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arXiv 2022年

作者： Jiang, Xia Zeng, Xianlin Xie, Lihua Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore The School of Electronic and Information Engineering Tongji University Shanghai200082 China

This paper proposes a distributed stochastic projection-free algorithm for large-scale constrained finite-sum optimization whose constraint set is complicated such that the projection onto the constraint set can be expensive. The global cost function is allocated to multiple agents, each of which computes its local stochastic gradients and communicates with its neighbors to solve the global problem. Stochastic gradient methods enable low computational cost, while they are hard and slow to converge due to the variance caused by random sampling. To construct a convergent distributed stochastic projection-free algorithm, this paper incorporates a variance reduction technique and gradient tracking technique in the Frank-Wolfe update. We develop a sampling rule for the variance reduction technique to reduce the variance introduced by stochastic gradients. Complete and rigorous proofs show that the proposed distributed projection-free algorithm converges with a sublinear convergence rate and enjoys superior complexity guarantees for both convex and non-convex objective functions. By comparative simulations, we demonstrate the convergence and computational efficiency of the proposed algorithm. © 2022, CC BY.

关键词： Stochastic systems

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Event-triggered attitude tracking for rigid spacecraft

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Science China(Information Sciences) 2019年第12期62卷 178-193页

作者： Deheng CAI Hengguang ZOU Junzheng WANG Yuan HUANG Dawei SHI State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology China Academy of Space Technology

This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.

关键词： spacecraft attitude tracking active disturbance rejection control event-triggered control extended state observer

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Isochronous Temporal Metric for Neighbourhood Analysis in Classification Tasks

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SN Computer Science 2023年第6期4卷 1-12页

作者： Kumar, Amit Krishan Mai, Nguyễn Ngọc Tian, Ke Xia, Yuanqing Institute of Research and Development Duy Tan University Da Nang Vietnam Faculty of Electrical-Electronic Engineering Duy Tan University Da Nang Vietnam Faculty of Chinese Language School of Foreign Language Duy Tan University Da Nang Vietnam State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Machine learning, classification, and clustering techniques use the distance functions to evaluate the proximity between data entries and deduce the best neighbouring element and the closest matching entry. The best neighbour is not only the closest neighbour but a neighbour that is quick to respond. In view of that, a time-based isochronous metric is introduced to evaluate the best neighbours and form linkages by grouping similar entities. The proposed method uses parametric equations of the fastest descent and solves the time variables for attributes localised in curved space–time. The time metric is compared with commonly used distance metrics for accuracy in classification and clustering using benchmark and commonly used datasets. The nearest-neighbour technique is used for evaluating classification accuracy, and an adjusted random index (ARI) is used to evaluate clustering. The proposed method shows better accuracy and ARI in comparison to distance functions. It also assigns better weights to attributes of the dataset and easily identifies repeated patterns in noisy time series data.

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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Coordinated Motion control for a Six-wheel-drive Skid-steering Mobile Robot

Coordinated Motion Control for a Six-wheel-drive Skid-steeri...

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Chinese Automation Congress (CAC)

作者： Yongkang Xu Shoukun Wang Hongqiang Zhao Zhihua Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China State Key Laboratory of High Performance and Complex Manufacturing Central South University Changsha China

ISBN: (纸本)9781665426480

A speed consensus control strategy for a six-wheel-drive skid-steering mobile robot was proposed based on a hierarchical controller in a complex environment with unknown disturbances. The effective method of reliable speed consensus control strategy should consider some disturbances, such as the internal-robot assembly error, which including instability of motor control system and external physical interference in robot dynamic system. In this paper, a driving anti-slip control system with PID and the stability control system with sliding mode by variable structure is designed and integrated to elevate the stability of the robot. And, a G-vector control algorithm based on sliding mode control is proposed to reduce the yaw angle as much as possible during the process of differential steering of robots. The effectiveness of the proposed control strategy is verified by an example of a robot. The results show that the method has good control performance in control accuracy and stability.

关键词： Uncertainty Robot kinematics Heuristic algorithms Velocity control Torque control Wheels Consensus control

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Research on the High-Precision Unmanned Operation control Algorithm of theVibroseis Vehicle

Research on the High-Precision Unmanned Operation Control Al...

