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IEEE International Conference on Mechatronics and Automation

作者： Xudong Ma Xianzhong Dai Fang Fang Ningting Cheng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South East University Nanjing China

A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information. Therefore it must be tolerate of the significant and unpredicted time latency that might mislead the robot for time and scene-dependent operations. A series of strategies are presented in this paper to decrease the latency impact and implement scene specified control of a Internet-based mobile robot. Time stamps are attached to each communication packet of scene video, audio and environment information from the robot to remote operator's computer for display, which then sends back control decision or command of the right time stamps with the scene when needed. By allocating a memory buffer for current display and recent status even including video frames the robot recalls the environment with the event time stamps as searching index, which helps to estimate the exact robot position or operation. Reverse position and motion are conducted according to estimation from the memorized information. The strategies have been introduced to improve a practical networked mobile robot control platform with experiment validity given in detail.

关键词： Layout Internet Mobile robots Computer displays Delay Communication system control Auditory displays IP networks Supervisory control Feedback

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Prisoner＇s Dilemma Game on Two Types of Positively Correlated Networks

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Chinese Physics Letters 2009年第4期26卷 267-270页

作者：刘永奎李智陈小杰王龙 Center for Complex Systems Department of Automatic Control Engineering Xidian University Xi'an 710071 State Key Laboratory for Turbulence and Complex Systems Center for Systems and Control College of Engineering Peking University Beijing 100871 Department of Zoology University of British Columbia Vancouver BC V6T 1Z4 Canada

We study the effects of degree correlations on the evolution of cooperation in the prisoner＇s dilemma game with individuals located on two types of positively correlated networks. It is shown that the positive degree correlation can either promote or inhibit the emergence of cooperation depending on network configurations. Furthermore, we investigate the probability to cooperate as a function of connectivity degree, and find that high-degree individuals generally have a higher tendency to cooperate. Finally, it is found that small-degree individuals usually change their strategy more frequently, and such change is shown to be unfavourable to cooperation for both kinds of networks.

关键词： PRISONER'S dilemma game CORRELATION (Statistics) COOPERATION CONFIGURATIONS (Geometry) PROBABILITY theory GAME theory

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Evolutionary Self-Questioning Games with Local Contribution

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Chinese Physics Letters 2009年第8期26卷 377-380页

作者：刘永奎李智陈小杰王龙 Center for Complex Systems Department of Automatic Control Engineering Xidian University Xi'an 710071 State Key Laboratory for-Turbulence and Complex Systems Center for Systems and Control College of Engineering Peking University Beijing 100871 Department of Zoology University of British Columbia Vancouver BC V6T 1Z4 Canada

We investigate the evolutionary Prisoner＇s Dilemma and the Snowdrift Game on small-world networks in a realistic social context where individuals consider their local contributions to their group and update their strategies by self-questioning. An individual with introspection can determine whether its current strategy is superior by playing a virtual round of the game and its local contribution is defined as the sum of all the payoffs its neighbors collect against it. In our model, the performance of an individual is determined by both its payoff and local contribution through a linear combination. We demonstrate that the present mechanism can produce very robust cooperative behavior in both games. Furthermore, we provide theoretical analysis based on mean-field approximation, and find that the analytical predictions are qualitatively consistent with the simulation results.

关键词： PRISONER'S dilemma game SOCIAL networks GAME theory SIMULATION methods & models MEAN field theory APPROXIMATION theory QUALITATIVE research

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Finite-time tracking control of bank-to-turn missiles using terminalsliding mode

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ICIC Express Letters 2009年第4期3卷 1373-1380页

作者： Wang, Zhao Li, Shihua Fei, Shumin Key Laboratory of Measurement and Control of Complex Systems ofEngineering School of Automation Southeast University Nanjing 210096 China College of Information and Control Engineering China University of Petroleum Dongying 257061 China

In this paper, a finite-time controller for bank-to-turn (BTT,) missiles isdesigned based on nonsingular terminal sliding mode (NTSM,) technique. Theproposed controller allows that roll rate and angle of attack can track thedesired commands in finite-time with sideslip angle maintained in a small degreerange. Input/output (I/O) feedback linearizaiton technique is used in thecontroller design. Since the dynamics of BTT missile contains uncertainties,nonsingular terminal sliding mode control technique is applied to yield betterrobustness and disturbance rejection properties. Computer simulation results arepresented to validate the effectiveness of our method. ICIC International © 2009.

