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第二届中国互联网学术年会

作者： Yuzhong Chen Xiaohui Qiu Fujian Provincial Key Laboratory of Networking Computing and Intelligent Information Processing Fuzhou 350108 China

Community Detection in social networks is usually considered as an objective optimization *** to the objective function,the global optimum cannot describe the real partition well,and it is time *** this paper,a layered optimization framework is designed to improve the optimization process,reduce the scale of network and increase the quality of *** framework consists of three parts: finding cores in networks,repairing isolated nodes and optimization in a new constructed weighted network which is a compressed network of the origin ***,the equivalency of modularity optimization in the new compressed weighted network and the original one is ***,a combined algorithm of community Detection named DBPSO including similarity-based clustering,isolated nodes repairing strategies and a modified particle swarm optimization is proposed according to the layered optimization *** addition,a suitable mutation strategy for particle swarm optimization (PSO) is introduced to guarantee the convergence and global search ***,the experiments are conducted to evaluate the proposed algorithm by using the synthetic and real-world network *** results show that the proposed algorithm can effectively extract the intrinsic community structure of social networks.

关键词： Layered Optimization Framework Community Detection Particle Swarm Optimization Modularity

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Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

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自动化学报 2013年第6期39卷 759-769页

作者： LIANG Xin-Wu HUANG Xin-Han WANG Min 1. Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Pro- cessing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被... 详细信息

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被列在后面，我们能利用基于图象的视觉 servoing 的本地集中和稳定性避免这些问题。因此，路径在图象空间计划是在最近的年里的机器人学的一个活跃研究话题。然而，几乎所有为 camera-in-hand 配置的盒子相关结果被建立。在这篇论文，我们建议 uncalibrated 为改正照相机配置的盒子的视觉路径计划算法。这个算法在射影的空格直接计算图象特征的轨道以便他们与僵硬天体运动兼容。由把旋转和翻译的射影的代表分解成他们的各自的正规形式，我们能容易插入内推他们在射影的空间的路径。然后，在图象飞机的图象特征的轨道能经由射影的路径被产生。这样，特征点的知识组织并且照相机内在的参数没被要求。验证建议算法的可行性和表演，基于 puma560 机器人，操纵者在这被给的模拟结果糊。

关键词：路径规划算法摄像机内参数图像空间配置稳定性问题图片校准视觉伺服

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Architecture-Based Integrated Management of Cloud Resources

Architecture-Based Integrated Management of Cloud Resources

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International Conference on Cloud Computing and Big Data (CloudCom-Asia)

作者： Xing Chen Ying Zhang Xiaodong Zhang Xianghan Zheng Wenzhong Guo Guolong Chen Fujian Provincial Key Laboratory of Networking Computing and Intelligent Information Processing Key Laboratory of High Confidence Software Technologies (Ministry of Education)

Cloud management faces with great challenges, due to the diversity of Cloud resources and ever-changing management requirements. For constructing a management system to satisfy a specific management requirement, a redevelopment solution based on existing management system is usually more practicable than developing the system from scratch. However, the difficulty and workload of redevelopment are also very high. As the architecture-based runtime model is causally connected with the corresponding running system automatically, constructing an integrated Cloud management system based on the architecture-based runtime models of Cloud resources can benefit from the model-specific natures, and thus reduce the development workload. Therefore, in this paper, we present an architecture-based approach to managing diverse Cloud resources. First of all, the manageability (such as APIs, configuration files and scripts) of Cloud resources are abstracted as runtime models, which can automatically and immediately propagate any observable runtime changes of the target resources to the corresponding architecture models, and vice versa. Then, a customized model is constructed according to the specific Cloud management requirement. Finally, the operations on the customized model are mapped to the ones on Cloud resource runtime models through model transformation. Thus, all the management tasks can be carried out through executing operations on the customized model. The experiment on a real-world cloud demonstrates the feasibility, effectiveness and benefits of the new approach to integrated management of Cloud resources.

