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IEEE International Conference on automation Science and engineering (CASE)

作者： Xiaoguang Han Zengqiang Chen Jiemei Zhao College of Electronic Information and Automation Tianjin University of Science and Technology Tianjin China College of Computer and Control Engineering Nankai University Tianjin China College of Mathematics and Computer Science Wuhan Polytechnic University Wuhan China

In this paper, we investigate the problem of detectability of nondeterministic discrete event systems (DESs) with partial event observation and partial state observation (partially-observed DESs for short). Concretely, it include several aspects below. First, we assume that we do not know initially which state the system is in. To discuss detectability property of partially-observed DESs (i.e., how to determine the current and subsequent states of a partially-observed DES after a finite number of observations), we introduce two key notions, namely, unobservable reach and detector for a partially-observed DES. Second, the dynamics of a detector, under the frameworks of the Boolean semi-tensor product (STP) of matrices, are converted into an algebraic representation. Using it, necessary and sufficient conditions are presented to verify whether a partially-observed DES is detectable or not. Compared with the existing approaches, the proposed approach is easier and more direct since it involve only straightforward matrix manipulations. Finally, we illustrate the application of the proposed approach to the verification of detectability property of partially-observed DESs by means of two examples.

关键词： State estimation Automata Discrete-event systems Detectors Electronic mail Matrices automation

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Parafoil Trajectory Tracking control Based on Interval Type-2 Fuzzy Active Disturbance Rejection control 35

Parafoil Trajectory Tracking Control Based on Interval Type-...

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第35届中国控制会议

作者： Li Yongxin ZOU Kuansheng ZHANG Yunxi College of Computer and Control Engineering Nankai University School of Electrical Engineering and Automation Jiangsu Normal University School of Automation and Electrical Engineering Tianjin University of Technology and Education

ISBN: (纸本)9781509009107

It was a key technology in a disaster or an emergency situation,that the rescue material was air-dropped to a set point exactly with parafoil,the trajectory tracking is the primary issue of the air-dropped *** this background,a parafoil trajectory tracking control method was proposed by using the fuzzy Active Disturbance Rejection control(ADRC) based on the interval type-2 fuzzy logic,which was according to the parafoil dynamical model with six degrees-of-freedom and combined with the cross track *** inputs of the fuzzy ADRC controller were the cross track error and the variation of the *** outputs were the control parameters of the ADRC *** control parameters of the ADRC can be adaptively selected based on our presented method;it greatly reduced the complexity of the control parameters *** experiments verified that the tracking performance of the proposed method is better than that of the ADRC.

关键词： Active Disturbance Rejection control Trajectory Tracking Interval Type-2 Fuzzy Logic

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Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

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Fostering cooperation of selfish agents through public goods in relation to the loners

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Physical Review E 2016年第3期93卷 032320-032320页

作者： Jianlei Zhang Zengqiang Chen Zhongxin Liu Department of Automation College of Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China and Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China

Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public goods game model in which the benefits of cooperation are either discounted or synergistically enhanced at the appearance of multiple cooperators in a group. Moreover, we focus on the three-strategies profile by adding the role of loners, besides the often-used cooperation and defection. Using the replicator dynamic equations, we investigate a range of dynamical portraits that characterizes the properties of the steady state. Analysis results indicate that loners and cooperators both have chances to be the stable equilibrium points in the presence of perturbations, while defectors fail to do so in this three-strategy competition. Moreover, the coexistence state, in which all three strategies exist in equilibrium, can be led by suitable parameters and stabilized for perturbations. These results elucidate the interplay between the characteristics of the public goods game and evolutionary dynamics in well-mixed systems.

关键词： Social system dynamics Social networks Game theory models

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Parafoil Air-dropped control with Fixed Set-point Based on Interval Type ⅡFuzzy Logic

Parafoil Air-dropped Control with Fixed Set-point Based on I...

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第28届中国控制与决策会议

作者： Yongxin Li Kuansheng Zou Yunxi Zhang College of Computer and Control Engineering Nankai University School of Electrical Engineering and Automation Jiangsu Normal University School of Automation and Electrical Engineering Tianjin University of Technology and Education

ISBN: (纸本)9781467397155

Nowadays,the rescue material was air-dropped to a set point exactly with parafoil was a key technology in a disaster or an emergency *** this background,a control method was proposed based on the interval type Ⅱfuzzy logic,which was according to the parafoil dynamical model with six degrees-of-freedom and combined with the cross track error,also,a new parameter was defined which was used to measure the control *** proposed method in this research was used to control the parafoil that air dropped to a fixed set-point.A certain point in the parallel plane was set as the air-dropped target of the *** inputs ofthe fuzzy controller were the cross track error and the variation of the *** outputs were the synchronous control of the left and right motors of the *** experiment results verified that the parafoil can be exactly controlled to reach the fixed set point from the different original position with different projection angles.

