检索结果-内蒙古大学图书馆

2012 UKACC International Conference on control, control 2012

作者： Cong, Binglong Liu, Xiangdong Chen, Zhen Key Laboratory for Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781467315609

This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control (B-ASMC) design is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Compared to current adaptive sliding mode control (ASMC) design, the B-ASMC design has two advantages. Theoretically, the asymptotical stability of the attitude states rather than the sliding function is guaranteed. Practically, the over-adaptation problem in current ASMC design is alleviated and the system performance is improved. Detailed design principle and rigorous closed-loop system stability analysis are provided. A large angle attitude maneuver is employed in the numerical simulation to verify the effectiveness of the proposed algorithm. © 2012 IEEE.

关键词： Backstepping

来源：评论

学校读者我要写书评

暂无评论

Real-time algorithm for SIFT based on distributed shared memory architecture with homogeneous multi-core DSP

Real-time algorithm for SIFT based on distributed shared mem...

引用

International Conference on intelligent control and Information Processing (ICICIP)

作者： Liu, Xin Chen, Wenjie Ma, Tao Xu, Lishuang School of Automation Beijing Institute of Technology Key Laboratory of Complex Systems Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781457708145

When Multi-DSP parallel architecture transfers to distributed memory way from shared memory way, its parallelism with fine-grained become weak, and it's difficult to offer SIFT's complex computing and satisfy the need of real-time. In the paper, a parallel algorithm, based on distributed shared memory architecture with homogeneous Multi-core DSP, referring to the DSM architecture model of parallel processing machines is presented. Firstly, the master processor separates the task into several small tasks by exploiting the coarse-grained parallelism inherent;then, through a high-speed network for data-exchange, each small task transfers to a related subsystem, based on a homogeneous multi-core DSP;finally, the DSP partitions the small task across multiple cores by exploiting the fined-grained parallelism. The experimental result shows that, comparing to the traditional way, the proposed algorithm increases the speedup, calculates 45 frames on 640480 images, and achieves the real-time application. © 2011 IEEE.

关键词： HIgh speed networks

来源：评论

学校读者我要写书评

暂无评论

Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuv...

引用

2012 UKACC International Conference on control, control 2012

作者： Cong, Binglong Liu, Xiangdong Chen, Zhen Key Laboratory for Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781467315609

This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy. © 2012 IEEE.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Dynamic state Estimation for Power System with Communication Constraint Using Event-Triggered Cubature Kalman Filter

引用

Journal of Beijing Institute of Technology (English Edition) 2021年第ZK期30卷 129-140页

作者： Wei, Minfeng Xu, Min Zhang, Fengdi School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

Accurate dynamic state estimation plays an important role in power systems. Although various filtering algorithms, such as unscented Kalman filter (UKF) and particle filter (PF), have been proposed based on phasor measurement units (PMUs), they occupy a huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are widely applied in smart grids. In order to relieve this communication burden, the event-triggered cubature Kalman filter (ETCKF) is proposed based on the stochastic event-triggered schedule in this paper, which guarantees that only the measurements containing innovational information are transmitted and has advantages over other event-triggered schedules, such as the deterministic event-triggered schedule, since it can maintain the Gaussian property of the conditional distribution of the system state. Based on the developed nonlinear event-triggered schedule, the cubature Kalman filter (CKF), using the third-degree spherical-radial cubature rule, further provides more accurate estimation than UKF and has lower computational complexity than PF. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2020 Journal of Beijing Institute of Technology

关键词： Phasor measurement units

来源：评论

学校读者我要写书评

暂无评论

Unified Addressing Algorithm for Tasks in Cloud control systems 41

Unified Addressing Algorithm for Tasks in Cloud Control Syst...

引用

第41届中国控制会议

作者： Guan Wang Yufeng Zhan Yuanqing Xia Liping Yan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information Science and Engineering University of ZaoZhuang

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the rapid development of cloud computing and control theory,a new paradigm of networked control systems named cloud control systems has been proposed to satisfy the requirements of large-scale and complex *** is critical to manage large-scale tasks with personalized needs on the large number of heterogeneous ***,current TCP/IPbased addressing approach does not consider the runtime constraints of tasks,resulting highly concurrent service search,and communication between tasks will become the system *** this paper,we propose a task property encoding method which takes multi-dimensional properties into *** on the proposed encoding method,we design a uniform addressing method for tasks in the ***,we experimentally demonstrate the effectiveness of task property encoding,and the unified addressing method for tasks is more effective than other methods in the case of high task concurrency.

