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Asynchronous Brain-Computer Interface Shared control of Robotic Grasping

Tsinghua Science and Technology 2019年第3期24卷 360-370页

作者： Wenchang Zhang Fuchun Sun Hang Wu Chuanqi Tan Yuzhen Ma the Department of Computer Science and Technology Tsinghua University State Key Lab.of Intelligent Technology and Systems Institute of Medical Support Technology Academy of Military Sciences Drugs Control of PAP

The control of a high Degree of Freedom(DoF) robot to grasp a target in three-dimensional space using Brain-Computer Interface(BCI) remains a very difficult problem to solve. Design of synchronous BCI requires the user perform the brain activity task all the time according to the predefined paradigm; such a process is boring and fatiguing. Furthermore, the strategy of switching between robotic auto-control and BCI control is not very reliable because the accuracy of Motor Imagery(MI) pattern recognition rarely reaches 100%. In this paper, an asynchronous BCI shared control method is proposed for the high DoF robotic grasping task. The proposed method combines BCI control and automatic robotic control to simultaneously consider the robotic vision feedback and revise the unreasonable control commands. The user can easily mentally control the system and is only required to intervene and send brain commands to the automatic control system at the appropriate time according to the experience of the user. Two experiments are designed to validate our method: one aims to illustrate the accuracy of MI pattern recognition of our asynchronous BCI system; the other is the online practical experiment that controls the robot to grasp a target while avoiding an obstacle using the asynchronous BCI shared control method that can improve the safety and robustness of our system.

关键词： asynchronous Brain-Computer Interface (BCI) shared control motor imagery robotic grasping

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Multisensor fusion estimation of nonlinear systems with intermittent observations and heavy-tailed noises

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Science China(Information Sciences) 2022年第9期65卷 173-190页

作者： Bo XIAO Q.M.Jonathan WU Liping YAN School of Artificial Intelligence Beijing University of Posts and Telecommunications Department of Electrical and Computer Engineering University of Windsor Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Inspired by the robust student t-distribution based nonlinear filter(RSTNF), a student tdistribution and unscented transform(UT) based filter for state estimation of heavy-tailed nonlinear dynamic systems, a modified RSTNF for intermittent observations is derived. The fusion estimation for nonlinear multisensor systems with intermittent observations and heavy-tailed measurement and process noises is *** this work, the centralized fusion, the sequential fusion, and the na¨?ve distributed fusion algorithms are presented, respectively. Theoretical analysis shows that the presented algorithms are effective, which are the efficient extension of the classical unscented Kalman filter(UKF) or the cubature Kalman filter(CKF) based algorithms with Gaussian noises. Simulation results show that the presented algorithms are effective and feasible.

关键词： state fusion estimation nonlinear systems heavy-tailed noise intermittent observations multivariate $t$-distribution

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A zeroth-order algorithm for distributed optimization with stochastic stripe observations

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Science China(Information Sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

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On the Issue of Short-Term Forecasting of Vehicle Travel Time Along a Selected Segment of the Transport Network of an Urban Agglomeration 3

On the Issue of Short-Term Forecasting of Vehicle Travel Tim...

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3rd International Conference on Problems of Logistics, Management and Operation in the East-West Transport Corridor, PLMO 2024

作者： Rzayev, Ramin Ahmadov, Emil Institute of Control Systems Laboratory of Information Decision Support Systems Baku Azerbaijan Ministry of Internal Affairs of the Republic of Azerbaijan Intelligent Transport Management Centre Baku Azerbaijan

ISBN: (纸本)9798350353099

The paper is devoted to solving the problem of analyzing and forecasting the parameters of traffic flows in the network of a large urban agglomeration. As one of these parameters, the average travel time for public transport vehicles along a selected segment of the Baku transport network is considered. The initial data is formed by processing and filtering the readings of the speed sensors of the Technical (Computer) Vision System of the city intelligent Transport Management Centre, which monitors traffic in real time (every second during the day). The solution to the problem of short-term forecasting of the travel time is proposed, which is considered using both traditional methods of analysis, for example, the exponential smoothing method, and using neural network and fuzzy modeling methods. As the basic object of subsequent analysis, the corresponding time series is considered, reflecting the dynamics of changes in the time parameter for vehicles to travel through a limited segment of a transport network of the fixed length for a full day. © 2024 IEEE.

关键词： Travel time

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Heuristic solution algorithm for routing flow shop with buffers and ready times

Heuristic solution algorithm for routing flow shop with buff...

