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American Control Conference

作者： X. Fu Y. Jia J. Du J. Zhang W. Li X. Liu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing Key Laboratory of Intelligent Telecommunication Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunication school of Electronic and Information Engineering Beihang University (BUAA) Department of Automatic Beijing Information and Science of University

ISBN: (纸本)9781479901777

This paper is devoted to the problem of state estimate of discrete-time stochastic systems with Markov jump parameters. A robust algorithm-diagonal interacting multiple model algorithm based on H_∞ filtering (DIMMH) is presented for maneuvering target tracking when measurement noise is of unknown statistics. Extensive Monte Carlo simulations show the effectiveness and superiority of the proposed algorithm.

关键词： Maneuvering Target Tracking Markov jump parameters effectiveness Target tracking maneuvering target State estimation Filtration tracking Noise measurement Diagonal Monte Carlo technique

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PHD filter for multi-target tracking by variational Bayesian approximation

PHD filter for multi-target tracking by variational Bayesian...

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IEEE Annual Conference on Decision and Control

作者： Wenling Li Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781467357159

In this paper, we address the problem of multitarget tracking with unknown measurement noise variance parameters by the probability hypothesis density (PHD) filter. Based on the concept of conjugate prior distributions for noise statistics, the inverse-Gamma distributions are employed to describe the dynamics of the noise variance parameters and a novel implementation to the PHD recursion is developed by representing the predicted and the posterior intensities as mixtures of Gaussian-inverse-Gamma terms. As the target state and the noise variance parameters are coupled in the likelihood functions, the variational Bayesian approximation approach is applied so that the posterior is derived in the same form as the prior and the resulting algorithm is recursive. A numerical example is provided to illustrate the effectiveness of the proposed filter.

关键词： Nickel

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Finite-time consensus control for multiple manipulators with unmodeled dynamics

Finite-time consensus control for multiple manipulators with...

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American Control Conference

作者： Bin Zhang Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479901777

This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.

关键词： unmodeled dynamics control strategy Manipulators two degrees of freedom multi-robot systems Stability analysis distributed protocol

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State estimation for jump Markov linear systems with uncompensated biases

State estimation for jump Markov linear systems with uncompe...

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American Control Conference

作者： Wenling Li Yingmin Jia Junping Du Jun Zhang Deyuan Meng Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China. Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479901777

This paper studies the problem of state estimation for jump Markov linear systems with uncompensated biases. By describing the state and the measurement biases as additive random variables, a suboptimal filter has been developed by applying the basic interacting multiple model (IMM) approach. To derive a precise representation of the biases contributions to the state estimation, three auxiliary matrices are introduced with respect to the correlation between the state estimation errors and the biases, which helps to derive mode-conditioned estimates in the framework of the IMM. A numerical example involving tracking a maneuvering target is provided to compare the performance of the proposed filter with that of the augmented state filter.

关键词： Jump Markov linear system Interacting multiple model Uncompensated bias State estimation Bias uncompensated maneuvering target Linear system interacting boson model Markov jump IMM

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Face detection based on statistical color model and haar classifier

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2012 2nd International Conference on Materials Science and Information technology, MSIT 2012

作者： Xibin, Jia Luyi, Li Multimedia and Intelligent Software Technology Beijing Municipal Key Laboratory Beijing University of Technology Beijing China Department of Reliability and System Engineering Beihang University Beijing China

ISBN: (纸本)9783037854389

The paper realizes the face detection algorithm based on the combination of the skin model and the Haar algorithm. Firstly, a platform for sample labeling was constructed, which combines the contour extraction algorithm with manual labeling. By labeling more than 10000 images obtained randomly from the Internet, a large training dataset is available. Then, a skin histogram, a non-skin histogram and a statistical skin model are constructed by analyzing the distribution of the skin and the non-skin color on the basis of a large training dataset. Based on this statistical color model, the skin area is detected and split from video files frame by frame. With the Haar Object Detection algorithm and the morphology algorithm such as erosion and dilation, the background noise and non-face areas are removed from the detected skin area and facial area is detected, which provides the basis for face recognition and the video-based visual speech synthesis. Compared with the Haar-based face detection method, our algorithm greatly improves the rate of correct detection and reduces the rate of the false positives. © (2012) Trans Tech Publications, Switzerland.

关键词： Face recognition

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Innovative instruction, assessment & evaluation in programming language concepts 2012

Innovative instruction, assessment & evaluation in programmi...

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2012 IEEE International Conference on Information Science and technology, ICIST 2012

作者： Powers, David M. W. Department of Computer Science School of Computer Science Engineering and Mathematics Flinders University Australia Beijing Municipal Key Laboratory for Multimedia and Intelligent Software Technology Beijing University of Technology China

ISBN: (纸本)9781457703454

This paper describes the development of a course in Programming Concepts over a period of a decade. Initially we present educational principles that underlie the approach, as well as specific and generic aims for this course. We then proceed to show how an integrated program of assessment and instruction has allowed teaching and comparison of multiple programming paradigms and concepts within a common framework. The specifiation of specific and generic skills and the extents to which they are expected to be covered has been closely validated with surveys framed around them. We also address some general issues in modern education. © 2012 IEEE.

