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Evasion strategies of a three-player lifeline game

Science China(Information Sciences) 2018年第11期61卷 144-154页

作者： Fan ZHANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

This study examines a multi-player pursuit-evasion game, more specifically, a three-player lifeline game in a planar environment, where a single evader is tasked with reaching a lifeline prior to capture. A decomposition method based on an explicit policy is proposed to address the game qualitatively from two main aspects:(1) the evader's position distribution to guarantee winning the game(i.e., the escape zone),which is based on the premise of knowing the pursuers' positions initially, and(2) evasion strategies in the escape zone. First, this study decomposes the three-player lifeline game into two two-player sub-games and obtains an analytic expression of the escape zone by constructing a barrier, which is an integration of the solutions of two sub-games. This study then explicitly partitions the escape zone into several regions and derives an evasion strategy for each region. In particular, this study provides a resultant force method for the evader to balance the active goal of reaching the lifeline and the passive goal of avoiding capture. Finally,some examples from a lifeline game involving more than one pursuer are used to verify the effectiveness and scalability of the evasion strategies.

关键词： lifeline game three-player pursuit-evasion game barrier evasion strategy game of kind

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Online reinforcement learning control by direct heuristic dynamic programming: from time-driven to event-driven

arXiv

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arXiv 2020年

作者： Zhao, Qingtao Si, Jennie Sun, Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287 United States

In this paper time-driven learning refers to the machine learning method that updates parameters in a prediction model continuously as new data arrives. Among existing approximate dynamic programming (ADP) and reinforcement learning (RL) algorithms, the direct heuristic dynamic programming (dHDP) has been shown an effective tool as demonstrated in solving several complex learning control problems. It continuously updates the control policy and the critic as system states continuously evolve. It is therefore desirable to prevent the time-driven dHDP from updating due to insignificant system event such as noise. Toward this goal, we propose a new event-driven dHDP. By constructing a Lyapunov function candidate, we prove the uniformly ultimately boundedness (UUB) of the system states and the weights in the critic and the control policy networks. Consequently we show the approximate control and cost-to-go function approaching Bellman optimality within a finite bound. We also illustrate how the event-driven dHDP algorithm works in comparison to the original time-driven dHDP. Copyright © 2020, The Authors. All rights reserved.

关键词： Learning algorithms

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Model analysis and experimental research on hydraulic high-speed impact system 8

Model analysis and experimental research on hydraulic high-s...

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8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019

作者： Wang, Shoukun Shi, Mingxin Chen, Zhihua Beijing Institute of Technolog Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China Key Laborator Yof Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9781728103112

ISBN: (纸本)9781728103112

High-speed impact simulation test is an important test method to study the fatigue properties or limit parameters of materials. With the advantages of great impact energy, good program control and convenient test operation, hydraulic impact is widely used in high-speed impact field. A hydraulic high speed impact simulation system is designed in this paper, which uses high pressure accumulator to supply oil and converts hydraulic energy into impact energy through servo valve controlled cylinder system. This system can simulate dynamic change process of impact velocity and acceleration of projectile, and has impact angle adjustment and end buffer function. First, the composition and working principle of this hydraulic impact simulation system is introduced, as well as the analysis of the hydraulic impact mechanism. Second, the system dynamics model of servo valve controlled cylinder based on accumulator oil is built, and the simplified model and its basic characteristics are analyzed. Then, the Influences of various parameters in impact dynamic model on impact process are also discussed. Finally, the simulation system and physical prototype system of hydraulic impact is presented, the simulation and actual impact test data and corresponding analysis conclusions are also given. © 2019 IEEE.

关键词： Software testing

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Policy iteration based Q-learning for linear nonzero-sum quadratic differential games

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Science China(Information Sciences) 2019年第5期62卷 195-213页

作者： Xinxing LI Zhihong PENG Li LIANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

In this paper, a policy iteration-based Q-learning algorithm is proposed to solve infinite horizon linear nonzero-sum quadratic differential games with completely unknown dynamics. The Q-learning algorithm, which employs off-policy reinforcement learning(RL), can learn the Nash equilibrium and the corresponding value functions online, using the data sets generated by behavior policies. First, we prove equivalence between the proposed off-policy Q-learning algorithm and an offline PI algorithm by selecting specific initially admissible polices that can be learned online. Then, the convergence of the off-policy Qlearning algorithm is proved under a mild rank condition that can be easily met by injecting appropriate probing noises into behavior policies. The generated data sets can be repeatedly used during the learning process, which is computationally effective. The simulation results demonstrate the effectiveness of the proposed Q-learning algorithm.

关键词： adaptive dynamic programming ADP Q-learning reinforcement learning RL linear nonzerosum quadratic differential games policy iteration PI off-policy

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Fault-tolerant sampled-data synchronization of Markovian jumping complex dynamical networks via looped-functional approach

Fault-tolerant sampled-data synchronization of Markovian jum...

