Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we ...Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we propose an adaptive manipulator control method based on a multi-joint fuzzy system,in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable.The control algorithm of the system is a MIMO(multi-input-multi-output)fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error.It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required.Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity,coupling and uncertainty.Therefore,the proposed algorithm has good practical application prospects and promotes the development of complex control systems.展开更多
中文电子病历实体关系抽取是构建医疗知识图谱,服务下游子任务的重要基础。目前,中文电子病例进行实体关系抽取仍存在因医疗文本关系复杂、实体密度大而造成医疗名词识别不准确的问题。针对这一问题,提出了基于对抗学习与多特征融合的...中文电子病历实体关系抽取是构建医疗知识图谱,服务下游子任务的重要基础。目前,中文电子病例进行实体关系抽取仍存在因医疗文本关系复杂、实体密度大而造成医疗名词识别不准确的问题。针对这一问题,提出了基于对抗学习与多特征融合的中文电子病历实体关系联合抽取模型AMFRel(adversarial learning and multi-feature fusion for relation triple extraction),提取电子病历的文本和词性特征,得到融合词性信息的编码向量;利用编码向量联合对抗训练产生的扰动生成对抗样本,抽取句子主语;利用信息融合模块丰富文本结构特征,并根据特定的关系信息抽取出相应的宾语,得到医疗文本的三元组。采用CHIP2020关系抽取数据集和糖尿病数据集进行实验验证,结果显示:AMFRel在CHIP2020关系抽取数据集上的Precision为63.922%,Recall为57.279%,F1值为60.418%;在糖尿病数据集上的Precision、Recall和F1值分别为83.914%,67.021%和74.522%,证明了该模型的三元组抽取性能优于其他基线模型。展开更多
基金the project of science and technology of Henan province under Grant No.14210221036.
文摘Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we propose an adaptive manipulator control method based on a multi-joint fuzzy system,in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable.The control algorithm of the system is a MIMO(multi-input-multi-output)fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error.It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required.Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity,coupling and uncertainty.Therefore,the proposed algorithm has good practical application prospects and promotes the development of complex control systems.
文摘中文电子病历实体关系抽取是构建医疗知识图谱,服务下游子任务的重要基础。目前,中文电子病例进行实体关系抽取仍存在因医疗文本关系复杂、实体密度大而造成医疗名词识别不准确的问题。针对这一问题,提出了基于对抗学习与多特征融合的中文电子病历实体关系联合抽取模型AMFRel(adversarial learning and multi-feature fusion for relation triple extraction),提取电子病历的文本和词性特征,得到融合词性信息的编码向量;利用编码向量联合对抗训练产生的扰动生成对抗样本,抽取句子主语;利用信息融合模块丰富文本结构特征,并根据特定的关系信息抽取出相应的宾语,得到医疗文本的三元组。采用CHIP2020关系抽取数据集和糖尿病数据集进行实验验证,结果显示:AMFRel在CHIP2020关系抽取数据集上的Precision为63.922%,Recall为57.279%,F1值为60.418%;在糖尿病数据集上的Precision、Recall和F1值分别为83.914%,67.021%和74.522%,证明了该模型的三元组抽取性能优于其他基线模型。