关键词： Teaching

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Formation learning algorithms for mobile agents subject to 2-D dynamically changing topologies

Formation learning algorithms for mobile agents subject to 2...

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American Control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Jun Zhang Wenling Li Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 P. R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 P. R. China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 P. R. China

ISBN: (纸本)9781479901777

In this paper, we consider a two-dimensional (2-D) formation problem for multi-agent systems subject to switching topologies that dynamically change along both a finite time axis and an infinite iteration axis. We present a distributed iterative learning control (ILC) algorithm via the nearest neighbor rules. By employing the 2-D approach, we develop both the asymptotic and exponentially fast convergence of our formation ILC, which can be guaranteed by conditions in terms of the spectral radius and the matrix norms, respectively.

关键词： Multi-agent systems ILC switching topologies formation learning algorithms learning algorithms Multi-agent systems International Labour Conference Mobile agents spectral radius

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Vehicle kinematics modeling and design of vehicle trajectory generator system

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Journal of Central South University 2012年第10期19卷 2860-2865页

作者：李昭蔡自兴任孝平陈爱斌薛志超 School of Information Science and Engineering Central South University Institute of Intelligent System and Software Central South University Department of Intelligence Science and Technology Central South University National Institute of Metrology College of Computer Science and Information Technology Central South University of Forestry and Technology Faculty of Health Science University of Copenhagen

A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was *** that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual ***,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate ***,the principle of common trajectory generators was ***,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running ***,IMU(inertial measurement unit) elements were simulated,including accelerometer and *** setting up the simulation conditions,the integrated navigation simulation system was verified by final performance *** result proves the validity and flexibility of this design.

关键词： vehicle kinematics model integrated navigation system track generator IMU element system simulation

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Ant colony optimization with multi-agent evolution for detecting functional modules in protein-protein interaction networks

Ant colony optimization with multi-agent evolution for detec...

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3rd International Conference on Information Computing and Applications, ICICA 2012

作者： Ji, Junzhong Liu, Zhijun Zhang, Aidong Jiao, Lang Liu, Chunnian College of Computer Science and Technology Beijing University of Technology Beijing Municipal Key Laboratory of Multimedia and Intelligent Software Technology Beijing 100124 China Department of Computer Science and Engineering University at Buffalo State University of New York Buffalo NY 14260 United States

ISBN: (纸本)9783642340611

Functional module identification in a Protein-Protein Interaction (PPI) network is one of the most important and challenging tasks in computational biology. For detecting functional modules, it is difficult to solve the problem directly and always results in a low accuracy and a large discard rate. In this paper, we present a novel algorithm of ant colony optimization with multi-agent evolution for detecting functional modules. The proposed ACO-MAE algorithm enhances the performance of ant colony optimization (ACO) by incorporating multi-agent evolution (MAE). First, the ant colony optimization for solving Traveling Salesman Problems (TSP) is conducted to construct primary clustering results. Then, the multi-agent evolutionary process is performed to move out of local optima. From simulation results, it is shown that the proposed ACO-MAE algorithm has superior performance when compared to other existing algorithms. © 2012 Springer-Verlag.

关键词： Ant colony optimization

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Convex and scalable weakly labeled SVMs

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2013年第1期14卷

作者： Kevin Murphy Bernhard Schölkopf Yu-Feng Li Ivor W. Tsang James T. Kwok Zhi-Hua Zhou Google MPI for Intelligent Systems National Key Laboratory for Novel Software Technology Nanjing University Nanjing China School of Computer Engineering Nanyang Technological University Singapore Department of Computer Science and Engineering Hong Kong University of Science & Technology Hong Kong

In this paper, we study the problem of learning from weakly labeled data, where labels of the training examples are incomplete. This includes, for example, (i) semi-supervised learning where labels are partially known; (ii) multi-instance learning where labels are implicitly known; and (iii) clustering where labels are completely unknown. Unlike supervised learning, learning with weak labels involves a difficult Mixed-Integer Programming (MIP) problem. Therefore, it can suffer from poor scalability and may also get stuck in local minimum. In this paper, we focus on SVMs and propose the WELLSVM via a novel label generation strategy. This leads to a convex relaxation of the original MIP, which is at least as tight as existing convex Semi-Definite Programming (SDP) relaxations. Moreover, the WELLSVM can be solved via a sequence of SVM subproblems that are much more scalable than previous convex SDP relaxations. Experiments on three weakly labeled learning tasks, namely, (i) semi-supervised learning; (ii) multi-instance learning for locating regions of interest in content-based information retrieval; and (iii) clustering, clearly demonstrate improved performance, and WELLSVM is also readily applicable on large data sets.

关键词： clustering convex relaxation cutting plane multi-instance learning semi-supervised learning weakly labeled data

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