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arXiv 2017年

作者： Zhang, Liang Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

The problem of reconstructing a sparse signal vector from magnitude-only measurements (a.k.a., compressive phase retrieval), emerges naturally in diverse applications, but it is NP-hard in general. Building on recent advances in nonconvex optimization, this paper puts forth a new algorithm that is termed compressive reweighted amplitude flow and abbreviated as CRAF, for compressive phase retrieval. Specifically, CRAF operates in two stages. The first stage seeks a sparse initial guess via a new spectral procedure. In the second stage, CRAF implements a few hard thresholding based iterations using reweighted gradients. When there are sufficient measurements, CRAF provably recovers the underlying signal vector exactly with high probability under suitable conditions. Moreover, its sample complexity coincides with that of the state-of-the-art procedures. Finally, substantial simulated tests showcase remarkable performance of the new spectral initialization, as well as improved exact recovery relative to competing alternatives. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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Where Does AlphaGo Go: From Church-Turing Thesis to AlphaGo Thesis and Beyond

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IEEE/CAA Journal of Automatica Sinica 2016年第2期3卷 113-120页

作者： Fei-Yue Wang Jun Jason Zhang Xinhu Zheng Xiao Wang Yong Yuan Xiaoxiao Dai Jie Zhang Liuqing Yang IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences (SKL-MCCS CASIA) Research Center of Computational Experiments and Parallel Systems The National University of Defense Technology the Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer Science University of Denver the Department of Computer Science and Engineering University of Minnesota the Qingdao Academy of Intelligent Industries (QAII) Qingdao Shandong China and SKL-MCCS CASIA the Department of Electrical and Computer Engineering Colorado State University

An investigation on the impact and significance of the AlphaGo vs. Lee Sedol Go match is conducted, and concludes with a conjecture of the AlphaGo Thesis and its extension in accordance with the Church-Turing Thesis in the history of computing. It is postulated that the architecture and method utilized by the AlphaGo program provide an engineering solution for tackling issues in complexity and intelligence. Specifically, the AlphaGo Thesis implies that any effective procedure for hard decision problems such as NP-hard can be implemented with AlphaGo-like approach. Deep rule-based networks are proposed in attempt to establish an understandable structure for deep neural networks in deep learning. The success of AlphaGo and corresponding thesis ensure the technical soundness of the parallel intelligence approach for intelligent control and management of complex systems and knowledge automation. © 2014 Chinese Association of automation.

关键词： Religious buildings

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A novel extended potential field controller for use on aerial robots

A novel extended potential field controller for use on aeria...

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2016 IEEE International Conference on automation Science and engineering, CASE 2016

作者： Woods, Alexander C. Lay, Hung M. Ha, Quang P. Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada RenoNV89557 United States School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024094

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller. © 2016 IEEE.

关键词： Controllers

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State Estimation for BAM Neural Networks with Mixed Time Delays

State Estimation for BAM Neural Networks with Mixed Time Del...

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IEEE International Conference on automation Science and engineering

作者： Guoquan Liu Chaomin Luo Jianlong Qiu Xianxi Luo Jiakai Ding Jiangxi Province Engineering University of Technology Nanchang China Department of Electrical and Computer Engineering University of Detroit Mercy Michigan USA School of Automation and Electrical Engineering Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong (Linyi University) Linyi Shandong Province China Jiangxi Province Engineering East China University of Technology Nanchang China School of mechanical and electronic engineering East China University of Technology Nanchang China

This paper is concerned with the state estimation problem of BAM neural networks with mixed time delays. By constructing a suitable Lyapunov-Krasovskii functional (LKF), a new criterion is obtained so that the BAM neural networks error system is asymptotically stable. A simulation example is given to demonstrate the effectiveness of the proposed method.

关键词： LKF concerned estimation

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Integrated mechatronics design of flexure joint and controller in dual-drive gantry: a constrained H2 optimization approach

Integrated mechatronics design of flexure joint and controll...

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2017 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2017

作者： Ma, Jun Chen, Si-Lu Kamaldin, Nazir Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong Department of Electrical and Computer Engineering SIMTech-NUS Joint Lab on Precision Motion Systems National University of Singapore 117582 Singapore Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology 138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China NUS Grad. School for Inte. Sci. and Eng. and Department of Electrical Computer Engineering National University of Singapore 119077 Singapore

ISBN: (纸本)9781509059980

The dual-drive H gantry is widely used in many industrial processes that require high precision Cartesian motion. The conventional rigid-link version suffers breaking down of joints if any de-synchronization between the two carriages occurs. To prevent above potential risk, a novel biaxial gantry with flexure-links is designed to allow a small rotation angle of the cross-Arm. Nevertheless, the chattering of control signals and inappropriate design of the flexure joint will possibly induce resonant modes of the end effector. Thus, in this work, the design requirements in terms of tracking accuracy, biaxial synchronization, and resonant mode suppression are achieved by integrated optimization of the stiffness of flexures and PID controller parameters for a class of point-To-point trajectories with same dynamics but different steps. From here, an H2 optimization with defined constraints is formulated, and an efficient iterative solver is proposed by hybridizing direct computation of constrained projection gradient and line search of optimal steps. Comparative experiments results obtained on the testbed are presented to verify the effectiveness of proposed method. © 2017 IEEE.

