发布求助
文献互助 智能选刊 最新文献

2022 China Automation Congress (CAC)最新文献

筛选
英文 中文
Hierarchical Subgoal Generation from Language Instruction for Robot Task Planning 基于语言教学的机器人任务规划分层子目标生成
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10054939
Zejun Yang, Li Ning, Hao Jiang, Zhaoqi Wang
{"title":"Hierarchical Subgoal Generation from Language Instruction for Robot Task Planning","authors":"Zejun Yang, Li Ning, Hao Jiang, Zhaoqi Wang","doi":"10.1109/CAC57257.2022.10054939","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10054939","url":null,"abstract":"In the field of \"Visual-Language Task Planning\", how to flexibly process various language inputs determines the accuracy of action prediction. In this paper, we mainly study: what useful information can be obtained from language inputs and how to organize it; how to map instructions to the organized information. For these problems, (1) we organize the \"Task-Subgoal-Action\" logic structure, to help complete the complex tasks step-by-step, (2) we also propose the hierarchical subgoal generation model, which learns operation knowledge from training data, to generate executable subgoal sequences according to the given instructions. Our model is trained and evaluated with the datasets from “Action Learning From Realistic Environments and Directives ”(ALFRED), the subgoal sequences extracted from predicted texts successfully enable the robot to complete nearly 97% of ALFRED tasks\" What’s more, our model performs better than the language processing module in FILM, and the robot system which integrates our model performs well. These results indicate that our model can make full use of language inputs efficiently and provides great help to robot task planning.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"267 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133153039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Zonotopic Fault Diagnosis Method for Linear Systems with Unknown Input Set-membership Filters 具有未知输入集隶属度滤波器的线性系统的分区故障诊断方法
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055736
Weixin Han, Haiyang Huang
{"title":"Zonotopic Fault Diagnosis Method for Linear Systems with Unknown Input Set-membership Filters","authors":"Weixin Han, Haiyang Huang","doi":"10.1109/CAC57257.2022.10055736","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055736","url":null,"abstract":"This work develops a novel zonotope-based fault diagnosis algorithm for uncertain systems. First, an unknown input zonotopic filter for each actuator is set up to acquire the measurement output set, by regarding the actuator fault as unknown input and estimating the output boundary by zonotopic analysis. Second, only its filter is decoupled when an actuator has a fault, while other filters are affected by the fault. Then, the strategy for fault diagnosis based on a bank of zonotopic filters is put forward. Finally, to verify the feasibility of the suggested approach, numerical simulations of a flight longitudinal motion control system are demonstrated.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128821904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Un-calibrated Photometric Stereo Algorithm Based on Local Grayscale Information 基于局部灰度信息的非校准光度立体算法
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055316
Jiande Zhang, Chenrong Huang, Liangbao Jiao, Zhan Shi
{"title":"Un-calibrated Photometric Stereo Algorithm Based on Local Grayscale Information","authors":"Jiande Zhang, Chenrong Huang, Liangbao Jiao, Zhan Shi","doi":"10.1109/CAC57257.2022.10055316","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055316","url":null,"abstract":"Aiming at the difficulty of light source parameter calibration and the weak practical application of traditional photometric stereo vision in 3D reconstruction of target object, an uncalibrated photometric stereo vision algorithm model based on local gray information of image is studied. Firstly, an adaptive clustering segmented is designed to generate mask image from the original photometric image and extract the target region; Then, singular value decomposition (SVD) is used to decompose the original image into the product of the near initial normal vector matrix and the initial illumination matrix, initialize the general shallow relief (GBR) transformation matrix, and construct the initialization model of the target object surface vector; The file set is constructed with the local gray maxima of Lambert reflection, and the GBR parameters are optimized by particle swarm optimization; Determine the accurate normal vector matrix and illumination matrix, calculate the depth map and reconstruct the target object. Experimental results show that the proposed algorithm has advantages in accuracy, generalization and convenience of target object reconstruction.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127650361","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Orbit Injection Control of Launcher via a Fully-Actuated System Approach 基于全驱动系统的发射装置轨道注入控制
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055707
Feng Zhang, Haipeng Chen, Shengbao Wu