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International Symposium on Autonomous systems (ISAS)

作者： Wang Xin Sun Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728112992

In this paper, the issue of sampled-data synchronization of Markovian jumping complex dynamical networks with sensor fault is investigated. Here, we utilize looped-functional approach to constructed Lyapunov functional with more information about r(t k ) and r(t k+1 ), which has contribution to decrease the conservatism of stability condition. Then, we design a sampled-data controller for Markovian jumping complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.

关键词： complex networks control system synthesis fault tolerant control Lyapunov methods Markov processes network theory (graphs) sampled data systems stability synchronisation sampled data system fault-tolerant control control system synthesis Lyapunov methods Markov chain complex networks data synchronization Jumping Data sampling

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Further results on mixed H∞ and passive sampled-data synchronization of complex dynamical networks via looped-functional approach

Further results on mixed H∞ and passive sampled-data synchr...

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International Symposium on Autonomous systems (ISAS)

作者： Wang Xin Sun Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728112992

This paper investigates the issue of H ∞ and passive sampled-data synchronization of delayed complex dynamical networks. By taking more information about r(t k ) and r(t k+1 ) into account, which has contribution to decrease the conservatism of stability condition, a novel Lyapunov-Krasovskii looped-functional is constructed. Then, we design a H ∞ and passive sampled-data controller for complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.

关键词： complex networks control system synthesis delays H∞ control Lyapunov methods sampled data systems stability synchronisation sampled data system control system synthesis Lyapunov methods complex networks Data sampling data synchronization delay Conservatism

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Volume Measuring Method for Forming Additive Manufacturing Based on SGBM

Volume Measuring Method for Forming Additive Manufacturing B...

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Chinese Automation Congress (CAC)

作者： Ruidong Xie Haichuan Yang Yingmin Yi Qimeng Shi keying Wang Xiaolin Fan Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

For volume measurement problems in the processes of additive manufacturing, a volume measurement method is proposed through using the SGBM algorithm in this paper. In this method, the internal and external parameters of the camera are calibrated by the binocular vision system. And the image processes by SGBM are performed for the image acquired by binocular stereo vision system. The processes are including filtering, correction and stereo matching to obtain the disparity information of the object to be tested in the left and right cameras. The volume of the work-piece to be tested can be obtained by the calculation that measured the three-dimensional coordinate information through the disparity information. The experimental results illustrate that the method is of certain reliability and accuracy for volume measurement.

关键词： Cameras Calibration Volume measurement Three-dimensional printing Mathematical model Measurement by laser beam Three-dimensional displays

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The Laser Point Detecting Method Based on Faster R-CNN

The Laser Point Detecting Method Based on Faster R-CNN

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Chinese Automation Congress (CAC)

作者： Ruidong Xie Haichuan Yang Yingmin Yi Qimeng Shi keying Wang Chaoyang Zheng Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Aiming at issues of low accuracy and poor anti-interference ability in laser point detecting, a target detection method based on Faster R-CNN was proposed. The laser point position detecting method is realized by calibrating the laser point data set, initializing the weight coefficient and the training network model. Experiments illustrate that the proposed method is more accurate in cases of strong noise such as the light changing, the background changing and the smoke filling the air. The accuracy of the method is 98.1%, as a better detection effect and generalization ability.

关键词： Feature extraction Laser modes Training Proposals Laser noise Convolution Three-dimensional printing

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A Heuristic Algorithm for Solving Resource Constrained Project Scheduling Problem with Transfer Time under Resource Bundle

A Heuristic Algorithm for Solving Resource Constrained Proje...

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第三十八届中国控制会议

作者： Junqi Cai Zhihong Peng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper we investigate an extension of Resource Constrained Projected Scheduling Problem(RCPSP): the Resource Constrained Project Scheduling Problem with Transfer Time under Resource Bundle. For this complex problem, the use of a parallel scheduling scheme is proposed. Such scheme has been successfully applied to the RCPSP. Introducing transfer time and resource bundle into RCPSP causes two problems, one is the possibility of resources significantly exceed the need of a task, the other is cooperation among unfamiliar members from different team may increase the makespan of the project. In order to deal with the problem, two new concepts are developed: task-related resource weight and collaboration coefficient. Some discussion of such concepts is given of and use them for new heuristic framework we proposed. A computational test is performed and the results show that the new heuristic is very effective in finding better solutions within a very short time.

关键词： RCPSP heuristic algorithm resource bundle transfer time

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A method of laser point temperature detection based on CNN

A method of laser point temperature detection based on CNN

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Chinese Automation Congress (CAC)

作者： Ruidong Xie Haichuan Yang Yingmin Yi Qimeng Shi keying Wang Jiabin Huang Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

There has been a direct relationship between the temperature of the laser point and the quality of the casting in the process of the 3D printing. In the paper, a method based on convolutional neural network (CNN) was proposed to estimate the temperature of the laser point. The collected temperature data used were trained by the deep-learning method. A new structure of the model was proposed on the part of the CNN model, which improved from original LeNet. The process of the prediction for the testing set was carried out through the new model. The unknown temperature in the testing set can be estimated. The experimental result illustrates that the proposed method is satisfactory.

关键词： Laser modes Temperature measurement Training Temperature distribution Surface emitting lasers Testing Measurement by laser beam

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