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Chinese Physics B 2013年第9期22卷 656-661页

作者：王志岗赵增顺张长水 Department of Automation Tsinghua UniversityState Key Laboratory of Intelligent Technologie and SystemsTsinghua National Laboratory for Information Science and Technology College of Information and Electrical Engineering Shandong University of Science and Technology School of Control Science and Engineering Shandong University

The multiple instance regression problem has become a hot research topic recently. There are several approaches to the multiple instance regression problem, such as Salience, Citation KNN, and MI-ClusterRegress. All of these solutions work in batch mode during the training step. However, in practice, examples usually arrive in sequence. Therefore, the training step cannot be accomplished once. In this paper, an online multiple instance regression method ＂OnlineMIR＂ is proposed. OnlineMIR can not only predict the label of a new bag, but also update the current regression model with the latest arrived bag. The experimental results show that OnlineMIR achieves good performances on both synthetic and real data sets.

关键词： mutiple instance regression online learning

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Defect Evaluation Using the Phase Information of an EC-GMR Sensor

Defect Evaluation Using the Phase Information of an EC-GMR S...

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International Instrumentation and Measurement Technology Conference

作者： Peng Gao Chao Wang Yang Li Fanwei Li Yong Yan Yonghui hu School of Electrical Engineering and Automation Tianjin University Tianjin 300072 P.R. China Instrumentation Control and Embedded Systems Group School of Engineering and Digital Arts University of Kent Canterbury Kent CT2 7NT UK School of Control and Computer Engineering North China Electric Power University Beijing 102206 China

ISBN: (纸本)9781467363846

Phase information is employed to enhance evaluating defects in the metals by eddy current testing using the conventional probes. But for an EC-GMR sensor, the output phase is not used. In this paper, GMR-based eddy current defect detection is studied, in which the phase of the GMR sensor output is taken into account. Based on Biot-Savart law, amplitude and phase for the EC-GMR sensor's output are studied. This paper shows that defect can be better located through the phase analysis of the GMR sensor's output.

关键词： Defect detection Eddy current testing (ECT) Giant magnetoresistance (GMR) Angle information

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Unmanned Aerial Vehicles (UAV) Heading Optimal Tracking control Using Online Kernel-based HDP Algorithm

Unmanned Aerial Vehicles (UAV) Heading Optimal Tracking Cont...

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International Joint Conference on Neural Networks

作者： Fuxiao Tan Derong Liu Xinping Guan Bin Luo School of Computer and Information Fuyang Teachers College State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University School of Computer Science and Technology Anhui University

ISBN: (纸本)9781479914821

UAV can work in places that are dangerous, or not easy to reach for humans. However, due to active control and operating difficulties, it is still a challenge to develop fully autonomous flight in complex environments. This paper applies a novel heuristic dynamic programming for the UAV heading optimal tracking controller design, using kernel-based heuristic dynamic programming (KHDP). Kernel-based HDP is developed by integrating kernel methods and approximately linear dependence (ALD) analysis with the critic learning of HDP algorithm. Compared with conventional HDP where neural networks are widely used and their features were manually designed, the proposed algorithm can obtain better generalization capability and learning efficiency through applying the sparse kernel machine into the critic learning process of HDP algorithm. Simulation and experimental results of UAV heading optimal tracking control problems demonstrate the effectiveness of the proposed kernel-based HDP algorithm.

关键词： Kernel Algorithm design and analysis Heuristic algorithms Equations Vectors Approximation algorithms Mathematical model

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Robust H∞ control of discrete-time descriptor systems

Robust H∞ control of discrete-time descriptor systems

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European control Conference (ECC)

作者： D. Coutinho C.E. de Souza K.A. Barbosa Department of Automation and Systems Universidade Federal de Santa Catarina Florianópolis SC Brazil Department of Systems and Control Laboratório Nacional de Computação Científica (LNCC/MCTI) Petrópolis RJ Brazil Department of Electrical Engineering Universidad de Santiago de Chile (USACH) Santiago Chile

ISBN: (纸本)9781479947287

This paper addresses the problem of robust H ∞ control design for uncertain polytopic-type linear discrete-time descriptor systems. First, a new version of the bounded real lemma which is tailored for control design is proposed. Then, applying the derived bounded real lemma, we have developed a method of designing a robust state feedback H ∞ controller based on an affine parameter-dependent Lyapunov function. The method does not require applying any coordinate transformation to the system state-space model and in the case of uncertainty-free systems the proposed design conditions turn out to be necessary and sufficient. The controller design involves solving strict bilinear matrix inequalities and to this end a convergent iterative procedure is proposed that involves iterating between two LMI problems, namely an H ∞ control synthesis and an H ∞ performance analysis. Numerical examples borrowed from the literature are presented to illustrate the effectiveness and fast convergence of the proposed iterative procedure.