关键词： Constrained optimization

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Research on Dust Evolution Simulation System Based on Dynamic Data Driven

Research on Dust Evolution Simulation System Based on Dynami...

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2016 International Conference on Sustainable Energy, Environment and Information engineering (SEEIE 2016)

作者： Xiao-mei HU He-wei QU Jun-jun HU Yuan TIAN Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai University Electrical Engineering and Computer Science College of EngineeringUniversity of Michigan

The dust evolution simulation provides an important way to analyze the impact of dust on the environment. Dynamic data driven application system framework is applied and dust evolution simulation model based on DDDAS framework is proposed. Compared with the simulation model of dust evolution without DDDAS, the functions of the inputs of real-time data and modification of simulation parameters ensure the improvement of the accuracy of dust evolution simulation. The experimental results show that the dust evolution simulation with DDDAS framework is more precise than the simulation without DDDAS, which proves the effectiveness of the dust evolution simulation system based on dynamic data driven.

关键词： Dynamic data driven Dust evolution simulation Kinetic monte carlo Dust accumulation

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Nonsmooth Dynamic Filtering for Mechanical Servo-systems

Nonsmooth Dynamic Filtering for Mechanical Servo-systems

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IEEE International Conference on Control and automation

作者： Yonghong Tan Ruili Dong Yanyan Li Xiang Chen Hong He Department of Electrical Engineering Shanghai Normal University Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University Department of Electrical and Computer Engineering University of Windsor

ISBN: (纸本)9781509017393

In this paper, a nonsmooth dynamic filtering approach is proposed for stochastic noise filtering of mechanical servo-systems. In this approach, a stochastic nonsmooth state-space model with sandwich structure is developed to describe the nonsmooth dynamic feature of the system in random noisy case. Then, an approach for observability test of the nonsmooth system with sandwich architecture is proposed. Afterwards, a nonsmooth dynamic filtering method motivated by the structure of Kalman filter is proposed for noise suppression. The proposed nonsmooth Kalman filtering method is applied to random noise filtering of a servo-system with dead-zone feature.

关键词： CONTRAST FILTERS Servo systems noise filtering Noise suppression Kalman filters sandwich structures Models, Space Sandwiches

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Fostering cooperation of selfish agents through public goods in relation to the loners

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Physical Review E 2016年第3期93卷 032320-032320页

作者： Jianlei Zhang Zengqiang Chen Zhongxin Liu Department of Automation College of Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China and Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China

Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public goods game model in which the benefits of cooperation are either discounted or synergistically enhanced at the appearance of multiple cooperators in a group. Moreover, we focus on the three-strategies profile by adding the role of loners, besides the often-used cooperation and defection. Using the replicator dynamic equations, we investigate a range of dynamical portraits that characterizes the properties of the steady state. Analysis results indicate that loners and cooperators both have chances to be the stable equilibrium points in the presence of perturbations, while defectors fail to do so in this three-strategy competition. Moreover, the coexistence state, in which all three strategies exist in equilibrium, can be led by suitable parameters and stabilized for perturbations. These results elucidate the interplay between the characteristics of the public goods game and evolutionary dynamics in well-mixed systems.

关键词： Social system dynamics Social networks Game theory models

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Steps toward Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 345-348页

作者： Fei-Yue Wang Xiao Wang Lingxi Li Li Li IEEE State Key Laboratory of Management and Control for Complex Systems (SKL-MCCS) Institute of AutomationChinese Academy of Sciences (CASIA) Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Qingdao Academy of Intelligent Industries (QAII) QingdaoShandongChinaand SKL-MCCSCASIA Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis Department of Automation Tsinghua University Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies

The origin of artificial intelligence is investigated, based on which the concepts of hybrid intelligence and parallel intelligence are presented. The paradigm shift in Intelligence indicates the ''new normal'' of cyber-social-physical systems (CPSS), in which the system behaviors are guided by Merton's Laws. Thus, the ACP-based parallel intelligence consisting of Artificial societies, Computational experiments and Parallel execution are introduced to bridge the big modeling gap in CPSS. © 2014 Chinese Association of automation.

关键词： Control systems electrical engineering

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Template-based human supervised robot task programming

Template-based human supervised robot task programming

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Xianchao Long Taskin Padir Robotics and Intelligent Vehicles Research Laboratory (RIVeR Lab) Department of Electrical and Computer Engineering Northeastern University Boston Massachussetts United States

ISBN: (纸本)9781509037636

Motions of a robot interacting with its environment can be described by a set of constraints. This paper introduces an approach, called motion template, which can quickly program and compose the constraints for the motion planner to generate the trajectory. Two types of motion templates, grasp and turn, are specifically described to explain the details of the technique. The reusability and shareability properties of the motion template are demonstrated using a variety of the motion planning applications across different robot platforms. A motion template framework is used to implement the motion template with the trajectory optimization.

关键词： jigs(templates) Robot trajectory optimization Programming

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