检索结果-南通市图书馆

Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Space(Science & Technology) 2022年第1期2022卷 151-165页

作者： Yang Mo Yaonan Wang Hong Yang Badong Chen Hui Li Zhihong Jiang College of Electrical and information Engineering Hunan UniversityChangshaChina institute of Manned Spacecraft system Engineering China Academy of Space Technology(CAST)BeijingChina institute of Artificial Intelligence and robotics Xi’an Jiaotong UniversityXi’anChina School of Mechatronical Engineering Beijing Institute of TechnologyBeijingChina

Target tracking plays an important role in the construction,operation,and maintenance of the space station by the robot,which puts forward high requirements on the accuracy of target ***,the special space environment may cause complex non-Gaussian noise in target tracking *** the performance of traditional Kalman Filter will deteriorate seriously when the error signals are non-Gaussian,which may lead to mission *** the paper,a novel Kalman Filter algorithm with Generalized Maximum Correntropy Criterion(GMCKF)is proposed to improve the tracking accuracy with non-Gaussian *** GMCKF algorithm,which replaces the default Gaussian kernel with the generalized Gaussian density function as kernel,can adapt to multi-type non-Gaussian noises and evaluate the noise accurately.A parameter automatic selection algorithm is proposed to determine the shape parameter of GMCKF algorithm,which helps the GMCKF algorithm achieve better performance for complex non-Gaussian *** performance of the proposed algorithm has been evaluated by simulations and the ground ***,the algorithm has been applied in the maintenance experiments in TianGong-2 space laboratory of *** results validated the feasibility of the proposed method with the target tracking precision improved significantly in complex non-Gaussian environment.

关键词： entropy kernel parameter

A Deep Learning Based Sentiment Analytic Model for the Prediction of Traffic Accidents

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Computers, Materials & Continua 2023年第11期77卷 1599-1615页

作者： Nadeem Malik Saud Altaf Muhammad Usman Tariq Ashir Ahmed Muhammad Babar University institute of information Technology PMAS Arid Agriculture UniversityRawalpindi46000Pakistan Department of Marketing Operationsand Information SystemAbu Dhabi UniversityAbu Dhabi6844United Arab Emirates College of Computer and information Sciences Prince Sultan UniversityRiyadh11442Saudi Arabia robotics and Internet of Things Lab Prince Sultan UniversityRiyadh11442Saudi Arabia

The severity of traffic accidents is a serious global concern,particularly in developing *** the main causes and contributing circumstances may reduce the severity of traffic *** exist many machine learning models and decision support systems to predict road accidents by using datasets from different social media forums such as Twitter,blogs and *** such approaches are popular,there exists an issue of data management and low prediction *** article presented a deep learning-based sentiment analytic model known as Extra-large Network Bi-directional long short term memory(XLNet-Bi-LSTM)to predict traffic collisions based on data collected from social ***,a Tweet dataset has been formed by using an exhaustive keyword-based searching *** the next phase,two different types of features named as individual tokens and pair tokens have been obtained by using POS tagging and association rule *** output of this phase has been forwarded to a three-layer deep learning model for final *** experiment has been performed to test the efficiency of the proposed XLNet-Bi-LSTM *** has been shown that the proposed model achieved 94.2%prediction accuracy.

关键词： Accident XLNet Bi-LSTM association rule mining Twitter

Review on Cyber-physical systems

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

IEEE/CAA Journal of automatica Sinica 2017年第1期4卷 27-40页

作者： Yang Liu Yu Peng Bailing Wang Sirui Yao Zihe Liu Department of Computer Science and Technology Harbin Institute of Technology at Weihai automatic Test and Control institute Harbin Institute of Technology

Cyber-physical systems CPS are complex systems with organic integration and in-depth collaboration of computation, communications and control 3C technology. Subject to the theory and technology of existing network systems and physical systems, the development of CPS is facing enormous challenges. This paper first introduces the concept and characteristics of CPS and analyzes the present situation of CPS researches. Then the development of CPS is discussed from perspectives of system model, information processing technology and software design. At last it analyzes the main obstacles and key researches in developing CPS. © 2014 Chinese Association of Automation.

