNTs promising candidates for applications in mechanical components such as nanosprings. In this study, based on the continuous dislocation theory, we introduce dislocation dipoles into CNT with discrete crystal structures to design nanosprings, propose a method that integrates mechanics and geometry, and analyze the mechanical and geometric properties of nanosprings. In detail, this study investigated the feasibility of designing helical CNTs through spontaneous deformation induced by dislocation dipoles separated from Stone-Wales defects. Analytical models were constructed by systematically introducing dislocation dipoles into (4,4) CNTs of varying lengths. We combined mechanical and geometric methods, performed molecular dynamics simulations to obtain the stable structure of CNTs with dislocation dipoles, and employed differential geometry to investigate the Willmore energy of helically shaped CNTs. The results showed that when dislocation dipoles were introduced into straight CNTs, energy relaxation calculations demonstrated spontaneous deformation, leading to the formation of a spring-shaped CNT. The CNT length and dislocation type significantly affected the spring constant. Longer CNTs exhibited lower spring constants, and an increase in dislocation density led to a higher average potential energy. This study provides unique insights into the control of the CNT shape and mechanical and geometrical properties, contributing to the design of functional materials such as nanosprings. © 2025 The Authors. Published by American Chemical Society.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

The Innovative Multi-Cavity Pneumatic Actuator: A Chemical Reaction-Driven Device for Generating Mechanical Crawling Motion

The Innovative Multi-Cavity Pneumatic Actuator: A Chemical R...

引用

Robotics, control and Automation (ICRCA), International Conference on

作者： Junqi Mu Yiyang Wei Xiaofeng Zong School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

The low manufacturing cost and fast response speed of pneumatic actuators have attracted widespread attention from researchers in the field of soft robotics. Biomimetic design, as one of the mainstream design concepts of pneumatic actuators, has provided researchers with a source of inspiration. Most existing actuators are based on biomimetic design. In this paper, a pneumatic soft actuator with a biomimetic worm-like design for crawling robots is proposed. This actuator is composed of multiple mesh-like air chambers, and its main parameters are optimized through finite element analysis, enabling it to perform various complex movements. Moreover, in most existing pneumatic actuators, the air source is supplied by air pumps, while the designed actuator in this paper is powered by chemical reactions. By controlling the types and ratios of raw materials, different chemical reactions occur, leading to periodic inhalation and exhalation, allowing the actuator to perform repetitive movements as intended. This driving method can effectively combine with the mechanical motion of the crawling robot, enhancing the autonomy and environmental adaptability of soft robots.

关键词： Pneumatic actuators Performance evaluation Gases Biomimetics Pneumatic systems Soft robotics Chemical reactions Raw materials Manufacturing Finite element analysis

来源：评论

学校读者我要写书评

暂无评论

Design of a Constant Current Output High Frequency AC-DC Converter for Battery Charging Applications 26

Design of a Constant Current Output High Frequency AC-DC Con...

引用

26th International Conference on Industrial Technology, ICIT 2025

作者： Wei, Zihao Song, Xiaoxian Jin, Liangwei Huang, Dingbang Zhang, Sheng Fang, Zhijian School of Future Technology China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan430074 China

ISBN: (纸本)9798331521950

How to realize the high power factor, high efficiency, miniaturization and high power density of AC-DC converter is the key problem of battery charging applications. In this paper, an isolated AC-DC converter is proposed. The input voltage is rectified by the first stage AC-DC conversion, and the output is stabilized by the series resonant converter at the secondary stage. A sinusoidal modulation method is adopted to realize the constant current output characteristic independent of load. Then through the output current control loop and the PFC control loop, the constant current output and input high power factor are realized. The design of high switching frequency and resonant frequency provides conditions for high power density and miniaturization of converter design. Finally, the simulation of rated power of 960W was built by Matlab-simulink, which verified the rationality of the converter design. © 2025 IEEE.

关键词： State of charge

来源：评论

学校读者我要写书评

暂无评论

Completed Interaction Networks for Pedestrian Trajectory Prediction

引用

IEEE Transactions on Multimedia 2025年

作者： Zhang, Zhong Zhou, Jianglin Liu, Shuang Xiao, Baihua Tianjin Normal University Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission Tianjin300387 China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing100190 China

The social and environmental interactions, as well as the pedestrian goal are crucial for pedestrian trajectory prediction. This is because they could learn both complex interactions in the scenes and the intentions of the pedestrians. However, most existing methods either learn the one-moment social interactions, or supervise the pedestrian trajectories using long-term goal, resulting in suboptimal prediction performances. In this paper, we propose a novel network named Completed Interaction Network (CINet) to simultaneously consider the social interactions in all moments, the environmental interactions and the short-term goal of pedestrians in a unified framework for pedestrian trajectory prediction. Specifically, we propose the Spatio-Temporal Transformer Layer (STTL) to fully mine the spatio-temporal information among historical trajectories of all pedestrians in order to obtain the social interactions in all moments. Additionally, we present the Gradual Goal Module (GGM) to capture the environmental interactions under the supervision of the short-term goal, which is beneficial to understanding the intentions of the pedestrian. Afterwards, we employ the cross-attention to effectively integrate the all-moment social and environmental interactions. The experimental results on three standard pedestrian datasets, i.e., ETH/UCY, SDD and inD demonstrate that our method achieves a new state-of-the-art performance. Furthermore, the visualization results indicate that our method could predict trajectories more reasonably in complex scenarios such as sharp turns, infeasible areas and so on. © 1999-2012 IEEE.

关键词： Prediction models

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：