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第40届中国控制会议

作者： LI Bin WANG Shoukun WANG Shuai WANG Junzheng LIU Shangfei State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing Institute of Technology

In order to meet the demand for high-precision operation of the vibroseis vehicle in the case of unmanned driving, an unmanned operation system that meets the working characteristics of the vibroseis vehicle is designed, and the key technical problems are studied, so that the vibroseis vehicle can operate in the complex environment of the field and improve the efficiency of geological exploration greatly. Firstly, the coordinate system and the kinematic model without sideslip of the articulated vehicle are established successively. Secondly, in order to improve the path tracking accuracy of the vibroseis vehicle, a model predictive control algorithm based on the kinematic model is designed for vehicle path tracking. In order to improve the positioning accuracy of the working point, a compensation algorithm for positioning error is proposed to reduce the positioning error caused by terrain factors. Finally, the unmanned operation platform is built and the path tracking algorithm and the compensation algorithm for positioning error are verified on the platform. The real vehicle test data shows that the path tracking algorithm proposed in this paper can control the average lateral error of the path tracking of the vibroseis vehicle within 22 *** with the PID control method, its path tracking accuracy can be improved by 59%. The average positioning error of working point is controlled within about 15 cm by adopting the compensation algorithm for positioning error.

关键词： Vibroseis vehicle Unmanned operation Path tracking Positioning compensation

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Robust Output Synchronization of Discrete-Time Linear-Time-Invariant Multi-Agent systems Using Phase Tool

Robust Output Synchronization of Discrete-Time Linear-Time-I...

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European control Conference (ECC)

作者： Xin Mao Dan Wang Wei Chen Li Qiu School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Southern University of Science and Technology Shenzhen China Hong Kong University of Science and Technology Hong Kong S.A.R. China

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, the output synchronization in large-scale discrete-time networks is examined by utilizing the novel phase tool, where the agent dynamics are allowed to be significantly heterogeneous. The synchronization synthesis problem is formulated and thoroughly investigated, with the goal of characterizing the allowable heterogeneity among the agents to ensure synchronization under a uniform controller. The solvability condition is provided in terms of the phases of the residue matrices of the agents at the persistent modes. When the condition is satisfied, a design procedure is given, producing a low-gain synchronizing controller. Numerical examples are given to illustrate the results.

关键词： Sufficient conditions Europe Heterogeneous networks Synchronization Multi-agent systems

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An Introduction to Domain Adaptive Object Detection from Synthesis to Reality

An Introduction to Domain Adaptive Object Detection from Syn...

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第40届中国控制会议

作者： Zhijun Xue Wenjie Chen Jing Li State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center

In recent years,deep learning based object detection has achieved great *** methods typically assume that large amount of labeled training data is available,meanwhile,training and test data are independent and identically ***,the two assumptions are not always hold in *** many applications,it is prohibitively expensive and time-consuming to obtain large quantities of labeled *** computer graphics technology to generate a large number of labeled data provides a solution to this ***,direct transfer across domains from synthesis to reality often performs poorly due to the presence of domain *** adaptive object detection are concerned with accounting for these types of *** this paper,we present an introduction to these ***,we briefly introduce the object detection and domain ***,the synthetic object detection datasets and related software tools are ***,we present a categorization of approaches,divided into discrepancy-based methods,adversarial discriminative methods,reconstruction-based methods and ***,we also discuss some potential deficiencies of current methods and several open problems which can be explored in future work.

关键词： Deep learning Object detection Synthesis to reality Domain adaptation

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Action Recognition Algorithm based on 2D Human Pose Estimation Method

Action Recognition Algorithm based on 2D Human Pose Estimati...

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第40届中国控制会议

作者： Chongkai Yu Wenjie Chen Ye Li Chen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center

This paper presents an action recognition method based on 2D human body node data in video. This method uses the pose estimation algorithm to detect the human body node data in each frame of video information. We get the two-dimensional coordinates and confidence data of the nodes, and optimize the arrangement of these data into a 3D array form similar to ***, we use the classical two-dimensional convolutional neural network to carry out classification training. The test on UCF-101 data set shows that this method can indeed improve the accuracy of action recognition based on RGB information to a certain extent, and reduce the training cost.

关键词： Action recognition Pose estimation Two-dimensional convolutional neural network

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