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Distributed Solver for Discrete-Time Lyapunov Equations over Dynamic Networks with Linear Convergence Rate

IEEE Transactions on Cybernetics 2022年第2期52卷 937-946页

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

The problem of solving discrete-Time Lyapunov equations (DTLEs) is investigated over multiagent network systems, where each agent has access to its local information and communicates with its neighbors. To obtain a solution to DTLE, a distributed algorithm with uncoordinated constant step sizes is proposed over time-varying topologies. The convergence properties and the range of constant step sizes of the proposed algorithm are analyzed. Moreover, a linear convergence rate is proved and the convergence performances over dynamic networks are verified by numerical simulations. © 2013 IEEE.

关键词： Convex optimization

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Unsupervised robust adaptive filtering against impulsive noise

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Journal of systems Engineering and Electronics 2012年第1期23卷 32-39页

作者： Tao Ma Jie Chen Wenjie Chen Zhihong Peng School of Automation Beijing Institute of Technology Beijing 100081 R R. China Key Laboratory of Complex System Intelligent Control and Decision （Ministry of Education） Beijing Institute of Technology Beijing 100081 P. R. China

An implementation of adaptive filtering, composed of an unsupervised adaptive filter （UAF）, a multi-step forward linear predictor （FLP）, and an unsupervised multi-step adaptive predictor （UMAP）, is built for suppressing impulsive noise in unknown circumstances. This filtering scheme, called unsupervised robust adaptive filter （URAF）, possesses a switching structure, which ensures the robustness against impulsive noise. The FLP is used to detect the possible impulsive noise added to the signal, if the signal is ＂impulse-free＂, the filter UAF can estimate the clean sig- nal. If there exists impulsive noise, the impulse corrupted samples are replaced by predicted ones from the FLP, and then the UMAP estimates the clean signal. Both the simulation and experimental results show that the URAF has a better rate of convergence than the most recent universal filter, and is effective to restrict large disturbance like impulsive noise when the universal filter fails.

关键词： adaptive filtering unsupervised form impulse insen- sitive switching structure.

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Signal discrimination with wavelet algorithm and Pearson correlation-based algorithm in f-OTDR systems 2

Signal discrimination with wavelet algorithm and Pearson cor...

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2020 2nd International Conference on Electronics and Communication, Network and Computer Technology, ECNCT 2020

作者： Mo, Dai Li Yu, Zhi Hua Cai, Yun Fei Liu, Rui School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan430074 China

This paper presents a novel method of distinguishing signal, the way expected to reduce the nuisance alarm rate since the high nuisance alarm rate will restrict the capability of phase-sensitive optical time-domain reflection technology. The proposed method includes two parts: wavelet positioning mutation to obtain the perturbation area and Pearson correlation algorithm to directly convert the intensity of the perturbation into a useful amplitude. This technique avoids the use of irrelevant data in these differential signals and provides a simple and feasible new approach for distinguishing signal and optimizing the positioning speed of f-OTDR systems. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Time domain analysis

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Analysis of coupled axial-torsional vibration of drill-string with an inclination angle 41

Analysis of coupled axial-torsional vibration of drill-strin...

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第41届中国控制会议

作者： Jiahao Zhang Chengda Lu Hengyu Huang Jun Gao Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education CCTEG Xi'an Research Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drill-string vibration has a great negative influence on the safety and efficiency of geological *** that the influence of drill-string inclination is not well considered in the literature,this paper develops a novel drill-string vibration model for geological drilling with inclined ***,the correlation between the inclination angle of borehole and the axial and torsional forces on the drill-string is *** on this,a drill-string motion model with the parameters of inclination angle is ***,the bit-rock interaction is considered as two processes,axial cutting and torsional friction,and an axial-torsional coupled bit-rock interaction model with state-dependent time delay is *** combining the established drill-string motion model and bit-rock interaction model,a coupled axial-torsional vibration model of drill-string in inclined borehole is obtained with the effect of borehole wall friction taken into *** drill-string vibration model proposed in this paper is more general,and includes the existing coupled drill-string vibration model of vertical borehole,which is closer to the actual situation.

关键词： drill-string vibration drill-string inclination bit-rock interaction

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An approach of joint-space trajectory generation 5

An approach of joint-space trajectory generation

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Chen, Xin Jiang, Chen-Xu Zhou, Li School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhanz430074 China School of Arts and Communication China University of Geosciences Wuhan430074 China

Trajectory generation is a prerequisite for robot control system and is divided into two regions, Cartesian space and joint space. This paper presents an approach to generate the trajectory in joint-space. This method uses normalization and transformation of the sine function to generate the desired trajectory, which is more smooth and continuous than the parabolic method in multiple time derivatives of the joint parameter. Compared with the third order polynomial method, this approach can depress the unacceptable infinite spikes in the jerk, which is the derivative of acceleration. Besides, the using of normalization in this approach is to make it more convenient and efficient be applied.

