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Learning algorithm and application of quantum BP neural networks based on universal quantum gates

Journal of Systems engineering and Electronics 2008年第1期19卷 167-174页

作者： Li Panchi Li Shiyong Dept. of Control Science and Engineering Harbin Inst. of Technology Harbin 150001 P. R. China Dept. of Computer Science and Engineering Daqing Petroleum Inst. Daqing 163318 P. R. China

A quantum BP neural networks model with learning algorithm is proposed. First, based on the universality of single qubit rotation gate and two-qubit controlled-NOT gate, a quantum neuron model is constructed, which is composed of input, phase rotation, aggregation, reversal rotation and output. In this model, the input is described by qubits, and the output is given by the probability of the state in which （1） is observed. The phase rotation and the reversal rotation are performed by the universal quantum gates. Secondly, the quantum BP neural networks model is constructed, in which the output layer and the hide layer are quantum neurons. With the application of the gradient descent algorithm, a learning algorithm of the model is proposed, and the continuity of the model is proved. It is shown that this model and algorithm are superior to the conventional BP networks in three aspects： convergence speed, convergence rate and robustness, by two application examples of pattern recognition and function approximation.

关键词： quantum computing universal quantum gate quantum neuron quantum neural networks

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Grover quantum searching algorithm based on weighted targets

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Journal of Systems engineering and Electronics 2008年第2期19卷 363-369页

The current Grover quantum searching algorithm cannot identify the difference in importance of the search targets when it is applied to an unsorted quantum database, and the probability for each search target is equal. To solve this problem, a Grover searching algorithm based on weighted targets is proposed. First, each target is endowed a weight coefficient according to its importance. Applying these different weight coefficients, the targets are represented as quantum superposition states. Second, the novel Grover searching algorithm based on the quantum superposition of the weighted targets is constructed. Using this algorithm, the probability of getting each target can be approximated to the corresponding weight coefficient, which shows the flexibility of this algorithm. Finally, the validity of the algorithm is proved by a simple searching example.

关键词： Grover algorithm targets weighting quantum searching quantum computing.

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Object shape description using Haar-Wavelet functions

Object shape description using Haar-Wavelet functions

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2008 3rd International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Nabout, Adnan Abou Tibken, Bernd Dept. of Automatic Control Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

ISBN: (纸本)1424417511

Similar to the shape description using Mexican Hat Wavelet functions we present in this paper the derivation of object descriptors using Haar Wavelets. The derivation is based on the continuous wavelet transformation of an angle function using the Haar function as mother wavelet. The angle function which represents a given object shape is derived from the extracted contour polygon by computing the angle differences between the angles at every position on the contour and the angle at the starting point. This angle function is periodical but with 2 offset and can be normalized in order to be independent of the object's size, it's position and orientation. The angle function depends only on the starting point on the given contour. Moreover, the used angle function doesn't include any singularity which might arise due to object rotations. The derived Wavelet descriptors were used in an agricultural application to recognize weed species. The paper presents in this context some derived results as well as possible solution for the problem of starting point.

关键词： Object recognition

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Contourlet Based Interest Points Detector

Contourlet Based Interest Points Detector

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20th IEEE International Conference on Tools with Artificial Intelligence

作者： Saydam, Samer R. El rube', Ibrahim A. Shoukry, Amin A. CS Department Computing and Information Technology College AASTMT Egypt EC Eng. Dept. College of Engineering and Technology AASTMT Egypt Computer Science and Automatic Control Department Faculty of Engineering Alexandria University Egypt

ISBN: (纸本)9780769534404

This paper proposes a robust algorithm for detecting interest points based on the NonsubSampled Contourlet Transform (NSCT). The NSCT provides multiscale decomposition with directional filters at each scale. Furthermore, NSCT is very efficient in extracting the geometric information of images and therefore it has very good feature localization. The NSCT-based point detector is compared to the widely used Harris and Difference of Gaussian (DoG) interest point detectors. The experimental results reveal the robustness of the proposed algorithm to rotation, scale and viewpoint changes.

关键词： Interest point detection corner detector local features nonsubsampled contourlet transform (NSCT)

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Towards a new generation of intelligent manufacturing systems

Towards a new generation of intelligent manufacturing system...

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2008 4th International IEEE Conference Intelligent Systems, IS 2008

作者： Dumitrache, Loan Caramihai, Simona I. Politehnica University of Bucharest Dept. of Automatic Control and Computer Science 313 Sp1aiu1 Independentei Bucharest Romania

ISBN: (纸本)9781424417391

The paper intends to present a modeling philosophy, that allows a global view of a generic manufacturing enterprise behavior, combining managerial and control approaches. The main objective of the assessment is to design a System Architecture for Manufacturing that will be able to develop an intelligent comportment displaying characteristics like environment adaptability, problem solving and learning from experience. The foundations of this approach are mainly knowledge management and control engineering techniques, as well as agent-based architectures. © 2008 IEEE.

