检索结果-内蒙古大学图书馆

2022 Chinese Automation Congress, CAC 2022

作者： Chaochen, Zhuolei Wang, Yaonan Tan, Haoran Zhou, Jiaming Lin, Qiong National Engineering Research Center for Robot Visual Perception and Control College of Electrical and Information Engineering Hunan University Changsha China

ISBN: (纸本)9781665465335

Multiple mobile robot systems (MMRSs) have great potential in various fields and their reliable application depends on accurate formation among robots. Focusing on the formation problem of MMRSs, a posture-based adaptive iterative learning control scheme (PB-AILC) is proposed in this paper. Firstly, the leader-follower formation model is built. Then PB-AILC scheme is introduced to optimize the control linear and angular velocity of follower robots at each iteration based on the robots' global posture only, guaranteeing that followers can steadily track their leader with prescribed relative distance and orientation. Meanwhile, we analyze its feasibility mathematically. Finally, numerical simulations illustrate the validity of the PB-AILC scheme and we compare PB-AILC with an iterative learning control (ILC) method to demonstrate its superiority. © 2022 IEEE.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

High Dynamic Range 3d Measurement with Adaptive Projection Pattern Generated from Saturated Image

SSRN

引用

SSRN 2024年

作者： Yu, Hongshan Liang, Xianqiang Yu, Ruiming Xu, Haiqiang Sun, Wei National Engineering Laboratory for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Hunan University Changsha China

Fringe projection profilometry (FPP) shows the advantages of high efficiency and high accuracy in distance sensing. However, it is prone to measurement errors due to fringe saturation in high dynamic range (HDR) scenes. Popular adjust projection intensity (API) based FPP methods have been proposed to reduce the influence of reflectivity variance. Because existing API based FPP method depend on unsaturated images to generate adaptive projection patterns, its measurement time is increased. In this paper, we propose a high dynamic range 3D measurement method with adaptive projection pattern generated from saturated image. Firstly, we establish the reflectance relationship between unsaturated region and saturated region to compute adaptive projection intensity, which removes the dependence of unsaturated images. Secondly, we improve measurement efficiency in computation process by recycling the captured images. In addition, we propose a capture intensity correction method to remove the effect of light propagation distance. Experiments prove that the proposed method has significant advantages in a variety of HDR scenes. Compared with linear-API method, proposed method improves the measurement accuracy by 15.59%. Meanwhile, the number of projection patterns is reduced by 40% compared to the method which based on multiple exposure fusion image (MEFI). © 2024, The Authors. All rights reserved.

关键词： Reflection

来源：评论

学校读者我要写书评

暂无评论

FedGAI: Federated Style Learning with Cloud-Edge Collaboration for Generative AI in Fashion Design

arXiv

引用

arXiv 2025年

作者： Wu, Mingzhu Jiang, Jianan Li, Xinglin Deng, Hanhui Wu, Di National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University Changsha China

Collaboration can amalgamate diverse ideas, styles, and visual elements, fostering creativity and innovation among different designers. In collaborative design, sketches play a pivotal role as a means of expressing design creativity. However, designers often tend to not openly share these meticulously crafted sketches. This phenomenon of data island in the design area hinders its digital transformation under the third wave of AI. In this paper, we introduce a Federated Generative Artificial Intelligence Clothing system, namely FedGAI, employing federated learning to aid in sketch design. FedGAI is committed to establishing an ecosystem wherein designers can exchange sketch styles among themselves. Through FedGAI, designers can generate sketches that incorporate various designers’ styles from their peers, drawing inspiration from collaboration without the need for data disclosure or upload. Extensive performance evaluations indicate that our FedGAI system can produce multi-styled sketches of comparable quality to human-designed ones while significantly enhancing efficiency compared to hand-drawn sketches. Copyright © 2025, The Authors. All rights reserved.

关键词： Federated learning

来源：评论

学校读者我要写书评

暂无评论

Natural interactive control method for unmanned swarm systems based on gesture recognition

Natural interactive control method for unmanned swarm system...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Yijiang Wang, Yaonan Mo, Yang Zhu, Qing Miao, Zhiqiang Luo, Yuefan College of Electrical and Information Engineering National Engineering Research Center for Robot Visual Perception and Control Hunan University Changsha410082 China

ISBN: (纸本)9781665481090

Interactive control is very important for unmanned swarm systems to understand human intentions and execute tasks. However, traditional interactive control usually uses a keyboard, mouse, or remote controller, which is not intuitive and convenient enough. This paper proposes a natural interaction control method based on gesture recognition for unmanned swarm systems. First, considering the real-time requirement of interactive control, the YOLOv5 algorithm is improved by replacing the original GIoU loss function with the DIoU loss function to improve the performance of the algorithm. Then, according to the interactive control requirements of unmanned swarm systems, the corresponding gesture database is established. Finally, the AirSim platform is used to build the simulation system, and the interactive control based on gesture recognition is tested and verified. The experimental results show that the recognition accuracy of the control intention is 97% and the response time is approximately 0.027 s, which can realize the interactive control of unmanned swarm systems. © 2022 IEEE.

