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.
Background: systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, ...
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Recognize an object and detect a good grasp in unstructured scenes is still a challenge. In this paper, the problem of detecting robotic grasps is expressed by a two-point representation in an unstructured scene with ...
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ISBN:
(纸本)9781728103785;9781728103778
Recognize an object and detect a good grasp in unstructured scenes is still a challenge. In this paper, the problem of detecting robotic grasps is expressed by a two-point representation in an unstructured scene with an RGB-D camera. A deep Convolutional Neural Network is designed to predict good grasps in real-time on GTX1080, with using region proposal techniques. A contribution of this work is our proposed network framework can perform classification, location and grasp detection simultaneously so that in a single step, it not only recognizes the category and bounding-box of the object, but also finds a good grasp line. Besides, in training process, we minimize a multi-task loss objective function of object classification, location and grasp detection in order to train the network end-to-end. Our experimental evaluation on a real robotic manipulator demonstrates that the robotic manipulator can fulfill the grasping task effectively.
Network is the core element of many industrial and automation systems. In the future, more attention will be paid to convergent and unified network. Time-critical traffic and non-time-critical traffic need to share co...
Network is the core element of many industrial and automation systems. In the future, more attention will be paid to convergent and unified network. Time-critical traffic and non-time-critical traffic need to share communication channels. The goal of the IEEE TSN task group is to extend the existing Ethernet standard to achieve a degree of certainty that meets the hard-real-time requirements of modern control networks in the industrial automation and automotive industries. Time sensitive network (TSN) is characterized by low jitter, low delay and deterministic transmission. It can transmit critical and non-critical traffic in the same network, which is very suitable for time- critical applications with high requirements on transmission delay. This paper briefly summarizes the key components of TSN, studies the key technologies, and carries out a simple traffic scheduling experiment on the switch based on 802.1Qbv function, and finally analyzes the application of TSN in industrial automation and automobile industry.
The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update(ZUPT) technology is used for the error correction in this *** a relevant algorithm,the zero ve...
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ISBN:
(纸本)9781538629185
The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update(ZUPT) technology is used for the error correction in this *** a relevant algorithm,the zero velocity detection algorithm is applied in the carrier *** method has achieved an integrated navigation system filtering algorithm based on *** simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.
In this paper,we study a class of stochastic fuzzy delayed Cohen-Grossberg neural networks under impulsive *** Razumikhin method and iteration technique,some sufficient conditions ensuring the mean-square exponential ...
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In this paper,we study a class of stochastic fuzzy delayed Cohen-Grossberg neural networks under impulsive *** Razumikhin method and iteration technique,some sufficient conditions ensuring the mean-square exponential input-to-state stability of the designed delayed neural networks are *** results can generalize and improve some earlier publications.A numerical example is demonstrated to verify the theoretical results.
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.
We present a novel method of estimating gait altitude by using the acceleration and angular velocity data obtained from a single Inertial Measurement Unit (IMU) sensor. High-precision foot tracking and vertical positi...
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ISBN:
(纸本)9781538694091;9781538694084
We present a novel method of estimating gait altitude by using the acceleration and angular velocity data obtained from a single Inertial Measurement Unit (IMU) sensor. High-precision foot tracking and vertical positioning were achieved by using this method. The inherent drifts of IMU sensors, which may cause cumulative errors for position estimation, were reduced by using our algorithm. Firstly, a multitude-threshold detection method was used to determine the stance phase and swing phase in gait movement. Secondly, a zero-velocity update was performed in the stance phase to minimize the drift error when the single foot is stationary. Finally, in the swing phase, the motion direction was represented by quaternion, and the gait altitude was estimated using a method that combines a Complementary Filter (CF) algorithm and a Target-error Compensation algorithm. Experimental results show that this method can effectively reduce inherent drifts of wearable IMU sensors and ensure accurate estimation of gait altitude.
This paper studies the problem of reconflgurable fault tolerant controller design for linear time-invariant systems with measurement unavailability based on a complete parametric *** attention is focused on completely...
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ISBN:
(纸本)9781538629185
This paper studies the problem of reconflgurable fault tolerant controller design for linear time-invariant systems with measurement unavailability based on a complete parametric *** attention is focused on completely recovering eigenvalues of the pre-fault system by resynthesizing an output feedback controller while the restrictions on assignable eigenvalues of existing results are ***,the complete parametric method is introduced to give the parametric expressions for all output feedback matrices with the advantage of guaranteeing the stability of the reconfigured ***'s more,reconflgurable controllers for the spacecraft rendezvous system are studied as the example in cases of different measurement failure ***,numerical calculations are given and results show the effectiveness of the proposed method.
With the recognition of herbal medicines, reliable and convenient methods for herbal medicines discrimination are needed. This paper introduces a novel method of using an electronic nose with online conformal predicti...
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