检索结果-内蒙古大学图书馆

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第8期8卷 3974-3982页

作者： Li, Bai Fang, Yile Xu, Tian'ao Ma, Siji Wang, Haorui Wang, Yazhou Li, Xinyuan Zhang, Tantan Bian, Xuepeng Wang, Fei-Yue State Key Lab Adv Design & Mfg Vehicle Body Changsha 410082 Peoples R China Hunan Univ Coll Mech & Vehicle Engn Changsha 410082 Peoples R China Swiss Fed Inst Technol Dept Mech & Proc Engn CH-8092 Zurich Switzerland Macau Univ Sci & Technol Fac Innovat Engn Macau 999078 Peoples R China Beijing Inst Fash Technol Coll Fash Accessory Art Engn Coll Beijing 100105 Peoples R China Tencent Com Inc Tencent Automat Drive Lab Beijing 100193 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This letter is the second report from a series of IEEE TIV's Decentralized and Hybrid Workshops (DHWs) on Intelligent Vehicles for Education (IV4E). It outlines the prospect of The Autonomous One (TAO), a future autonomous racing competition modeled after Formula One to advance IV4E by pushing the boundaries of artificial intelligence. Existing autonomous races face challenges, including compromised fairness and low participant enthusiasm. These issues limit spectator engagement, thereby reducing the races' educational value. To prevent similar flaws in organizing TAO, our focus lies in setting governance rules from an organizer's perspective. In these DHWs, we analyzed the rules of existing autonomous races and suggested rule-making guidelines for TAO. To improve fairness, we recommend a balanced scoring system with rigorous monitoring of participating teams' performances. To discourage consistent victories by a single team, we suggest that leading teams share their source codes, thereby setting the championship-level performance as the baseline in the next season and accelerating the evolution of all participating teams' abilities. For enhancing suspense and spectator interest, an on-site adaptive rewarding scheme should be deployed to create thrilling turnarounds. Our strategies aim to maintain fairness, increase spectator interest, inspire competitiveness, and ultimately contribute to the advancement of IV4E in organizing TAO.

关键词： Autonomous racing intelligent vehicles for education (IV4E) the autonomous one (TAO)

来源：评论

学校读者我要写书评

暂无评论

Parallel control-Based Event-Triggered Optimal control for Constrained Discrete-Time Nonlinear systems

Parallel Control-Based Event-Triggered Optimal Control for C...

引用

2021 China Automation Congress, CAC 2021

作者： Lu, Jingwei Bai, Tianxiang Wei, Qinglai Zhou, Tianmin Wang, Fei-Yue School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China

ISBN: (纸本)9781665426473

This study proposes a new event-triggered optimal control (ETOC) method for discrete-time (DT) constrained nonlinear systems. First, a new triggering condition is proposed. We show the asymptotic stability of the closed-loop system using the proposed triggering condition and analyze the degeneration degree of the real performance index. Second, to perform the proposed ETOC method effectively, parallel control (PC) combined with adaptive dynamic programming (ADP) is applied. Finally, the validity of the ETOC method is validated by a simulation. © 2021 IEEE

关键词： Asymptotic stability

来源：评论

学校读者我要写书评

暂无评论

A Virtual Ultrasonography Simulator for Skill Training Using Magnetic-Inertial Probe Tracking

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2024年第1期29卷 445-454页

作者： Wang, Heng Dong, Shuda Yang, Qi Han, Jiancheng He, Ze'an He, Yihua Wang, Shuangyi South China Univ Technol Shien Ming Wu Sch Intelligent Engn Guangzhou 511442 Peoples R China Capital Med Univ Maternal Fetal Med Ctr Fetal Hear Beijing Anzhen Hosp Echocardiog Med Ctr Beijing 100029 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Hong Kong Inst Sci & Innovat Ctr Artificial Intelligence & Robot Hong Kong Peoples R China

Simulation-based ultrasonography training has been proven to be effective for novice practitioners to acquire operation skills. However, existing simulators are cumbersome, expensive, and sometimes fail to provide intuitive and interactive training experience. In this article, a compact, inexpensive, and interactive ultrasonography simulator is developed using magnetic-inertial 6-degree of freedom (DoF) probe pose tracking and virtual ultrasound image generation. Embedded with magnetic and inertial sensors, the sham ultrasound probe is tracked by fusing magnetic measurement of a single electromagnet embedded in the phantom and inertial measurement of the probe. Then the virtual scan plane is determined according to the estimated probe pose to slice the digital anatomical model for virtual image generation, providing visual feedback for skill training. The probe tracking accuracy is experimentally validated to be sufficiently accurate for correct image generation with the RMS position error of 3.67 mm and average orientation error of 0.74 degrees. The interactive performance of the simulator is evaluated by volunteer tests, showing shortened task completion time (40.68 s versus 50.46 s) and slightly improved accuracy of reaching target views compared to the slider control method. It is also shown that an inexperienced operator can learn to successfully acquire standard and diagnostic views of fetal hearts with congenital diseases. Due to intuitive freehand interaction, accurate probe tracking, and real-time visual guidance of ultrasound images and three-dimensional (3-D) virtual scene of the probe and anatomy, the proposed simulator can provide immersive training experience for quick ultrasound skill acquirement.