关键词： Cloud control systems address encoding cloud-edge-device cooperation

来源：评论

学校读者我要写书评

暂无评论

Generative Adversarial Networks:Introduction and Outlook

引用

IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 588-598页

作者： Kunfeng Wang Chao Gou Yanjie Duan Yilun Lin Xinhu Zheng Fei-Yue Wang IEEE State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences Department of Computer Science and Engineering University of Minnesota Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology

Recently, generative adversarial networks(GANs)have become a research focus of artificial intelligence. Inspired by two-player zero-sum game, GANs comprise a generator and a discriminator, both trained under the adversarial learning *** goal of GANs is to estimate the potential distribution of real data samples and generate new samples from that *** their initiation, GANs have been widely studied due to their enormous prospect for applications, including image and vision computing, speech and language processing, etc. In this review paper, we summarize the state of the art of GANs and look into the future. Firstly, we survey GANs' proposal background,theoretic and implementation models, and application ***, we discuss GANs' advantages and disadvantages, and their development trends. In particular, we investigate the relation between GANs and parallel intelligence,with the conclusion that GANs have a great potential in parallel systems research in terms of virtual-real interaction and integration. Clearly, GANs can provide substantial algorithmic support for parallel intelligence.

关键词： ACP approach adversarial learning generative adversarial networks(GANs) generative models parallel intelligence zero-sum game

来源：评论

学校读者我要写书评

暂无评论

Lane-Change Intention Prediction of Surrounding Vehicles Using BiLSTM-CRF Models with Rule Embedding

Lane-Change Intention Prediction of Surrounding Vehicles Usi...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Wang, Kai Hou, Jie Zeng, Xianlin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9781665465335

Predicting lane-change intentions of surrounding vehicles can effectively help autonomous vehicles reduce collisions caused by lane changes and ensure driving safety. Because prediction methods based on black-box models will lead to passengers' distrust of machine prediction, the intention prediction methods used to autonomous driving need to be interpretable and trustworthy. This paper presents a method for intention prediction of surrounding vehicles by using a bidirectional long short term memory network (BiLSTM) with a conditional random field (CRF) layer above it. Compared with intention prediction methods using deep network, the proposed method can find the features that contribute most to the prediction, thereby improving the interpretability and ensuring the prediction performance. In addition, by employing the transfer characteristic of the CRF layer, traffic rules and the experience of skilled drivers can be embedded to the prediction in the form of rules. Use rules to constrain the intention prediction, thereby improving the trustworthiness of prediction results. Test results on naturalistic driving dataset show that the proposed method can predict the lane-change intention with an accuracy of 97.22%, which is higher than that of Bi-LSTM. © 2022 IEEE.

关键词： Embeddings

来源：评论

学校读者我要写书评

暂无评论

A Cell Potential and Motion Pattern Driven Multi-robot Coverage Path Planning Algorithm 14th

A Cell Potential and Motion Pattern Driven Multi-robot Cover...

引用

14th International Conference on Bio-inspired Computing: Theories and Applications, BIC-TA 2019

作者： Xu, Meng Xin, Bin Dou, Lihua Gao, Guanqiang School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789811534249

This paper proposes an intelligent "Cell Potential and Motion Pattern driven Coverage (CPMPC)" algorithm to solve a cooperative coverage path planning problem for multiple robots in two-dimensional target environment. The target environment is divided into cell areas according to the detection range of robot, and the cell matrix is given correspondingly. The values in the cell matrix are defined as cell potential, which represents the number of times each cell is detected by robots. The priority of the robot’s neighbor cell is called the motion pattern. At different moments, robots can choose within different motion patterns. Genetic algorithm (GA) is used to optimize the combination of motion patterns. By taking account obstacle avoidance and collision avoidance into consideration, the CPMPC algorithm adopts a double-layer choice strategy driven by cell potential and motion pattern to generate the next waypoint. Furthermore, this algorithm contains two optimal strategies: avoiding collision and jumping out of the detected area. Compared with the pattern-based genetic algorithm, the results obtained by us show that the CPMPC algorithm could solve the multi-robot coverage path planning (MCPP) problem effectively with guarantee of complete coverage, and improved makespan. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

An Efficient Restart-Enhanced Genetic Algorithm for the Coalition Formation Problem 1

引用

13th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2018

作者： Guo, Miao Xin, Bin Chen, Jie Wang, Yipeng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (数字)9789811328268

ISBN: (纸本)9789811328251

In multi-agent system (MAS), the coalition formation (CF) is an important problem focusing on allocating agents to different tasks. In this paper, the single-task single-coalition (STSC) formation problem is considered. The mathematical model of the STSC problem is built with the objective of minimizing the total cost with the ability constraint. Besides, an efficient restart-enhanced genetic algorithm (REGA) is designed to solve the STSC problem. Furthermore, this paper constructs a comparison experiment, employing a random sampling method, an estimation of distribution algorithm and a genetic algorithm without restart strategy as competitors. The results of statistical analysis by the Wilcoxon’s rank-sum test demonstrate that the designed REGA performs better than its competitors in solving the STSC cases of different scales. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Design and simulation of a cable-pulley-based transmission for artificial ankle joints

引用

Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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：