关键词： Trajectories

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An improved tiny SLAM method for simultaneous localization and mapping 5

An improved tiny SLAM method for simultaneous localization a...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Li, Dan-Yun Liu, Cong-Jun Liu, Zhen-Tao Feng, Zhi-Yong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Wuhan430070 China

TinySLAM algorithm is a simple 2D laser SLAM algorithm. However, in practical applications, it has higher error rate of mapping because of its simple filter. In this paper, an improved TinySLAM algorithm is proposed for simultaneous location and mapping. By adding a simple filter before the Monte Carlo simulation and then fusing the information from the odometer, the error in the positioning process can be reduced. Moreover, the introduced hybrid map cell model that can be compatible with ROS system, improves the response to dynamic obstacles, and reduces the mapping error rate further. Simulation using ROS system and Stage software is performed, from which the results show that the proposal has good effects comparing with TinySLAM, and the error rate is reduced so that the map built is closer to the actual environment.

关键词： Mapping

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A scale transform and deformation target tracking algorithm based on correlation filtering 2

A scale transform and deformation target tracking algorithm ...

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2019 2nd International Conference on advanced Materials, intelligent Manufacturing and automation, AMIMA 2019

作者： Hu, Cong Xia, Wei Chen, Peng Huang, Shun Guo, Hui Jin, Xing School of Automation China University of Geosciences Wuhan430074 China Hubeikey Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China

In order to improve the robustness of the correlation filtering (CF) tracking algorithm and overcome the problem that the traditional correlation filtering method can not deal with the target's scale and deformation change, a feature-adaptive scale adaptive correlation filter tracking algorithm is proposed. Firstly, the target is characterized;then the output filter is calculated by using the correlation filter;finally, the image blocks of different scales are intercepted from the target position of the current frame, and the optimal estimation of the target scale is obtained by the adaptive scale pool model. The experiment selects multiple video sequences for testing and compares the proposed algorithm with other target tracking methods. The experimental results show that the average performance is better than the comparison method. © Published under licence by IOP Publishing Ltd.

关键词： Deformation

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An adaptive hybrid optimizer based on particle swarm and differential evolution for global optimization

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Science china(Information Sciences) 2010年第5期53卷 980-989页

作者： XIN Bin 1,2 ? , CHEN Jie 1,2* , PENG ZhiHong 1,2 & PAN Feng 1,2 1 School of automation, Beijing Institute of Technology, Beijing 100081, china 2 key laboratory of complex system intelligent control and Decision, Ministry of Education, Beijing 100081, china 1. School of Automation Beijing Institute of Technology Beijing 100081 China2. Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This paper presents extensive experiments on a hybrid optimization algorithm (DEPSO) we recently developed by combining the advantages of two powerful population-based metaheuristics—differential evolution (DE) and particle swarm optimization (PSO). The hybrid optimizer achieves on-the-fly adaptation of evolution methods for individuals in a statistical learning way. Two primary parameters for the novel algorithm including its learning period and population size are empirically analyzed. The dynamics of the hybrid optimizer is revealed by tracking and analyzing the relative success ratio of PSO versus DE in the optimization of several typical problems. The comparison between the proposed DEPSO and its competitors involved in our previous research is enriched by using multiple rotated functions. Benchmark tests involving scalability test validate that the DEPSO is competent for the global optimization of numerical functions due to its high optimization quality and wide applicability.

关键词： global optimization statistical learning differential evolution particle swarm optimization hybridization adaptation rotated function

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Clustering single-cell RNA sequencing data by deep learning algorithm 9

Clustering single-cell RNA sequencing data by deep learning ...

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9th IEEE International Conference on Bioinformatics and Computational Biology, ICBCB 2021

作者： Bai, Litai Zhu, Yuan Yi, Ming Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Wuhan China

ISBN: (纸本)9780738132020

The development of single-cell RNA sequencing (scRNA-seq) technology provides a good opportunity to study cell heterogeneity and diversity. Especially, clustering is an important step in scRNA-seq analysis. With the advance of technology, many scRNA-seq data are available, which develop a lot of clustering methods. However, the existing methods usually employ the gene expression data, ignoring the related information between genes and the structure information in data. Therefore, we propose a new method (NDMgcn) to reconstruct the gene expression data based on the association of gene network, and cluster the data by Variational Autoencoder (V AE) and Graph Convolutional Network (GCN). The V AE learns low-dimensional information and the GCN learns structural information. The experimental results indicate that NDMgcn outperforms other popular algorithms in terms of NMI and ARI metrics. It provides a new insight for clustering scRNA-seq data from the network perspective. © 2021 IEEE.

关键词： RNA

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Artillery position control through auto disturbance rejection controller based on fuzzy control

Artillery position control through auto disturbance rejectio...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Peng, Ning Bai, Yongqiang Luo, Hao Bai, Junlong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing China

ISBN: (纸本)9780769550114

Considering the characteristics of manipulation and collimation control in traction artillery control system, complex mathematic model, uncertainty and nonlinearity, ADRC (Active Disturbance Rejection controller) with Fuzzy control strategy as position controller was adopted and solved the difficult to adjust the parameters and weak anti-interference in practical engineering application. Through tests, it was shown that the controller was robust and met with the requirement of campaign system to quickly move the target to the given position with high reliability and high precision. © 2013 IEEE.

关键词： controllers

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