检索结果-内蒙古大学图书馆

arXiv 2021年

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Ministry of Education Beijing100081 China School of Electronic and Information Engineering Tongji University Shanghai200082 China

This paper develops distributed synchronous and asynchronous algorithms for the large-scale semi-definite programming with diagonal constraints, which has wide applications in combination optimization, image processing and community detection. The information of the semi-definite programming is allocated to multiple interconnected agents such that each agent aims to find a solution by communicating to its neighbors. Based on low-rank property of solutions and the Burer-Monteiro factorization, we transform the original problem into a distributed optimization problem over unit spheres to reduce variable dimensions and ensure positive semi-definiteness without involving semi-definite projections, which are computationally expensive. For the distributed optimization problem, we propose distributed synchronous and asynchronous algorithms, both of which reduce computational burden and storage space compared with existing centralized algorithms. Specifically, the distributed synchronous algorithm almost surely escapes strict saddle points and converges to the set of optimal solutions to the optimization problem. In addition, the proposed distributed asynchronous algorithm allows communication delays and converges to the set of critical points to the optimization problem under mild conditions. By applying proposed algorithms to image segmentation applications, we illustrate the efficiency and convergence performance of the two proposed algorithms. © 2021, CC BY.

关键词： Optimization

来源：评论

学校读者我要写书评

暂无评论

Distributed stochastic gradient tracking algorithm with variance reduction for non-convex optimization

arXiv

引用

arXiv 2021年

This paper proposes a distributed stochastic algorithm with variance reduction for general smooth non-convex finite-sum optimization, which has wide applications in signal processing and machine learning communities. In distributed setting, large number of samples are allocated to multiple agents in the network. Each agent computes local stochastic gradient and communicates with its neighbors to seek for the global optimum. In this paper, we develop a modified variance reduction technique to deal with the variance introduced by stochastic gradients. Combining gradient tracking and variance reduction techniques, this paper proposes a distributed stochastic algorithm, GT-VR, to solve large-scale non-convex finite-sum optimization over multi-agent networks. A complete and rigorous proof shows that the GT-VR algorithm converges to first-order stationary points with O(k1) convergence rate. In addition, we provide the complexity analysis of the proposed algorithm. Compared with some existing first-order methods, the proposed algorithm has a lower O(PMΕ−1) gradient complexity under some mild condition. By comparing state-of-the-art algorithms and GT-VR in experimental simulations, we verify the efficiency of the proposed algorithm. © 2021, CC BY.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Distributed proximal gradient algorithm for non-smooth non-convex optimization over time-varying networks

arXiv

引用

arXiv 2021年

This note studies the distributed non-convex optimization problem with non-smooth regularization, which has wide applications in decentralized learning, estimation and control. The objective function is the sum of different local objective functions, which consist of differentiable (possibly non-convex) cost functions and non-smooth convex functions. This paper presents a distributed proximal gradient algorithm for the non-smooth non-convex optimization problem over time-varying multi-agent networks. Each agent updates local variable estimate by the multi-step consensus operator and the proximal operator. We prove that the generated local variables achieve consensus and converge to the set of critical points with convergence rate O(1/T). Finally, we verify the efficacy of proposed algorithm by numerical simulations. © 2021, CC BY.

关键词： Time varying networks

来源：评论

学校读者我要写书评

暂无评论

Discrete Communication and control Updating in Event-Triggered Consensus

arXiv

引用

arXiv 2022年

作者： Cheng, Bin Lv, Yuezu Li, Zhongkui Duan, Zhisheng Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai200120 China Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314000 China State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the controller implementation without requiring any global information of the whole network topology. Noting that the existing related results only meeting one or two demands at most are essentially not applicable, in this paper we establish a novel framework to solve the problem of fully distributed consensus with discrete communication and control. The first key point in this framework is the design of controllers that are only updated at discrete event instants and do not depend on global information by introducing time-varying gains inspired by the adaptive control technique. Another key point is the invention of novel dynamic triggering functions that are independent of relative information among neighboring agents. Under the established framework, we propose fully distributed state-feedback event-triggered protocols for undirected graphs and also further study the more complexed cases of output-feedback control and directed graphs. Finally, numerical examples are provided to verify the effectiveness of the proposed event-triggered protocols. Copyright © 2022, The Authors. All rights reserved.

关键词： Directed graphs

来源：评论

学校读者我要写书评

暂无评论

Multi-scale Protein complex Discovery based on Graph Wavelet

Multi-scale Protein Complex Discovery based on Graph Wavelet

引用

第三十九届中国控制会议

作者： Wang Yue Ran Xu Peng Xiao-yu Yi Ming Zhu Yuan School of Science Huazhong Agricultural University School of Mathematics and Statistics Huazhong University of Science and Technology School of Mechanical Engineering Wuhan Institute of Shipbuilding Technology School of Mathematics and Physics China University of Geosciences School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Identifying protein complexes from protein interaction networks is an important task in the post-genomic era. With the development of high-throughput sequencing technology, the acquisition of protein interaction network data is becoming more and more convenient. The current protein complex recognition algorithms cannot well balance the hierarchical and overlapping properties of protein networks. In order to overcome these limitations, this paper proposes a Graph Wavelet based Protein complex Discovery algorithm, GW-PCD. The method exploits the clustering analysis of protein interaction networks to find a modular mechanism by characterizing the distance between graph wavelet coefficients of protein pairs. Comparative experimental results show that GW-PCD enhances the performance of identifying protein complexes, which will provide valuable clues for further exploration of the unknown functions of proteins at the multiscale perspective.