关键词： Mammals

来源：评论

学校读者我要写书评

暂无评论

Multiobjective Differential Evolution for Higher-Dimensional Multimodal Multiobjective Optimization

引用

IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1458-1475页

作者： Jing Liang Hongyu Lin Caitong Yue Ponnuthurai Nagaratnam Suganthan Yaonan Wang School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou 450001 School of Electrical Engineering and Automation Henan Institute of TechnologyXinxiang 453003China School of Electrical and Information Engineering Zhengzhou UniversityZhengzhou 450001China KINDI Center for Computing Research Qatar UniversityDohaQatarand also with the Nanyang Technology UniversitySingapore College of Electrical and Information Engineering and also with the National Engineering Research Center for Robot Visual Perception and Control TechnologyHunan UniversityChangsha 410082China IEEE

In multimodal multiobjective optimization problems(MMOPs),there are several Pareto optimal solutions corre-sponding to the identical objective *** paper proposes a new differential evolution algorithm to solve MMOPs with higher-dimensional decision *** to the increase in the dimensions of decision variables in real-world MMOPs,it is diffi-cult for current multimodal multiobjective optimization evolu-tionary algorithms(MMOEAs)to find multiple Pareto optimal *** proposed algorithm adopts a dual-population framework and an improved environmental selection *** utilizes a convergence archive to help the first population improve the quality of *** improved environmental selection method enables the other population to search the remaining decision space and reserve more Pareto optimal solutions through the information of the first *** combination of these two strategies helps to effectively balance and enhance conver-gence and diversity *** addition,to study the per-formance of the proposed algorithm,a novel set of multimodal multiobjective optimization test functions with extensible decision variables is *** proposed MMOEA is certified to be effective through comparison with six state-of-the-art MMOEAs on the test functions.

关键词： Benchmark functions diversity measure evolution-ary algorithms multimodal multiobjective optimization.

来源：评论

学校读者我要写书评

暂无评论

Improved YOLOv7 Based on Transformer for Object Detection in UAV-Captured Images

Improved YOLOv7 Based on Transformer for Object Detection in...

引用

2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Luo, Yuefan Zhu, Qing Zhou, Zhen Chen, Lin Zhou, Jiaming Jiang, Tianjian Li, Yijiang Wang, Danwei Wang, Yaonan Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology Hunan Changsha410082 China School of Electrical and Electrical Engineering Nanyang Technological University Singapore639798 Singapore

ISBN: (纸本)9798350337020

As the drone captures image targets at different flying altitudes, their scales may vary significantly, which can pose challenges for the object detection model to accurately detect them. Additionally, tiny objects in the image contain minimal information, making them difficult to distinguish from the background. To overcome these two challenges, we proposed a network architecture that aims to improve the accuracy of tiny object detection in drone images. Specially, we designed a tiny object detector(TOD) that can effectively extract features of tiny objects and distinguish between tiny object features and image background. Furthermore, this TOD module contains a Convolutional visual Attention Network (CVAN) to better focus on the regions of tiny objects. Experimental results demonstrate that the proposed method achieves mAP@.5 accuracy of 53.9% on the VisDrone2021-test-dev dataset and improves by 2.8 % compared to YOLOv7. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

HNSRRT∗:A Path Planning Algorithm Based On Heuristic Non-Uniform Sampling Method In Complex Obstacle Environment 42

HNSRRT∗:A Path Planning Algorithm Based On Heuristic Non-Un...

引用

42nd Chinese control Conference, CCC 2023

作者： Xu, Zhiwen Zhang, Hui Chen, Bo Zhou, Xidong Yin, Songtao Yang, Lian College of Electrical and Information Engineering Changsha University of Science and Technology Hunan China College of Robotics Robot Visual Perception and Control Technology National Engineering Research Center Hunan University Hunan China