关键词： Probes Training Magnetic resonance imaging Phantoms Sensors Solid modeling Magnetic sensors

来源：评论

学校读者我要写书评

暂无评论

Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model

引用

JOURNAL OF VIBRATION AND control 2021年第13-14期27卷 1561-1572页

作者： Li, Le Yang, Hongjun Liu, Jinkun Beihang Univ Sch Automat Sci & Elect Engn Xueyuan Rd 37 Beijing 100191 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

In this study, we evaluate the coordination tracking control problem of a flexible master-slave teleoperation system. The system under consideration is based on a dynamic model described by a set of partial differential equations. Existing research on bilateral controllers is based on teleoperation systems composed of rigid master robots and rigid or flexible slave robots. In this work, we consider teleoperation systems with flexible master and slave robots. We dynamically model flexible master-slave manipulators using partial differential equations. Based on the dynamic model, a bilateral coordination controller is developed to realize the coordination angle tracking and vibration suppression of flexible master-slave manipulators. The teleoperation system is proven to be asymptotically stable under the control scheme. Numerical simulation results illustrate that the proposed controller is effective.

关键词： Bilateral teleoperation system flexible manipulator coordination control vibration control partial differential equation model

来源：评论

学校读者我要写书评

暂无评论

ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment

ULSM: Underground Localization and Semantic Mapping with Sal...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wang, Junhui Tian, Bin Zhang, Rui Chen, Long Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China Waytous Inc Beijing Peoples R China

ISBN: (数字)9781665479271

ISBN: (纸本)9781665479271

Simultaneous Localization and Mapping (SLAM) has greatly assisted in exploring perceptually-degraded underground environments, such as human-made tunnels, mine tunnels, and caves. However, the recurring sensor failures and spurious loop closures in these scenes bring significant challenges to applying SLAM. This paper proposes an architecture for underground localization and semantic mapping (ULSM) that promotes the robustness of odometry estimation and map-building. In this architecture, a two-stage robust motion compensation method is proposed to adapt to sensor-failure situations. The proposed salient region loop closure detection contributes to avoiding spurious loop closures. Meanwhile, the 2D pose as the initial value for point cloud registration is estimated without additional input. We also design a multi-robot cooperative mapping scheme based on descriptors of the salient region. Extensive experiments are conducted on datasets collected in the Tunnel Circuit of DARPA Subterranean Challenge.

关键词： Location awareness Point cloud compression Simultaneous localization and mapping Semantics Estimation Robustness Motion compensation

来源：评论

学校读者我要写书评

暂无评论

Comparative study on e-bikes' decision-making behaviors under flashing green and green countdown

引用

JOURNAL OF INTELLIGENT & FUZZY systems 2021年第3期41卷 4407-4414页

作者： Meng, Haoyang Dong, Sheng Zhou, Jibiao Zhang, Shuichao Li, Zhenjiang Ningbo Univ Technol Sch Civil & Transportat Engn Fenghua Rd 201 Ningbo Zhejiang Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

Green flash light (FG) and green countdown (GC) are the two most common signal formats applied in green-red transition that provides drivers additional alert before termination of green phase. Due to their importance and function in stop-pass decision-making process, proper use of them has become a critical issue to greatly improve the safety and efficiency of signalized intersections. Gradually e-bike riders have become more important commuters in China, however, the influence of FG or GC on them is not clear yet and need pay more attention to it. This study chooses two almost identical intersections to obtain highly accurate trajectory data of e-bike riders to study their decision-making behaviors under FG or GC. The e-bike riders' behavior is classified into four categories and is to identify their stop-pass decision points using the acceleration trend. Two binary-logit models were built to predict the stop-pass decision behaviors for the different e-bike rider groups, explaining that the potential time to the stop-line is the dominant independent factor of the different behaviors of GC and FG. Furthermore empirical analysis of decision points indicated that GC provides the earlier stop-pass decision point and longer decision making duration on the one side while results in more complexity of decision making and greater risk of stop-line crossing than FG on the other side.