关键词： control design Robustness State feedback Linear matrix inequalities Symmetric matrices Lyapunov methods Performance analysis

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Integrated object and path demonstration for industrial robots in adaptive handling applications

Integrated object and path demonstration for industrial robo...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： C. F. Wu S. K. Lin J. Lambrecht T. D. Nguyen A. Vick M. Kleinsorge J. Krüger Division of Intelligent System Engineering Industrial Technology Research Institute Mechanical and Systems Research Laboratory Hsinchu Taiwan National Chiao Tung University Institute of Electrical Control Engineering Hsinchu Department Industrial Automation Technology Technische Universität Berlin Insitute for Machine Tools and Factory Management Berlin Germany

We propose an approach for integrated object and path demonstration. The main idea is to choose the motion of the robot depending on the object it grabs. When programming, an object is fixed at the robot's gripper. Path programming is done using haptic guidance. Afterwards, if a robot is handed over an object it knows before, it reproduces the path assigned to the object. Path programming and object recognition can be done with a single force/torque sensor. In our opinion, this way of programming is especially suited for creating pick and place tasks in frequently changing production environments where (re-)programming has to be done frequently.

关键词： Robot sensing systems Programming Service robots Force Grippers Training

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Event-Triggered Reinforcement Learning Approach for Unknown Nonlinear Continuous-Time System

Event-Triggered Reinforcement Learning Approach for Unknown ...

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International Joint Conference on Neural Networks

作者： Xiangnan Zhong Zhen Ni Haibo He Xin Xu Dongbin Zhao Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston USA College of Mechatronics and Automation National University of Defense Technology Changsha China State Key Lab of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China

This paper provides an adaptive event-triggered method using adaptive dynamic programming (ADP) for the nonlinear continuous-time system. Comparing to the traditional method with fixed sampling period, the event-triggered method samples the state only when an event is triggered and therefore the computational cost is reduced. We demonstrate the theoretical analysis on the stability of the event-triggered method, and integrate it with the ADP approach. The system dynamics are assumed unknown. The corresponding ADP algorithm is given and the neural network techniques are applied to implement this method. The simulation results verify the theoretical analysis and justify the efficiency of the proposed event-triggered technique using the ADP approach.

关键词： Equations Neural networks Stability analysis Performance analysis Approximation algorithms Approximation methods Heuristic algorithms

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Containment control with multiple interacting leaders under switching topologies

Containment control with multiple interacting leaders under ...

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第三十二届中国控制会议

作者： Liu Huiyang Cheng Long Tan Min Hou Zengguang Cao Zhiqiang Wang Ming State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781479900305

In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders’ final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers’ positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.

关键词： containment control multi-agent systems directed network topology switching topology cooperative control

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Index modulated OFDM with ICI self-cancellation in underwater acoustic communications

Index modulated OFDM with ICI self-cancellation in underwate...

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Asilomar Conference on Signals, systems & Computers

作者： Miaowen Wen Yuke Li Xiang Cheng Liuqing Yang School of Electronic and Information Engineering South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

ISBN: (纸本)9781479982981

OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interference (ICI) caused by the transmitter/receiver motion and ocean waves. In this paper, we propose a novel ICI countermeasure. The key idea is to inactivate partial subcarriers according to index modulation and meanwhile transmit signals with opposite polarity on two adjacent active subcarriers for ICI self cancellation. Simulation results validate that the proposed scheme achieves much better bit error rate (BER) performance than many existing schemes in UWA communications.

关键词： OFDM Modulation Bit error rate Indexes Receivers Transmitters Sonar equipment

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