关键词： Interval Type Ⅱ Fuzzy Logic control with Fixed Set-point Parafoil

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Fixation of competing strategies when interacting agents differ in the time scale of strategy updating

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Physical Review E 2016年第3期94卷 032407-032407页

作者： Jianlei Zhang Franz J. Weissing Ming Cao Department of Automation College of Computer and Control Engineering Nankai University People's Republic of China Theoretical Biology Group Centre for Ecological and Evolutionary Studies University of Groningen The Netherlands Network Analysis and Control Group Institute for Industrial Engineering University of Groningen The Netherlands

A commonly used assumption in evolutionary game theory is that natural selection acts on individuals in the same time scale; e.g., players use the same frequency to update their strategies. Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. In this study, we remove this restricting assumption by dividing the population into fast and slow groups according to the players' strategy updating frequencies and investigate how different strategy compositions of one group influence the evolutionary outcome of the other's fixation probabilities of strategies within its own group. Analytical analysis and numerical calculations are performed to study the evolutionary dynamics of strategies in typical classes of two-player games (prisoner's dilemma game, snowdrift game, and stag-hunt game). The introduction of the heterogeneity in strategy-update time scales leads to substantial changes in the evolution dynamics of strategies. We provide an approximation formula for the fixation probability of mutant types in finite populations and study the outcome of strategy evolution under the weak selection. We find that although heterogeneity in time scales makes the collective evolutionary dynamics more complicated, the possible long-run evolutionary outcome can be effectively predicted under technical assumptions when knowing the population composition and payoff parameters.

关键词： Complex systems Evolutionary dynamics Social systems Social networks

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Parafoil trajectory tracking control based on interval type-2 fuzzy active disturbance rejection control

Parafoil trajectory tracking control based on interval type-...

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Chinese control Conference (CCC)

作者： Yongxin Li Kuansheng Zou Yunxi Zhang College of Computer and Control Engineering Nankai University Tianjin Tianjin CN School of Electrical Engineering and Automation Jiangsu Normal University Xuzhou China School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Tianjin CN

It was a key technology in a disaster or an emergency situation, that the rescue material was air-dropped to a set point exactly with parafoil, the trajectory tracking is the primary issue of the air-dropped control. With this background, a parafoil trajectory tracking control method was proposed by using the fuzzy Active Disturbance Rejection control (ADRC) based on the interval type-2 fuzzy logic, which was according to the parafoil dynamical model with six degrees-of-freedom and combined with the cross track error. The inputs of the fuzzy ADRC controller were the cross track error and the variation of the error. The outputs were the control parameters of the ADRC system. The control parameters of the ADRC can be adaptively selected based on our presented method: it greatly reduced the complexity of the control parameters adjusting. Several experiments verified that the tracking performance of the proposed method is better than that of the ADRC.

关键词： Decision support systems

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Modeling and Reachability Analysis of A Class of Petri Nets via Semi-tensor Product of Matrices 34

Modeling and Reachability Analysis of A Class of Petri Nets ...

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第三十四届中国控制会议

作者： HAN Xiaoguang CHEN Zengqiang ZHANG Kuize LIU Zhongxin ZHANG Qing College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China College of Automation Harbin Engineering University

ISBN: (纸本)9781467374439

This paper investigates the matrix expression of state equation and reachability of a class of Petri nets(PNs) by using the semi-tensor product of matrices(STP). First, we get the formula for the number of states of the PNs based on the combinatorial mathematics method. The states and transitions of the PNs are expressed as vector forms, respectively, then the state equation of the PNs is established by using STP. Second, the transition-state adjacency matrix(TSAM) of the PNs is proposed, several necessary and sufficient conditions are obtained for the reachability of the PNs by using this state equation and TSAM. An algorithm is also designed to find all the firing sequences of any two reachable states. Finally, an example is presented to illustrate the theoretical results in this paper and shows that the new results are very effective in investigating the reachability of the PNs.

关键词： Petri nets,Semi-tensor product,Reachability,Transition-state transfer matrix,Transition-state adjacency matrix

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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