关键词： Knowledge management

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The servomechanism problem for SISO positive LTI systems

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2008年 371卷 181-193页

作者： Roszak, Bartek Davison, Edward Systems Control Group Dept. of Electrical and Computer Engineering University of Toronto Toronto Ont. M5S 1A4 Canada

ISBN: (纸本)9781848001541

In this paper, we study the servomechanism problem for positive LTI systems. In particular, we consider the robust servomechanism problem of nonnegative constant reference signals for stable SISO positive LTI systems with constant disturbances, for the case when the plant model of the system is not known. A positive LTI system is an LTI system with the imposed constraint that the state, output and/or input variables be nonnegative for all time. This type of constraint is quite natural to apply, since the property of nonnegativity occurs quite frequently in practical applications and in nature, e.g. in pharmacodynamic applications, infusion of vasoactive drugs, chemical systems. A special class of positive systems that is of significant importance and appears quite frequently in the literature is the class of compartmental systems;these systems are composed of a finite number of storage devices or reservoirs and model various gas, fluid, and solid exchange networks. Positive systems have been of great interest to numerous researchers over several decades. Interesting results obtained on positive systems span the topics of reachability and controllability, realization theory for positive systems, stability control, and control via pole-assignment. However, to date, there appears that no study has been carried out on the servomechanism problem for positive LTI systems;thus we focus our attention on this topic in the paper. Various applications of the results are applied to a number of positive system problems obtained from the literature. © 2008 Springer London.

关键词： Linear systems

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Fuzzy logic control of a wheelchair on two wheels

Fuzzy logic control of a wheelchair on two wheels

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27th IASTED International Conference on Modelling, Identification, and control

作者： Ahmad, Salmiah Tokhi, M.O. Dept. of Automatic Control and Systems Engineering University of Sheffield Mappin Street S1 3JD United Kingdom

ISBN: (纸本)9780889867116

Wheelchair on two wheels is an interesting and challenging control problem. The challenge is in the design and implementation of suitable control strategies for a two wheeled wheelchair to perform comparably similar to normal four wheeled wheelchair. A wheelchair on two wheels is expected not to take much space during mobility as compared to when it is on four wheels. Moreover, disabled people are encouraged and expected to do most things that others can do and hence lead an independent life. Thus, wheelchairs on two wheels are needed for disabled persons to perform some of the essential tasks in their living and work environments. In this research a model of the standard wheelchair is developed as a test and verification platform using Visual Nastran software. Novel fuzzy logic control strategies are designed for lifting up the chair and maintaining stability and balance while on two wheels. Simulation results of the proposed control strategy are presented and discussed.

关键词： Wheelchairs

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Optimal guaranteed cost control for fuzzy descriptor systems with time-varying delay

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Journal of Systems engineering and Electronics 2008年第3期19卷 584-591页

作者： Tian Weihua1,2 & Zhang Huaguang3 1. School of Information Science and engineering, Northeastern Univ., Shenyang 110004, P. R. China 2. dept. of automatic control, Shenyang Inst. of engineering, Shenyang 110136, P. R. China 3. School of Information Science and engineering, Northeastern Univ., Shenyang 110004, P. R. China. (Received December 27, 2006) [a]School of Information Science and Engineering Northeastern Univ. Shenyang 110004 P. R. China [b]Dept. of Automatic Control Shenyang Inst. of Engineering Shenyang 110136 P. R. China [c]School of Information Science and Engineering Northeastern Univ. Shenyang 110004 P. R. China

Based on the delay-independent rule, the problem of optimal guaranteed cost control for a class of Takagi-Sugeno （T-S） fuzzy descriptor systems with time-varying delay is studied. A linear quadratic cost function is considered as the performance index of the closed-loop system. Sufficient conditions for the existence of guaranteed cost controllers via state feedback are given in terms of linear matrix inequalities （LMIs）, and the design of an optimal guaranteed cost controller can be reduced to a convex optimization problem. It is shown that the designed controller not only guarantees the asymptotic stability of the closed-loop fuzzy descriptor delay system, but also provides an optimized upper bound of the guaranteed cost. At last, a numerical example is given to illustrate the effectiveness of the proposed method and the perfect performance of the optimal guaranteed cost controller.

关键词： fuzzy descriptor systems optimal guaranteed cost control time-varying delay linear matrix inequalities （LMIs）.

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An efficient distributed navigation algorithm for mobile robot

An efficient distributed navigation algorithm for mobile rob...

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7th International Symposium on Instrumentation and control Technology: Measurement Theory and Systems and Aeronautical Equipment

作者： Yang, Xiuping Liu, Songyan Liu, Zhen School of Electronic Engineering Heilongjiang University 150080 Harbin China Dept. of Automatic Test and Control Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9780819473622

An efficient distributed algorithm for mobile nodes of wireless sensor network (WSN) is proposed. A smart mobile robot is designed as the special node of WSN, and the nodes of WSN are deployed in the environment as signposts for the robot to follow. We use the RSSI value between the robot and other static nodes as the input of the navigation control system. The mobile robot state and navigation space are denoted by the RSSI potential field. Navigation directions are computed by using fuzzy logic method. To reduce the communication expense, each node within one hop communication range of robot is a distributed navigation unites. Then the fuzzy logic control centre will collect the control outputs from every beacon nodes and calculate the final outputs for mobile robot based on data fusion. The experimental results confirm that the navigation system based on WSN successfully achieved their assigned tasks.

关键词： Mobile robots

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An optimal control method for biped robot with stable walking gait

An optimal control method for biped robot with stable walkin...

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2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

作者： Phuong, Nguyen Thanh Kim, Dae Won Kim, Hak Kyeong Kim, Sang Bong Automatic Control Dept. Ky Thaut Cong Nghe University Vietnam Viet Nam School of Mechanical Engineering Pukyong National University Korea Republic of

ISBN: (纸本)9781424428229

This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the D'Alembert's principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method. © 2008 IEEE.

关键词： Inverted pendulum

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