关键词： Graph wavelet Protein-protein interaction network Multiresolution analysis Protein complex Community discovery

来源：评论

学校读者我要写书评

暂无评论

Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms

引用

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1045-1063页

作者： Chaoyue Zu Chao Yang Jian Wang Wenbin Gao Dongpu Cao Fei-Yue Wang the College of Computer Science and Technology Jilin UniversityChangchun 130012China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou 221004China the College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of EducationJilin UniversityChangchun 130012 Chongqing Xibu Automobile Proving Ground Management Co.Ltd. Chongqing 404100China the State Grid JIBEI Electric Power Company Limited Management Training Center China the Advanced Vehicle Engineering Center Cranfield UniversityCranfield MK430ALUK the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance(MVCA)algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently,without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore,MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay(< 100100 ms) and low packet loss(< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2 V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.

关键词： Collision avoidance intelligent vehicles intervehicle communication simulation testing trajectory planning

来源：评论

学校读者我要写书评

暂无评论

A Feedback-based Print Quality Improving Strategy for FDM 3D Printing: An Optimal Design Approach

Research Square

引用

Research Square 2021年

作者： Tami, Tariku Sinshaw Xiong, Gang Fang, Qihang Dong, Xisong Shen, Zhen Wang, Fei-Yue The State Key Laboratory for Management and Control of Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China

Fused deposition modelling (FDM) 3D printing, as a supporting technology in social manufacturing and cloud manufacturing, is a rapidly growing technology in the era of industry 4.0. It produces objects with the layer-by-layer material accumulation technique. However, qualitative uncertainties are the common challenges yet. In order to assure print quality, studying the error causing parameters and minimizing their effects is important. This paper presents a feedback-based error compensation strategy, which integrates fuzzy inference system and grey wolf optimization algorithm. The objectives are twofold. First, the possible errors in FDM 3D printing are discussed in detail and optimal error causing parameters are obtained in percentage. This is used to understand the effects of the printing errors in every phase of the 3D printing process. From the nine optimization configuration trials used, Config-6 that has 100 number of iterations and 60 wolves is selected due to its higher convergence speed and best fitness value. The integral absolute error (IAE) is used as an objective function and the global minimum is achieved in the iteration interval [86, 100]. The outputs of this optimization problem is used to achieve the next objective. Second, a closed-loop quality monitoring approach comprising of inner-loops and an outer-loop is utilized. The three inner-loops are used to monitor the errors during pre-printing, printing, and post-printing, respectively. The outer-loop, on the other hand, is responsible for monitoring the aggregated errors in all the three 3D printing phases. The error compensation system simulation in Matlab is run for 10 seconds, and the results show that the "normal" range deformation factors are reached within less than 2 seconds for the inner-loops, whereas the outer-loop deformation factor is achieved within 7 seconds. The responses are within the acceptable time range. © 2021, CC BY.

关键词： 3D printers

来源：评论

学校读者我要写书评

暂无评论

A grasping CNN with image segmentation for mobile manipulating robot

A grasping CNN with image segmentation for mobile manipulati...

引用

2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Yu, Yingying Cao, Zhiqiang Liang, Shuang Liu, Zhicheng Yu, Junzhi Chen, Xuechao Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Intelligent Robotics Institute BIT Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9781728163215

This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot. © 2019 IEEE.

关键词： Image segmentation

来源：评论

学校读者我要写书评

暂无评论

Development of GPU Enhanced AI Education Platforms for K-12 Schools

Development of GPU Enhanced AI Education Platforms for K-12 ...

引用

Chinese automation Congress (CAC)

作者： Xiaoyan Gong Yifan Wen Xiwei Liu Hongxia Zhao Sifeng Jing Qiang Li Kai Gao Jilong Luo The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Institute of Smart Education Systems Qingdao China The 21st Century International School Beijing China Beijing NO. 2 Middle School Beijing China Beijing University of Chemical Technology Beijing China

ISBN: (纸本)9781665426480

Recently, with continuous implementation of education reform, AI (Artificial Intelligence) has been included in K-12 (Kindergarten to 12th grade) curricula and AI education is in full swing in China. However, standard, cost-efficient AI education platforms for K-12 schools are still not available. So in this paper, based on Jetson Nano, we developed a GPU-enhanced AI teaching platform including AI learning computers for students to develop AI-related algorithms and applications, AI computer clusters for whole classes, and modular auto-driving cars to run and test algorithms and applications.

关键词： Computers automation Education Clustering algorithms Graphics processing units Automobiles Artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

A Collision-Free Person-Following Approach Based on Path Planning

A Collision-Free Person-Following Approach Based on Path Pla...

引用

IEEE International Conference on Mechatronics and automation

作者： Lei Pang Zhiqiang Cao Junzhi Yu Weimin Zhang Xuechao Chen State Key Laboratory of Management and Control for Complex Systems Institute of Automation School of Artificial Intelligence University of Chinese Academy of Sciences BIC-ESAT College of Engineering Peking University Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Person following is a crucial capability for mobile robots in tasks of human assistance and cooperation. In this paper, a person-following approach based on path planning is proposed for mobile robots, which takes person following and obstacle avoidance into account in a unified framework. The proposed approach is comprised of a sensing module and a planning module. The sensing module with a camera and a 3D LiDAR is employed to locate the target person and perceive obstacles. For the planning module, the combination of global planner and local planner effectively outputs collision-free paths and control commands for a mobile robot to keep following the target person. Experiments were conducted to evaluate the performance of the proposed approach.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：