{"title":"Orbit Injection Control of Launcher via a Fully-Actuated System Approach","authors":"Feng Zhang, Haipeng Chen, Shengbao Wu","doi":"10.1109/CAC57257.2022.10055707","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055707","url":null,"abstract":"This study handles the control problem of the orbit injection phase for a launcher. By doing so, the coupled position and attitude dynamics of the launcher is firstly formulated. A partial integrated guidance and control (IGC) scheme is then proposed based on the backstepping philosophy. On the one hand, since the position error sub-dynamics possesses to be a two-order fully-actuated nonlinear system, a parametric design technique is utilized to construct the command thrust control vector by using the high-order fully actuated system theory. On the other hand, the control torque is designed within the Lyapunov framework to complete the partial IGC scheme. Finally, numerical simulation is given to verify the effect of the proposed control scheme.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127801905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Colour correction of dermatoscopic images based on Shades of Gray and the Adaptive Multiscale Retinex Method 基于灰度和自适应多尺度视网膜法的皮肤镜图像色彩校正
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10056017
Shuli Guo, Xiaowei Song, Lina Han, Guowei Wang, Yuanyuan Zhao, Anil Baris Cekderi
{"title":"Colour correction of dermatoscopic images based on Shades of Gray and the Adaptive Multiscale Retinex Method","authors":"Shuli Guo, Xiaowei Song, Lina Han, Guowei Wang, Yuanyuan Zhao, Anil Baris Cekderi","doi":"10.1109/CAC57257.2022.10056017","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10056017","url":null,"abstract":"Melanoma is the most common and deadly malignant skin cancer. A method based on colour correction and brightness adjustment was proposed to solve the colour deviation problem of dermatoscopic images in melanoma recognition. Firstly, the Minkowski norm is used to correct the colour deviation in the red channel of the dermatoscopic image. Secondly, the image’s saturation is adjusted by the linear stretching method. Then, the convolution operation of the guided filter was used to estimate the incident component of the low illumination image, and the reflection component formula of the guided filter based on the multi-scale Retinex method was constructed by adjusting the size of the filtering window and the value of smoothing parameters to enhance the brightness of the image. Finally, the Gamma correction algorithm adjusts the brightness image appropriately. The experimental results show that the proposed algorithm can solve the problem of abnormal colour deviation of dermatoscopic images and improve the recognition rate of melanoma by 4-6 percentage points through colour correction.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134630197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Event-triggered Control of Heterogeneous Vehicular Platoons under Directional Topology* 定向拓扑下异构车辆队列的事件触发控制*
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055117
Guangyu Wu
{"title":"Event-triggered Control of Heterogeneous Vehicular Platoons under Directional Topology*","authors":"Guangyu Wu","doi":"10.1109/CAC57257.2022.10055117","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055117","url":null,"abstract":"This paper studies an adaptive consensus problem of heterogeneous vehicular platoon under directional communication topology, where all nonidentical member vehicles are subject to bounded actuator uncertainties. An event-triggered control (ETC) scheme in a fully distributed manner is established, comprising a distributed directional controller and a robust tracking controller. The first one is for tackling the platoon heterogeneity and directionality and the second one is for tackling actuator uncertainties. A compensator is assigned to each member vehicle and the asymptotic state consensus of all identical compensators is reached via an event-triggered protocol. Ultimately, the movement states and the compensator states are synchronized by local robust control laws, thus achieving the bounded platoon consensus. Finally, a numerical example is given to verify the effectiveness of the proposed strategy.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127391409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Mixed-traffic Car-Following Model Considering Acceleration and Memory Mechanism 考虑加速和记忆机制的混合交通车辆跟随模型
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10054795
Fan Ouyang, Lin Liu, Yongfu Li
{"title":"A Mixed-traffic Car-Following Model Considering Acceleration and Memory Mechanism","authors":"Fan Ouyang, Lin Liu, Yongfu Li","doi":"10.1109/CAC57257.2022.10054795","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10054795","url":null,"abstract":"This study proposes a new car-following (CF) model for mixed traffic with connected and automated vehicles (CAVs) and human-driven vehicles (HDVs). Specifically, the model is established by considering the acceleration of the front vehicle and memory mechanism. Compared with the Cooperative Adaptive Cruise Controller (CACC) model, the proposed model has smaller velocity fluctuation. At the same time, the model allows us to explicitly study the performance of mixed traffic under different CAV penetration rates and different CAV spatial distributions. A simulation experiment is performed and results show that CAVs forms a platoon traveling in the front of the fleet has better dynamic performance in smoothness and responsiveness. The impact of CAV penetration rates on traffic stability is further studied, the results prove that the larger CAV penetration rates can improve the stability of mixed traffic.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115737828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Deep Learning Model via Long Short Term Memory for Voltage Sag Location in Sparsely Monitored System 稀疏监测系统电压暂降定位的长短期记忆深度学习模型
