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Optimal genetic representation of complete strictly-layered feedforward neural networks

6th International Work-Conference on Artificial and Natural Neural Networks, IWANN 2001

作者： Raptis, Spyros Tzafestas, Spyros Karagianni, Hermione Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics Department of Electrical and Electronic Engineering National Technical University of Athens Zographou Campus Athens15773 Greece

ISBN: (纸本)9783540422372

The automatic evolution of neural networks is both an attractive and a rewarding task. The connectivity matrix is the most common way of directly encoding a neural network for the purpose of genetic optimization. However, this representation presents several disadvantages mostly stemming from its inherent redundancy and its lack of robustness. We propose a novel representation scheme for encoding complete strictly-layered feedforward neural networks and prove that it is optimal in the sense that it utilizes the minimum possible number of bits. We argue that this scheme has a number of important advantages over the direct encoding of the connectivity matrix. It does not suffer from the curse of dimensionality, it allows only legal networks to be represented which relieves the genetic algorithm from a number of checking and rejections, and the mapping from the genotypes to phenotypes is one-to-one. Additionally, the resulting networks have a simpler structure assuring an easier learning phase. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Genetic algorithms

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Application of Grey Model in intelligent-control of Micro-hole Abrasive Flow Machining 4

Application of Grey Model in Intelligent-Control of Micro-ho...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Yang, Shu Zhen Jin, Wei Bai, Yu Jie Shanghai Second Polytechnic University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038352532

In this paper, a control system based on the prediction of processing flow in Abrasive flow machining is designed. In this system, flow is predicted by an improved GM(1,1) model in conformation of background value. Combined with fuzzy control system, it can adapt the pressure to meet the processing requirement automatically. Experiments proved that the improved GM(1,1) model can predict the processing flow accurately, and the fuzzy control system based on grey prediction can improve the machining accuracy of micro-hole AFM effectively. © (2014) Trans Tech Publications, Switzerland.

关键词： Fuzzy control

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Study on the control system of grinding the nozzle of twin flapper-nozzle valve

Study on the control system of grinding the nozzle of twin f...

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International Conference on Machine Tool Technology and mechatronics Engineering, ICMTTME 2014

作者： Yang, Shu Zhen Qian, Rui Bai, Yu Jie Shanghai Second Polytechnic University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038352464

In this paper, neural network and grey fuzzy control technology are applied in Abrasive Flow Machining(AFM) to grind the mico-hole in th nozzle of the twin flapper-nozzle valve. An intelligent control system with fine tuning working pressure is established that can predict the process parameters automatically before machining and forcast the flow to adjust the working pressure in *** result of experiment indicates that this system has high level of intelligent and can get very high machining accuracy. © (2014) Trans Tech Publications, Switzerland.

关键词： Neural networks

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Reduced-order Observer Design for One-sided Lipschitz Nonlinear Systems with Unknown Inputs 33

Reduced-order Observer Design for One-sided Lipschitz Nonlin...

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第三十三届中国控制会议

作者： ZHANG Wei LI Jian SU Housheng ZHU Fanglai Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science School of Automation Huazhong University of Science and Technology College of Electronics and Information Engineering Tongji University

ISBN: (纸本)9781479947249

This paper considers the reduced-order observer design problem for one-sided Lipschitz nonlinear systems with unknown inputs. The systems under consideration are a larger class of nonlinear systems than the well-studied Lipschitz systems and have inherent advantages with respect to conservativeness. For such systems, we propose a reduced-order unknown input observer(UIO) by using the linear matrix inequality(LMI) technique. Sufficient conditions that guarantee the existence of the reduced-order UIO are established and transformed into the format of LMIs via using the matrix generalized inverse *** results are finally given to illustrate the effectiveness of the proposed design.

关键词： One-sided Lipschitz nonlinear systems,Unknown input observer(UIO),Reduced-order observers

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Full-state Physical Mirroring Method of Space Manipulator Based on the Multiple Decoupling Principles 2

Full-state Physical Mirroring Method of Space Manipulator Ba...

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2nd International Conference on Artificial Intelligence, Human-Computer Interaction and robotics, AIHCIR 2023

作者： Yang, Tao Qin, Shize Xu, Fang Deng, Songbo Zhang, Hao Shi, Yan Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics Controls Laboratory of Aerospace Servo Actuation and Transmission State Key Laboratory of Robotics Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission PR Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics PR Shenyang China

ISBN: (纸本)9798350360363

To achieve the goal of an efficient full-state ground test of a 7DOF space manipulator, the kinematic and dynamical coupling characteristics of space manipulator are investigated, and a mirror test method based on the principle of multiple decoupling is proposed to solve the problem of highly dynamic three-dimensional motion conditions of space manipulator that are difficult to verify by ground simulation. It firstly decouples the space manipulator into a 3dof unit,1dof unit and another 3dof unit combination. It achieves joint load reduction through inter-joint dynamics coupling. Afterwards, it designs an air-floating support device to realize the joint space 7DOF motion, and proposes a constant damping joint dynamics compensation control algorithm to eliminate the dynamics disturbances introduced by inter-joint decoupling. Then, an industrial mirror robot arm with consistent kinematic parameters and a highly dynamic mirror control algorithm are designed to map the joint motion states of the space manipulator to the ground robotic arm, and a ground simulation of the Cartesian space motion state of the space robot arm is realized by decoupling the joint space from the Cartesian space motion. Finally, the ground experiment of target grasping based on the physical mirroring method is designed to realize the high-speed full-state ground experiment verification of complex tasks of space manipulator. © 2023 IEEE.

关键词： Robotic arms

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Probabilistic Punishment on Free Riders in Threshold Public Goods Games

Probabilistic Punishment on Free Riders in Threshold Public ...

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第三十四届中国控制会议

作者： ZHANG Chunyan LIU Zhongxin SUN Qinglin CHEN Zengqiang Department of Automation Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University

ISBN: (纸本)9781467374439

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails,can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism.

关键词： Cooperation,Evolutionary Game Theory,Public Goods Game

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Microanalysis of a ductile iron by microchip laser-induced breakdown spectroscopy

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Plasma Science and Technology 2021年第10期23卷 179-185页

作者： Wei Wang Lanxiang Sun Peng Zhang Liming Zheng Lifeng Qi Jinchi Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Key Laboratory of Networked Control System Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People's Republic of China

Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown *** addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or *** is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of ***,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal ***,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.

关键词： micro-laser-induced breakdown spectroscopy micro-LIBS mapping inclusion segregation ductile iron

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Simultaneous Measurement Noise and Unknown Input Reconstruction Based on Reduced-Order Observer and High-Gain Differentiator

Simultaneous Measurement Noise and Unknown Input Reconstruct...

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第三十二届中国控制会议

作者： YANG Junqi ZHU Fanglai ZHANG Wei College of Electronics and Information Engineering Tongji University College of Electrical Engineering and Automation Henan Polytechnic University Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

ISBN: (纸本)9789881563835

This paper considers the issue of the measurement noise and unknown input reconstruction based on reduced-order and high gain sliding mode *** augmented vector which consists of the state vector and measurement noise vector of original system is constructed,and an augmented system is proposed based on the augmented ***,a reduced-order observer which can not only estimate the state of the system but also reconstruct the measurement noise vector is developed.A high-gain exact differentiator is considered to estimate the system output derivatives.A kind of simultaneous unknown input and measurement noise reconstruction method is ***,a simulation example is given to illustrate the performance of the proposed methods.

关键词： Measurement noise unknown input reduced order observer high gain differentiator

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