ISBN: (纸本)9789887581543

The traditional sampling-based algorithm such as Rapidly Random-exploring Tree (RRT) and various varieties have achieved tremendous success in the area of path planning. However, their excessive exploration in the state space leads to long time to find the optimal solution, large memory usage and cannot guarantee the quality of the planned path(generally evaluated by the cost of search time and the length of path) in sophisticated space. In this article, we propose an optimal path planning algorithm based on heuristic non-uniform sampling, namely the HNSRRT∗, which successfully plans path in complex obstacle environments with optimal length and minimum time cost. The HNSRRT∗ utilizes heuristic function to generate non-uniform sampling distribution by Gaussian distribution,and constraints on sampling points can reduce the time wasted and path length increase caused by excessive exploration. We test the proposed HNSRRT∗ in 2D and 3D complex obstacle environment,comparing it with the three traditional sampling-base algorithms. The simulation results indicated that the effectiveness and efficiency of HNSRRT∗ and have an obvious improvement in term of time cost, path length compared with the existing algorithms. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Unsupervised Deep Homography Estimation based on Transformer 8

Unsupervised Deep Homography Estimation based on Transformer

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Jiang, Tianjian Fang, Qiu Zhu, Qing Wang, Yaonan Zhou, Zhen Chen, Lin Zhou, Jiaming Luo, Yuefan Wu, Chengzhong National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University Hunan Changsha410082 China Jiangxi Communication Terminal Industry Technology Research Institute China

ISBN: (纸本)9798350300178

Homography estimation is a crucial problem in computer vision, which aims to provide an optimal transformation matrix for aligning images captured from different viewpoints. Current methods extract shallow features from image pairs and introduce learnable mask modules to improve homography estimation performance. However, they struggle to capture long-term dependencies between features and comprehend the global structures of image features. A deep unsupervised homography learning framework is proposed in this paper, consisting of a weight-sharing feature extraction network and a homography estimation network based on the Transformer model. The former extracts the local features of images, while the latter learns the correlation between them and understands the global features of images, enabling the algorithm to better estimate the homography of unaligned images. Experimental results demonstrate that the proposed method outperforms the advanced methods for estimating homography matrices in the CA-Unsupervised dataset. © 2023 IEEE.

关键词： Computer vision

来源：评论

学校读者我要写书评

暂无评论

An Improved SCA-BP Delay Prediction Method for Networked control Systems

An Improved SCA-BP Delay Prediction Method for Networked Con...

引用

2023 China Automation Congress, CAC 2023

作者： Xie, Jiayin Wang, Yaonan Tan, Haoran Wu, You Zhou, Bowen College of Electrical and Information Engineering Hunan University National Engineering Research Center for Robot Visual Perception and Control Changsha China Hunan Retoo Intelligent Technology Co. Ltd. Changsha China

ISBN: (纸本)9798350303759

A networked control system is a system that uses communication networks to connect the various parts. However, network delay affects the performance and stability of the networked control system. In order to eliminate the impact of network delay on the control system, an improved SCA-BP delay prediction method is proposed in this paper. The proposed method optimizes the initial weights and biases of the BP neural network, and further optimizes them through backpropagation gradient descent, obtaining the final prediction model. The proposed method introduces a random perturbation factor in the sine and cosine functions, which increases the explorability and diversity of the method. And they are sorted and grouped according to the fitness values of the candidate solutions. At the same time, different update strategies are adopted based on the different groups, enabling the method to perform global and local search simultaneously. In the update strategy, a linear function is also introduced in addition to the sine and cosine functions, enabling the method to maintain the direction of the current optimal solution to a certain extent. Finally, the superiority and effectiveness of the method compared with traditional methods are verified through some comparative simulations, indicating that the method has a strong delay prediction ability. © 2023 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Adaptive Impedance control for Mobile Cooperative Manipulation Systems With Stability and Passivity Guarantees*

Adaptive Impedance Control for Mobile Cooperative Manipulati...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Danping Zeng Yaonan Wang Yiming Jiang Haoran Tan Zhiqiang Miao Yun Feng School of Robotics and the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University Changsha China College of Electrical and Information Engineering and the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University Changsha China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

A number of robotic tasks exist, such as manipulating heavy and oversized objects, where a single manipulator is not enough and multiple mobile manipulators need to be used. When uncertainty exists, a compliant control strategy is expected to be applied for such a tightly coordinated multiple mobile manipulator system. An adaptive impedance control law that enables adaptive updating of impedance parameters is developed in this work. The proposed method ensures that all closed-loop systems boundedly and asymptotically realize the desired adaptive impedance dynamics. Furthermore, to ensure the passivity of the adaptive impedance system, the impedance system of each mobile manipulator is interconnected with a virtual energy tank, and the update of the impedance system parameters is guided according to the level of the energy to ensure that the adaptive impedance system is passive, thus realizing the adaptive trade-off between compliance and operational accuracy. Finally, a simulation for four mobile manipulators collaborating to carry an unknown object is provided to validate the effectiveness of the proposed one.

关键词： Adaptive systems Uncertainty Mechatronics robot kinematics Cooperative systems Stability analysis Trajectory Impedance Closed loop systems Manipulator dynamics

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：