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055497
Yaping Deng, Hao Jia, Shaojie Lin, Xiangqian Tong, Xiaohui Zhang, Lu Wang
{"title":"A Deep Learning Model via Long Short Term Memory for Voltage Sag Location in Sparsely Monitored System","authors":"Yaping Deng, Hao Jia, Shaojie Lin, Xiangqian Tong, Xiaohui Zhang, Lu Wang","doi":"10.1109/CAC57257.2022.10055497","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055497","url":null,"abstract":"Voltage sag has already been recognized as a critical power quality issue in power system. In fact, not only economic loss but also social impact has been produced due to voltage sag. And hence, voltage sag location is of great importance to taking effective measures, evaluating power quality level, dividing responsibility and constructing harmonious power supply and consumption environment. And hence, a deep learning method via Long Short Term Memory for voltage sag location in power system, which is sparsely monitored is presented. In detail, for the presented model, the input is measured voltage through limited sensors in a sparsely monitored power system, and meanwhile, the output is the detailed line in the whole network. In this study, the data is collected via Matlab software and the algorithm is conducted through TensorFlow tool. The test results through IEEE 30-bus system illustrate that the accuracy of voltage sag location can be achieved with high accuracy.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115919934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
RFastSLAM : A FastSLAM Algorithm based Rank Kalman Filter RFastSLAM:基于秩卡尔曼滤波的FastSLAM算法
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055174
Tai-shan Lou, Zhenjia Yue, Chen-hao Li, Hongmei Zhao
{"title":"RFastSLAM : A FastSLAM Algorithm based Rank Kalman Filter","authors":"Tai-shan Lou, Zhenjia Yue, Chen-hao Li, Hongmei Zhao","doi":"10.1109/CAC57257.2022.10055174","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055174","url":null,"abstract":"Solving Jacobi matrices of nonlinear functions and particle number degeneracy are two key challenges in fast simultaneous localization and mapping (FastSLAM). This paper proposes a new robust FastSLAM algorithm based on the rank Kalman filter called Rank FastSLAM(RFastSLAM). In the framework of Rao-Blackwellized particle filter (RBPF), the proposed distribution function is approximated by rank sampling points, and the estimation results are closer to the true values. The number of particles are smaller than that of FastSLAM by the rank statistics principle. From the simulation results, it can be seen from the simulation results that the RFastSLAM effectively slows down the particle degradation phenomenon and improves the estimation accuracy of the mobile robot.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124564460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Event-triggered Nonfragile Observer Design for Interval Type-2 T-S Fuzzy Systems with Unmeasurable Premise Variables and Bounded Disturbances 具有不可测前提变量和有界扰动的区间2型T-S模糊系统的事件触发非脆弱观测器设计
2022 China Automation Congress (CAC) Pub Date : 2022-11-25 DOI: 10.1109/CAC57257.2022.10055432
Ming Yuan, Yueyang Li, Dong Zhao
{"title":"Event-triggered Nonfragile Observer Design for Interval Type-2 T-S Fuzzy Systems with Unmeasurable Premise Variables and Bounded Disturbances","authors":"Ming Yuan, Yueyang Li, Dong Zhao","doi":"10.1109/CAC57257.2022.10055432","DOIUrl":"https://doi.org/10.1109/CAC57257.2022.10055432","url":null,"abstract":"In this study, the designing problem of event- triggered nonfragile state observer of discrete time nonlinear systems affected by both unmeasurable premise variables and bounded disturbances is investigated. The complex nonlinear systems are expressed utilizing interval type-2 Takagi-Sugeno fuzzy models with upper and lower membership functions. A design scheme of nonfragile observer is presented for estimating the states. Event-triggered mechanism as a powerful way to realize a tradeoff between system performance and signal transmission frequency is introduced to alleviate network transmission load. A fuzzy observer design approach is presented within the frame of quadratic boundedness theory, and the criterion of the estimated error dynamical system possessing quadratic stability is given. The desirable observer parameter matrices are given in virtue of linear matrix inequality. Through a simulation example, the feasibility of the addressed fuzzy observer methodology is verified.","PeriodicalId":287137,"journal":{"name":"2022 China Automation Congress (CAC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114368570","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
首页 上一页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信