关键词： Disturbance rejection

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New delay-dependent stability criteria for linear stochastic systems with time-varying delay

New delay-dependent stability criteria for linear stochastic...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jianjiang Yu Kanjian Zhang Shumin Fei the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Information Science and Technology Yancheng Teachers University the School of Automation Southeast University

In this paper, the problem of the stability for a class of stochastic systems with time-varying delay is investigated. By dividing the delay interval into multiple segments and choosing different weighting matrices in the new LyapunovKrasovskii functional, the delay-dependent sufficient criterion is derived in terms of linear matrix inequalities(LMIs). Neither model transformations nor bounding techniques for cross terms is employed, so the derived criterion is less conservative than the most existing results. Meanwhile, the computational complexity of the obtained stability conditions is reduced because less variables are involved. A numerical example is given to show the application of the proposed method.

关键词： New delay-dependent stability criteria for linear stochastic systems with time-varying delay

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Partner switching stabilizes cooperation in coevolutionary prisoner’s dilemma

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Physical Review E 2009年第3期79卷 036101-036101页

作者： Feng Fu Te Wu Long Wang Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

Previous studies suggest that cooperation prevails when individuals can switch their interaction partners quickly. However, it is still unclear how quickly individuals should switch adverse partners to maximize cooperation. To address this issue, we propose a simple model of coevolutionary prisoner’s dilemma in which individuals are allowed to either adjust their strategies or switch their defective partners. Interestingly, we find that, depending on the game parameter, there is an optimal tendency of switching adverse partnerships that maximizes the fraction of cooperators in the population. We confirm that the stabilization of cooperation by partner switching remains effective under some situations, where either normalized or accumulated payoff is used in strategy updating, and where either only cooperators or all individuals are privileged to sever disadvantageous partners. We also provide an extended pair approximation to study the coevolutionary dynamics. Our results may be helpful in understanding the role of partner switching in the stabilization of cooperation in the real world.

关键词： Stabilization

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Partner selections in public goods games with constant group size

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Physical Review E 2009年第2期80卷 026121-026121页

作者： Te Wu Feng Fu Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA

Most of previous studies concerning the public goods game assume either participation is unconditional or the number of actual participants in a competitive group changes over time. How the fixed group size, prescribed by social institutions, affects the evolution of cooperation is still unclear. We propose a model where individuals with heterogeneous social ties might well engage in differing numbers of public goods games, yet with each public goods game being constant size during the course of evolution. To do this, we assume that each focal individual unidirectionally selects a constant number of interaction partners from his immediate neighbors with probabilities proportional to the degrees or the reputations of these neighbors, corresponding to degree-based partner selection or reputation-based partner selection, respectively. Because of the stochasticity the group formation is dynamical. In both selection regimes, monotonical dependence of the stationary density of cooperators on the group size was found, the latter over the whole range but the former over a restricted range of the renormalized enhancement factor. Moreover, the reputation-based regime can substantially improve cooperation. To interpret these differences, the microscopic characteristics of individuals are probed. We later extend the degree-based partner selection to general cases where focal individuals have preferences toward their neighbors of varying social ties to form groups. As a comparison, we as well investigate the situation where individuals locating on the degree regular graphs choose their coplayers at random. Our results may give some insights into better understanding the widespread teamwork and cooperation in the real world.

关键词： Condensed matter physics

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Emergence of social cooperation in threshold public goods games with collective risk

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Physical Review E 2009年第1期80卷 016101-016101页

作者： Jing Wang Feng Fu Te Wu Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Program for Evolutionary Dynamics Harvard University One Brattle Square Cambridge Massachusetts 02138 USA