关键词： Driving behavior flashing green green countdown electric bicycle stop-pass decision

来源：评论

学校读者我要写书评

暂无评论

Sora for Senarios Engineering of Intelligent Vehicles: V&V, C&C, and Beyonds

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

引用

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年第2期9卷 3117-3122页

作者： Li, Xuan Miao, Qinghai Li, Lingxi Ni, Qinghua Fan, Lili Wang, Yutong Tian, Yonglin Wang, Fei-Yue Peng Cheng Lab Shenzhen 518000 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Indiana Univ Purdue Univ Indianapolis IUPUI Purdue Sch Engn & Technol Dept Elect & Comp Engn Indianapolis IN 46202 USA Macau Univ Sci & Technol Fac Innovat Engn Macau 999078 Peoples R China Beijing Inst Technol Sch Informat & Elect Beijing 100081 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

The advent of Scenarios Engineering (SE) paves the way to a new era of intelligent vehicles (IVs), driven by Artificial Intelligence (AI)-enabled strategies. It aims at shaping the IVs to be a form that is more relevant to the underlying scenario, thereby accomplishing validation, verification (V&V), and calibration, certification (C&C) of each vehicle. However, such improved capabilities relies on the accumulation and analysis of an unprecedented volume of scenarios. Recently, Sora and other video generation models have opened up new horizons for Imaginative Intelligence. As an extension of TIV-DHW (Distributed/Decentralized Hybrid Workshop) on SE, this letter discusses the potential of Sora to change the scenario generation process by reducing physical shooting, increasing extreme scenario generation, thereby enabling more comprehensive training and testing of IVs. This letter also analyzes the limitations of Sora in accurately model physics and understand cause and effect, which may affect its effectiveness in SE applications. Last, through a comprehensive outlook, this letter aims to provide a potential direction for the development of Sora-like AI technology, thereby promoting the safety, efficiency, reliability, and sustainability of IVs.

关键词： Intelligent vehicles Indexes Biological system modeling Vehicle dynamics Visualization Transformers Training data Sora text-to-video model scenarios engineering artificial intelligence intelligent vehicles

来源：评论

学校读者我要写书评

暂无评论

Terrain Mapping for Autonomous Trucks in Surface Mine 25

Terrain Mapping for Autonomous Trucks in Surface Mine

引用

IEEE 25th International Conference on Intelligent Transportation systems (ITSC)

作者： Wang, Junhui Tian, Bin Zhu, Yachen Yao, Tingting Pan, Ziyu Chen, Long Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China Waytous Inc Beijing Peoples R China

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468800

Maps with different representations play an essential role in the development of automotive intelligence. In order to enhance the capacity of autonomous trucks in surface mine, an extensible terrain mapping system based on LiDAR is proposed in this paper. Point cloud map, 2.5D grid map, and mesh map are integrated into a unified and extensible map-building framework. In order to adapt to the unique characteristics of surface mine, terrain mapping methods are proposed based on existing approaches. Each map-building method builds a local robot-centered map for time-sensitive tasks. Local maps are fused into global maps in the cloud for non-time-sensitive tasks. The construction method of the point cloud map can avoid the loss of information when updating the map by computing convex hulls. The 2.5D grid map can model the unstructured and rugged terrain of mines. The mesh map is built based on Poisson reconstruction, which is conducive to human-truck interaction. In addition, the map maintenance method in the framework is proposed. Experiments are conducted with datasets collected in real-world scenes.

关键词： Point cloud compression Surface reconstruction Terrain mapping Maintenance engineering Surface roughness Path planning Rough surfaces

来源：评论

学校读者我要写书评

暂无评论

COMBINING CROWD AND MACHINE INTELLIGENCE TO DETECT FALSE NEWS ON SOCIAL MEDIA

引用

MIS QUARTERLY 2022年第2期46卷 977-1008页

作者： Wei, Xuan Zhang, Zhu Zhang, Mingyue Chen, Weiyun Zeng, Daniel Dajun Shanghai Jiao Tong Univ Antai Coll Econ & Management Shanghai Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Shanghai Int Studies Univ Sch Business & Management Shanghai Peoples R China Huazhong Univ Sci & Technol Sch Management Wuhan Peoples R China Univ Chinese Acad Sci Sch Econ & Management Beijing Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China

The explosive spread of false news on social media has severely affected many areas such as news ecosystems, politics, economics, and public trust, especially amid the COVID-19 infodemic. Machine intelligence has met with limited success in detecting and curbing false news. Human knowledge and intelligence hold great potential to complement machine-based methods. Yet they are largely underexplored in current false news detection research, especially in terms of how to efficiently utilize such information. We observe that the crowd contributes to the challenging task of assessing the veracity of news by posting responses or reporting. We propose combining these two types of scalable crowd judgments with machine intelligence to tackle the false news crisis. Specifically, we design a novel framework called CAND, which first extracts relevant human and machine judgments from data sources including news features and scalable crowd intelligence. The extracted information is then aggregated by an unsupervised Bayesian aggregation model. Evaluation based on Weibo and Twitter datasets demonstrates the effectiveness of crowd intelligence and the superior performance of the proposed framework in comparison with the benchmark methods. The results also generate many valuable insights, such as the complementary value of human and machine intelligence, the possibility of using human intelligence for early detection, and the robustness of our approach to intentional manipulation. This research significantly contributes to relevant literature on false news detection and crowd intelligence. In practice, our proposed framework serves as a feasible and effective approach for false news detection.

关键词： False news fake news wisdom of crowds hybrid intelligence graphical model

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

引用

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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：