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International Conference on systems Science, ICSS 2013

作者： Józefczyk, Jerzy Markowski, Michal Department of Intelligent Decision Support Systems Wroclaw University of Technology wyb. Wyspianskiego 27 Wroclaw50-370 Poland

ISBN: (纸本)9783319018560

This work discusses the routing flow shop which means that jobs, located at workstations represented by nodes of a transportation network, are performed by movable machines travelling among the workstations. The version with buffers, ready times and different speeds of machines to minimize the makespan is considered. The heuristic constructive solution algorithm and its analytical assessment are presented. Results of simulation experiments evaluating the algorithm are also given. © Springer International Publishing Switzerland 2014.

关键词： Heuristic algorithms

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Effective distributed algorithm for solving linear matrix equations

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Science China(Information Sciences) 2023年第8期66卷 265-266页

作者： Songsong CHENG Jinlong LEI Xianlin ZENG Yuan FAN Yiguang HONG Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Department of Control Science and Engineering Tongji University Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Dear editor,Solving linear matrix equations is a basic and important problem in many fields such as the computation of generalized inverses of matrices and(generalized) Sylvester equations. Also, the linear algebraic ...

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Subjective effects-based assessment

Subjective effects-based assessment

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11th International Conference on Information Fusion, FUSION 2008

作者： Schubert, Johan Department of Decision Support Systems Division of Command and Control Systems Swedish Defence Research Agency SE-164 90 Stockholm Sweden

ISBN: (纸本)9783000248832

In this paper we develop a subjective Effects-Based Assessment method. This method takes subjective assessments regarding the activities of a plan as inputs. From these assessments and a cross impact matrix that represents the impact between all elements of the plan we calculate assessments for all other plan elements. The method is based on belief functions and their combination under a new generalization of the discounting operation. The method is implemented in a Collaboration Synchronization Management Tool (CSMT).

关键词： Inverse problems

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Distributed Optimization and Scaling Design for Solving Sylvester Equations

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Journal of systems Science & Complexity 2024年第6期37卷 2487-2510页

作者： CHENG Songsong YU Xin ZENG Xianlin LIANG Shu HONG Yiguang Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai 201210China

This paper develops distributed algorithms for solving Sylvester *** authors transform solving Sylvester equations into a distributed optimization problem,unifying all eight standard distributed matrix *** the authors propose a distributed algorithm to find the least squares solution and achieve an explicit linear convergence *** results are obtained by carefully choosing the step-size of the algorithm,which requires particular information of data and Laplacian *** avoid these centralized quantities,the authors further develop a distributed scaling technique by using local information *** a result,the proposed distributed algorithm along with the distributed scaling design yields a universal method for solving Sylvester equations over a multi-agent network with the constant step-size freely chosen from configurable ***,the authors provide three examples to illustrate the effectiveness of the proposed algorithms.

关键词： Distributed optimization least squares solution linear convergence rate step-size interval Sylvester equation

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Distributed solver for linear matrix inequalities: an optimization perspective

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control Theory and Technology 2021年第4期19卷 507-515页

作者： Weijian Li Wen Deng Xianlin Zeng Yiguang Hong Department of Automation University of Science and Technology of ChinaHefei 230027AnhuiChina Key Lab of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

In this paper,we develop a distributed solver for a group of strict(non-strict)linear matrix inequalities over a multi-agent network,where each agent only knows one inequality,and all agents co-operate to reach a consensus solution in the intersection of all the feasible *** formulation is transformed into a distributed optimization problem by introducing slack variables and consensus ***,by the primal–dual methods,a distributed algorithm is proposed with the help of projection operators and derivative ***,the convergence of the algorithm is analyzed,followed by illustrative simulations.

关键词： Distributed computation Distributed optimization Linear matrix inequalities Primal-dual method

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A Resilient Data-Driven controller Against DoS Attacks 41

A Resilient Data-Driven Controller Against DoS Attacks

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第41届中国控制会议

作者： Wenjie Liu Jian Sun Gang Wang Jie Chen Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is concerned with the stabilization problem of linear time-invariant systems under Denial-of-Service(DoS)***,system matrices are unknown,and only some input-output trajectories collected from off-line experiments are ***,in the model-based case,it has been proven that systems equipped with a predictor-based state feedback controller achieve resilience against DoS ***,this is difficult or even impossible to be implemented in the absence of a system model,thus leading to resilient control challenging in the data-based *** maintain resilience against DoS attacks in the data-based case,a data-driven model predictive control(MPC) scheme is proposed such that future system input-output trajectories can be obtained by solving a data-dependent optimal *** this scheme,a data-driven resilient control strategy is developed such that the system achieves the same level of resilience of the DoS attacks as the model-based ***,a numerical example is given to validate the effectiveness of the proposed method.

关键词： Denial-of-service attack data-driven control model predictive control input-to-state stability

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