关键词： Runtime Servers Virtual machining Software Computer architecture Complexity theory Synchronization

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Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

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Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

Image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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Distributed Leader-following Swarm of Heterogeneous Multi-agent Systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result.

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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Swarm Stability of Heterogeneous Multi-agent Systems via Periodically Intermittent control

Swarm Stability of Heterogeneous Multi-agent Systems via Per...

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第三十二届中国控制会议

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z. Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9789881563835

This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.

关键词： Multi-agent systems, Heterogeneous systems, Intermittent control, Swarm

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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Energy-Efficient Task Allocation for VFI-Based Real-Time Multi-core Systems

Energy-Efficient Task Allocation for VFI-Based Real-Time Mul...

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International Conference on information Science and Cloud Computing Companion (ISCC-C)

作者： Xiaodong Wu Yuzhu Zeng Jianjun Han College of Mathematics and Computer Science Quanzhou Normal University Key Laboratory of Intelligent Computing and Information Processing Fujian Province University Fujian China College of Computer Science and Technology Huazhong University of Science and Technology Wuhan Hubei China

Chip Multiprocessor (CMP) has become computing engine for a wide spectrum of applications due to its higher throughput and better energy efficiency. The problem of optimal task-to-core allocation with the minimum energy consumption has been proven to be NP-hard. In order to solve the energy-efficient real-time task mapping in the voltage frequency islands (VFI) based multicore system, we propose a heuristics EEGA (Energy-Efficient and Genetic Algorithm) to address the problem. During the iteration process of the algorithm, the energy consumption of the processor can be gradually optimized by the selection, crossover and mutation operators. Experimental results show that when compared with other energy-efficient mapping algorithms, our proposed approach can gain better performance with regard to the energy efficiency and schedulability ratio.

关键词： Biological cells Real-time systems Multicore processing Resource management Energy efficiency Frequency synchronization Sociology

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Small Universal Sequential Spiking Neural P Systems based on Minimum Spike Number

Small Universal Sequential Spiking Neural P Systems based on...

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The Second Asian Conference on Membrane Computing(ACMC2013)

作者： Keqin Jiang Yufang Huang Jinbang Xu Zhihua Chen Key Laboratory of Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology School of Computer and Information Anqing Normal University College of Mathematics Southwest Jiaotong University

Spiking neural P systems (SN P systems, for short) are a class of distributed parallel computing devices inspired from the way neurons communicate by means of spikes. Recently, a variant of SN P systems was considered: at each step the neuron with the minimum number of spikes among the neurons that can spike will fire. In previous literature, it was obtained that such systems can achieve Turing completeness when the computing result is realized through accumulation of spikes in the output neuron. In this work, we use a natural way to define the computing result of the systems, by means of determining the time interval between the first two spikes emitted by the output neuron. As devices of computing functions, we construct a universal sequential SN P system based on minimum spike number (without delay) by using 137 neurons;as generators of sets of numbers, a universal sequential SN P system based on minimum spike number (without delay) with 126 neurons is also obtained.

关键词： Membrane computing, Spiking neural P system, Sequentiality, Small universal system

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A unified optimization method for real-time trajectory generation of mobile robots with kinodynamic constraints in dynamic environment

A unified optimization method for real-time trajectory gener...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Wenhao Luo Jun Peng Weirong Liu Jing Wang Wentao Yu Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Controland Intelligent Automation Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly, both the constraints and performance functions are incorporated by similar forms in terms of trajectory parameters, which thereby can be considered in a uniform way. A parameter space of adjustable trajectory parameters is constructed to solve the unified optimization problem with constraints and results in more flexible and better optimal performance. The proposed approach is complete and enhances methods of deterministic real-time planning by overcoming typical drawbacks as intermediate configuration, curvature discontinuities, vertical singularities and incomplete optimization. Simulation results verify the validity and superiority of the proposed method.

关键词： Trajectory Robot kinematics Collision avoidance Mobile robots Acceleration Optimization

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