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arXiv 2019年

作者： Köpf, Florian Westermann, Johannes Flad, Michael Hohmann, Sören Institute of Control Systems Karlsruhe Institute of Technology Karlsruhe Germany Intelligent Sensor-Actuator-Systems Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

Model-free control based on the idea of Reinforcement Learning is a promising approach that has recently gained extensive attention. However, Reinforcement-Learning-based control methods solely focus on the regulation problem or learn to track a reference that is generated by a time-invariant exo-system. In the latter case, controllers are only able to track the time-invariant reference dynamics which they have been trained on and need to be re-trained each time the reference dynamics change. Consequently, these methods fail in a number of applications which obviously rely on a trajectory not being generated by an exo-system. One prominent example is autonomous driving. This paper provides for the first time an adaptive optimal control method capable to track reference trajectories not being generated by an exo-system. The main innovation is a novel Q-function that directly incorporates a given reference trajectory on a moving horizon. This new Q-function exhibits a particular structure which allows the design of an efficient, iterative, provably convergent Reinforcement Learning algorithm that enables optimal tracking. Two real-world examples demonstrate by simulation that our new method outperforms existing approaches in terms of tracking error. Copyright © 2019, The Authors. All rights reserved.

关键词： Reinforcement learning

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Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader

arXiv

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arXiv 2020年

作者： Fang, Xu Wang, Chen Xie, Lihua Chen, Jie School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Robotics Institute Carnegie Mellon University PittsburghPA15213 United States School of Electronics and Information Engineering Tongji University Shanghai200092 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

—This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method. Copyright © 2020, The Authors. All rights reserved.

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A Guide for Human Walking Model and control — Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control — Insights from...

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Chinese control and Decision Conference, CCDC

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing P.R. China Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Beijing P.R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P.R. China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a representative subject was selected. Secondly, one of the simplest human walking model was set up. The mechanical property analysis of human walking was done based on the established walking model via fitting. Thirdly, the feasibility and effectiveness of proposed walking model were validated by numerical simulations. Finally, the intrinsical relationships among human walking, biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Legged locomotion Numerical models Force Analytical models Numerical simulation

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An improved Knowledge Graph Model Based on Fuzzy Theory and TransR

An improved Knowledge Graph Model Based on Fuzzy Theory and ...

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IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC)

作者： Yingkai Cai Chu Wang Zhongfeng Wang Chunhe Song Yunfeng Zou State Grid Liaoning Marketing Service Center Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China State Grid Jiangsu Marketing Service Nanjing China

ISBN: (数字)9781728152448

ISBN: (纸本)9781728152455

Thispaper relates to the field of knowledge management and information retrieval technology, and specifically provides a method for constructing a knowledge graph. The method for constructing the knowledge graph includes: acquiring triple data, converting the triple data into a normalized triple vector, using the triple vector to construct a knowledge graph based on fuzzy relations, and The minimization objective optimization function of the triple vector is acquired, and the knowledge graph is optimized. This paper reduces the complexity of the knowledge map training process and the time required for the training process.

关键词： Training Conferences Minimization Information retrieval Knowledge management Information technology Optimization

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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IEEE International Conference on Power and Energy Systems (ICPES)

作者： Wenxuan Sun Tao Zhang Ran Tao Anna Wang College Of Information Science and Engineering Northeastern University Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (数字)9781665404945

ISBN: (纸本)9781665404952

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important [1] . The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV) [2][3] . In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series.

关键词： Photovoltaic systems Renewable energy sources Machine learning algorithms Machine learning Predictive models Prediction algorithms Numerical models

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Event-triggered control for multi-agent system with a smart leader

Event-triggered control for multi-agent system with a smart ...

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Chinese intelligent Systems Conference, CISC 2017

作者： Zhao, Bin Liu, Zhongxin Chen, Zengqiang College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China

ISBN: (纸本)9789811064951

This paper studies the consensus problem of the leader-following system. First of all, we propose a new kind of leader, smart leader, by adding the velocity states of the followers to the leader’s control algorithm. We also use the event-triggered control to make the leader only use the feedback at necessary time. Then a distributed control law for both the leader and followers is designed. Compared with the multi-agent system with traditional leader, the system with a smart leader can reach the consensus more quickly, smoothly and have a smaller control energy consumption. Moreover, we propose a suffcient condition which can ensure the system can reach the consensus. Finally, some simulation examples are presented for illustration. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Research on Stereo Vision Technology Based on Improved Region Growing Method

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Shilong Dai Xinghua Xia Hualiang Zhang School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China. Industrial Control Network and System Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Image segmentation is the cornerstone of image analysis and image processing, its main difficulty is the ill-posedness of image segmentation. The region growing method is the most commonly used method in image segmentation. Its advantages are fast calculation speed, lower algorithm difficulty, and easy understanding. This article uses the area growing algorithm and TOF combined with binocular fusion technology. Discussed how to select the seed points in the region growing method. The algorithm proposed in this paper has high accuracy and high matching quality in the boundary area of the object and the area with large difference in depth. It has both matching time and reliability. It has good results and overcomes the limitations of the active and passive distance methods in the vision system.