关键词： Complex networks Computation theory Data processing Embedded systems information science

维普期刊数据库

Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of robotics and system Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

维普期刊数据库

Fast feature matching based on r-nearest k-means searching

在线全文

学校读者我要写书评

暂无评论

CAAI Transactions on Intelligence Technology 2018年第4期3卷 198-207页

作者： Ke Wang Ningyu Zhu Yao Cheng Ruifeng Li Tianxiang Zhou Xuexiong Long State Key Laboratory of robotics and system School of MechatronicsHarbin Institute of TechnologyHarbin 150001People’s Republic of China China Mobile (Hangzhou) information Technology Co. LtdHangzhou 311100People’s Republic of China

Feature matching has been frequently applied in computer vision and pattern *** this paper,the authors propose a fast feature matching algorithm for vector-based *** algorithm searches r-nearest neighborhood clusters for the query point after a k-means clustering,which shows higher efficiency in three ***,it does not reformat the data into a complex tree,so it shortens the construction time ***,their algorithm adopts the r-nearest searching strategy to increase the probability to contain the exact nearest neighbor(NN)and take this NN as the global one,which can accelerate the searching speed by 170 ***,they set up a matching rule with a variant distance threshold to eliminate wrong *** algorithm has been tested on large SIFT databases with different scales and compared with two widely applied algorithms,priority search km-tree and random *** results show that their algorithm outperforms both algorithms in terms of speed up over linear search,and consumes less time than ***,they carry out the CFI test based on ISKLRS database using their *** test results show that their algorithm can greatly improve the recognition speed without affecting the recognition rate.

关键词： Feature matching

Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of robotics and system Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

维普期刊数据库

Time-varying sliding mode control for a class of uncertain MIMO nonlinear system subject to control input constraint

在线全文

学校读者我要写书评

暂无评论

Science China(information Sciences) 2010年第1期53卷 89-100页

作者： JIN YongQiang1,2, LIU XiangDong1, QIU Wei2 & HOU ChaoZhen1 1Department of automatic Control, Beijing institute of Technology, Beijing 100081, China 2Aerospace system Engineering Shanghai, Shanghai 201108, China 1. Department of automatic Control Beijing Institute of Technology Beijing 100081 China2. Aerospace System Engineering Shanghai Shanghai 201108 China

To solve the regulator problem of a class of uncertain MIMO nonlinear systems subject to control input constraint, three types of time-varying sliding mode control laws are proposed. The sliding surfaces pass the initial value of the system at the initial time, and are shifted/rotated towards the predetermined ones. The controller parameters are optimized by genetic algorithm (GA). Lyapunov method is adopted to prove the stability and robustness to the parameter uncertainties and external disturbance. By mean of time-varying sliding mode control law, the reaching phase in the conventional sliding mode control is eliminated, and the system is guaranteed to have robustness from the very beginning. Taking the control of two-link manipulator and attitude tracking of rigid spacecraft as two examples, we illustrate the features of the time-varying sliding mode control. The simulation results show the validity of the control law to a class of uncertain MIMO systems. Better robustness against the uncertainties and external disturbance could be achieved by time-varying sliding mode control without violating the constraint on control input.

关键词： time-varying sliding surface sliding mode control MIMO nonlinear system uncertain control input constraints

Development of a lower limb multi-joint assistance soft exosuit

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Science China(information Sciences) 2020年第7期63卷 116-118页

作者： Xinyu WU Kai FANG Chunjie CHEN Yu ZHANG Guangdong Provincial Key Lab of robotics and Intelligent system Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen College of Advanced Technology University of Chinese Academy of Sciences

Dear editor,Great progress has been made in exoskeleton research over the past decades. Exoskeletons of various types have been developed for a range of purposes, predominantly military and clinical [1,2]. Some adopt rigid structures to increase the wearer’s load carriage capacity, while others utilize external power sources to provide the wearer

关键词： Lower-limb Multi-joint assistance Soft exosuit Metabolic cost Ground walking Uphill walking Stairs clilmbing

High-precision Maneuvering Target Contour Tracking Method based on Kalman Filtering Algorithm

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

High-precision Maneuvering Target Contour Tracking Method ba...