In real situations, people are often faced with the option of voluntary contribution to achieve a collective goal, for example, building a dam or a fence, in order to avoid an unfavorable loss. Those who do not donate, however, can free ride on others’ sacrifices. As a result, cooperation is difficult to maintain, leading to an enduring collective-risk social dilemma. To address this issue, here we propose a simple yet effective theoretical model of threshold public goods game with collective risk and focus on the effect of risk on the emergence of social cooperation. To do this, we consider the population dynamics represented by replicator equation for two simplifying scenarios, respectively: one with fair sharers, who contribute the minimum average amount versus defectors and the other with altruists contributing more than average versus defectors. For both cases, we find that the dilemma is relieved in high-risk situations where cooperation is likely to persist and dominate defection in the population. Large initial endowment to individuals also encourages the risk-averse action, which means that, as compared to poor players (with small initial endowment), wealthy individuals (with large initial endowment) are more likely to cooperate in order to protect their private accounts. In addition, we show that small donation amount and small threshold (collective target) can encourage and sustain cooperation. Furthermore, for other parameters fixed, the impacts of group size act differently on the two scenarios because of distinct mechanisms: in the former case where the cost of cooperation depends on the group size, large size of group readily results in defection, while easily maintains cooperation in the latter case where the cost of cooperation is fixed irrespective of the group size. Our theoretical results of the replicator dynamics are in excellent agreement with the individual based simulation results.

关键词： cooperation mechanisms simulation results Dilemma Simulation results Endowments Group Size zero fare public goods Threshold Replication Origin Emergence group cooperation

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Could Feedback-Based Self-Learning Help Solve Networked Prisoner's Dilemma?

Could Feedback-Based Self-Learning Help Solve Networked Pris...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Xiaojie Chen Feng Fu Long Wang State Key Laboratory for Turbulence and Complex Systems Center for Systems and ControlCollege of EngineeringPeking University Department of Zoology University of British Columbia Program for Evolutionary Dynamics Harvard University

We present a self-learning evolutionary Prisoner's Dilemma game model to study the evolution of cooperation in network-structured *** the evolutionary process,each agent updates its current strategy with a probability depending on the difference feedback between its actual score and score *** agent's score is a weighed mean of its payoff coming from its neighbors(social partners) and the payoff of its social partners obtaining from *** results show that the cooperation level in the structured populations increases with increasing the weight of partners' obtaining payoff in the *** interestingly,we find that very similar evolution of cooperation can respectively emerge in lattice,small-world and scale-free networks under the learningfeedback updating ***,we provide theoretical analysis and qualitative explanations for these numerical *** work may provide an effective way to solve the dilemma of cooperation for structured populations.

关键词： Could Feedback-Based Self-Learning Help Solve Networked Prisoner's Dilemma

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Bioluminescence tomography based on Bayesian approach

Bioluminescence tomography based on Bayesian approach

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Medical Imaging 2009: Biomedical Applications in Molecular, Structural, and Functional Imaging

作者： Feng, Jinchao Jia, Kebin Tian, Jie Yan, Guorui Qin, Chenghu The College of Electronic Information and Control Engineering Beijing University of Technology Beijing 100022 China Medical Image Processing Group Key Laboratory of Complex Systems and Intelligence Science Institute of Automation P. O. Box 2728 Beijing 100190 China Life Science Research Center Xidian University Xi'an 710071 China

ISBN: (纸本)9780819475138

As a new mode of molecular imaging, bioluminescence tomography (BLT) will have *** *** on revealing the molecular and cellular information in vivo at the whole-body small animal level because of its high sensitive detection and facile operation. However, BLT is an ill-posed problem, it is necessary to incorporate a priori knowledge into the tomographic algorithm. In this paper, a novel Bayesian reconstruction algorithm for BLT is firstly proposed. In the algorithm, a priori permissible source region strategy is incorporated into the Bayesian network to reduce the ill-posedness of BLT. Then a generalized adaptive Gaussian Markov random field (GAGMRF) prior model for unknown source density estimation is developed to further reduce the ill-posedness of BLT on the basis of adaptive finite element analysis. Finally, the algorithm maximizes the log posterior probability with respect to a noise parameter and the unknown source density, the distribution of bioluminescent source can be reconstructed. In addition, the novel tomography algorithm based adaptive finite element makes the method more appropriate for complex phantom such as real mouse. In the numerical simulation, a heterogeneous phantom is used to evaluate the performance of the proposed algorithm with the Monte Carlo based synthetic data. The accurate localization of bioluminescent source and quantitative results show the effectiveness and potential of the tomographic algorithm for BLT. © 2009 SPIE.

关键词： Monte Carlo methods

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