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Authentication Technology in Industrial control System Based on Identity Password

Authentication Technology in Industrial Control System Based...

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第三十九届中国控制会议

作者： Luyao Yang Wenli Shang Chunyu Chen Tianyu Wang Zhoubin Liu Shenyang Institute of Automation Chinese Academy of Sciences School of Information Science and Engineering Northeastern University University of Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Electric Power Research Institute State Grid Zhejiang Electric Power Co.Ltd.

Aiming at the current lack of certification capability in domestic industrial control systems, an industrial control system authentication scheme based on identity cryptography algorithm is proposed. When authenticating between control system devices, the scheme integrates the identity-based digital signature algorithm into the SSL/TLS handshake protocol to complete identity authentication between the engineering station and the trusted PLC. At the same time, when the connection is established for the first time between devices, the connection authentication is selected by the challenge/response based method. The authentication technology based on the identity cryptographic algorithm no longer requires the existence of a public key certificate. This eliminates the need to revoke, store, and issue certificates, simplifies the certification process and reduces the amount of computation required by the authentication process. At the same time, the improved handshake protocol is universal in industrial control systems. The authentication technology based on the identity and password algorithm no longer requires the existence of a public key certificate, eliminating the need for certificate revocation, storage, and issuance, simplifying authentication steps, and reducing system maintenance. Finally, by establishing a test environment, the improved handshake protocol is implemented, and the feasibility of the authentication scheme is verified and analyzed.

关键词： Industrial control security digital signature identity authentication SSL/TLS handshake protocol

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Bio-Syncretic Light-gated Field-Effect Transistor: Fabrication and Characterization

Bio-Syncretic Light-gated Field-Effect Transistor: Fabricati...

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IEEE Conference on Nanotechnology

作者： Jia Yang Wenxue Wang Gongxin Li Guangyong Li Ning Xi Lianqing Liu State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi China Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh United States Emerging Technologies Institute University of Hong Kong Pokfulam Hong Kong

Biological visual system has many intrinsic functional superiorities, such as small size, high sensitivity and no heat-sink cooling, which are hard to be completely replicated by electromechanical systems. The bio-syncretic design of sensing device with living materials may provide some functional superiorities to those conventional sensing devices, and will have great potential benefits in both biomedical and engineering applications. In this study, we developed a novel bio-syncretic light-gated field-effect transistor (FET), in which optogenetically engineered cells were used as the gate substitute for conventional gate electrode, and the exposure of the cells to light irradiation results in the variation of the transistor's channel current. The bio-syncretic transistor was fabricated by virtue of graphene film and optogenetically engineered cells, and its basic photo-responsive performance was then tested and characterized. This reference-less bio-syncretic transistor has a wide range of potential applications in photodetection and biosensing with good biocompatibility and stability.

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Comparative analysis of control strategies for the reduction of tracking error in CPV systems

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AIP Conference Proceedings 2023年第1期2841卷

作者： Sergio I. Palomino-Resendiz Víctor Cadix-Martín Basil Mohammed Al-Hadithi Diego A. Flores-Hernández Instituto Politécnico Nacional – ESIME-ZAC Departamento de Control y Automatización Mexico City 07738 Mexico Escuela Técnica Superior de Ingeniería y Diseño Industrial Departamento de Ingeniería Eléctrica Automática y Física Aplicada Universidad Politécnica de Madrid Madrid 28012 Spain Intelligent Control Group Universidad Politécnica de Madrid Centre for Automation and Robotics UPM-CSIC Madrid 28006 Spain Instituto Politécnico Nacional – UPIITA Applied Dynamic Systems Laboratory Mexico City 07340 Mexico

In this work, an experimental methodology is shown that allows selecting the best controller alternative to govern a two-axis solar tracking system in trajectory tracking tasks. This, based on the comparison of the performance of different controllers during the tracking of a solar trajectory (obtained offline with the help of a numerical method) using a prototype solar tracking system in a simulation environment. The selection of the controllers is based on the performance reported in the literature and commercially for other alternatives based on parameters such as: tracking error and energy consumption, computational cost, ease of implementation, ease of tuning, among others. However, for the final validation and selection of the controller, a brief analysis of the numerical results obtained during the follow-up tests is provided.

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