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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

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The CPG Gait Generate Method of the Quadruped Robot Based on...

The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

Multilevel filtering image denoising algorithm based on edge information fusion 16

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Multilevel filtering image denoising algorithm based on edge...

16th National Conference on Laser Technology and Optoelectronics

作者： Zhang, Xin Sun, Jianfeng Jiang, Peng Zhou, Xin Qiu, Changrui Zhang, Yinbo Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Industrial Technology Innovation Research Institute Co. Ltd Beijing101312 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9781510646643

ISBN: (纸本)9781510646636

Edges are critical important for the visual appearance of images. The traditional denoising algorithms are difficult to preserve the edges of the image while removing the noise of ICCD sensing image. At the same time, it is difficult to eliminate the problems of image darkness and low resolution caused by uneven illumination. This paper proposes a multilevel filtering image denoising algorithm based on edge information fusion. The target edges detection of the image after non-local means (NL-means) filtering is carried out based on the eight-direction Sobel operator. In order to filter the false edge points and residual noise, an adaptive threshold is determined according to the mean and variance of the eight neighborhood pixels of the detected pixel. Meanwhile, homomorphic filtering is used to enhance the image contrast and uniformity. By comparing the pixel values of the edge image and the homomorphic filtered image, the final denoised image is obtained by fusing the two images. The results indicate that, compared with the traditional algorithms, the edge preserving ability of the proposed algorithm is improved by more than 20%, and the denoising ability is improved by 63.5% for building target. For specific targets (vehicle), the results demonstrate that the proposed algorithm have the maximum edge preserving index and contrast, and the minimum non-uniformity. This algorithm lays a foundation for target segmentation and recognition. © 2021 SPIE.

关键词： Image fusion

Depth imaging through realistic fog using Gm-APD Lidar 16

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Depth imaging through realistic fog using Gm-APD Lidar

16th National Conference on Laser Technology and Optoelectronics

作者： Zhang, Yinbo Li, Sining Jiang, Peng Sun, Jianfeng Liu, Di Yang, Xianhui Zhang, Xin Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Industrial Technology Innovation Research Institute Co. Ltd Beijing101312 China

ISBN: (数字)9781510646643

ISBN: (纸本)9781510646636

When using Gm-APD Lidar for depth imaging through realistic fog, the echo signal of the target is submerged in the background noise due to the strong absorption and scattering characteristics of the fog particles, resulting in serious defect of the recovered depth image of the target. To solve this problem, this paper proposes a dual-parameter estimation algorithm based on continuous wavelet transform (CWT) and maximum likelihood estimation (MLE) to improve the accuracy of fog signal estimation. Then the target and the fog signal are separated by estimating the fog signal of each pixel. Finally, the depth image of the separated target is processed by cross pixel complement and median filtering algorithms to improve the integrity of the target image. The experimental results show that, compared with the traditional algorithm, the target recovery of the reconstructed image is improved by 0.337, and the relative average ranging error is reduced by 0.3897. This research improves the weather adaptability of Gm-APD Lidar. © 2021 SPIE.

关键词： Optical radar

Leader-Following Consensus of Discrete-Time Linear Multi-Agent systems with Communication Noises

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Leader-Following Consensus of Discrete-Time Linear Multi-Age...

第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Hongming Wang Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China North Vehicle Research Institute Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.

关键词： Multi-Agent system,Leader-following consensus,Mean square,Communication noise.

Valuing Equity-Linked Guaranteed Minimum Death Benefits with European-Style Asian Payoffs Under the Regime-Switching Diffusion Process with Jump

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SSRN

SSRN 2022年

作者： Wang, Yayun Liu, Shengda Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing400065 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

In this paper, we consider a novel and efficient method to price equity-linked guaranteed minimumdeath benefits (GMDB) with European-style geometric Asian and arithmetic Asian payoffs. In thesituation of continuous transition of market economy, we assume that the underlying asset price processfollows regime-switching Ĺevy model and use complex Fourier series (CFS) expansion method to derivethe approximate value of GMDB products. The error analysis shows an exponential convergence rateunder geometric Asian and arithmetic Asian payoffs. Furthermore, the CFS approach is comparedwith other Fourier transform methods and Monte Carlo simulation, the numerical experiment resultsillustrate our method has a distinct advantage over other methods in both efficiency and accuracy. © 2022, The Authors. All rights reserved.

关键词： Monte Carlo methods

Echo state network based symbol detection in chaotic baseband wireless communication

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arXiv 2021年

作者： Yin, Hui-Ping Bai, Chao Ren, Hai-Peng The Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China The Xi’an Key Laboratory of Intelligent Equipment Xi’an Technological University Xi’an710021 China

In some Internet of Things (IoT) applications, multipath propagation is a main constraint of communication channel. Recently, the chaotic baseband wireless communication system (CBWCS) is promising to eliminate the inter-symbol interference (ISI) caused by multipath propagation. However, the current technique is only capable of removing the partial effect of ISI, due to only past decoded bits are available for the suboptimal decoding threshold calculation. However, the future transmitting bits also contribute to the threshold. The unavailable future information bits needed by the optimal decoding threshold are an obstacle to further improve the bit error rate (BER) performance. Different from the previous method using echo state network (ESN) to predict one future information bit, the proposed method in this paper predicts the optimal threshold directly using ESN. The proposed ESN-based threshold prediction method simplifies the symbol decoding operation by removing the threshold calculation from the transmitting symbols and channel information, which achieves better BER performance as compared to the previous method. The reason for this superior result lies in two folds, first, the proposed ESN is capable of using more future symbols information conveyed by the ESN input to get more accurate threshold;second, the proposed method here does not need to estimate the channel information using Least Square method, which avoids the extra error caused by inaccurate channel information estimation. By this way, the calculation complexity is decreased as compared to the previous method. Simulation results and experiment based on a wireless open-access research platform under a practical wireless channel, show the effectiveness and superiority of the proposed method. Copyright © 2021, The Authors. All rights reserved.

关键词： Bit error rate

Design and Performance Analysis of a Chaotic Pseudo Orthogonal Carriers Multi-Access Communication system

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arXiv 2021年

作者： Bai, Chao Yao, Jun-Liang Sun, Yu-Zhe Ren, Hai-Peng Xi’an Key Laboratory of Intelligent Equipment Xi’an Technological University Xi’an710021 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China

A Chaotic Pseudo Orthogonal Carriers Multi-Access (CPOCMA) communication based on Chaotic Pseudo Orthogonal Shape-forming Filter (CPOSF) bank, Chaotic Pseudo Orthogonal Matched Filter (CPOMF) bank and Chaotic Pseudo Orthogonal Correlation Filter (CPOCF) bank is proposed in this work. At the transmitter, the multiple CPOSFs are used to generate pseudo orthogonal signals. It provides a good trade-off between spectrum efficiency and high bit transmission rate. At the receiver, the CPOMF bank and CPOCF bank are used to maximize the Signal-to-Noise Ratio (SNR) and extract the received information from each sub-channel, respectively. The received signal is demodulated by averaging the sampled sequence from the matched filter bank output and sorting the sampling sequence from the CPOCF bank output to recover the transmitted information bits. The proposed CPOCMA communication system not only offers multiuser access with high reliability and high data transmission rate, but also achieves higher spectrum efficiency. Analytical Bit Error Rate (BER) expression is derived. The proposed communication system performance has been evaluated in Additive White Gaussian Noise (AWGN) channel and wireless channel by both numerical simulations and experiments based on a Wireless open-Access Research Platform (WARP), the results show the effectiveness and the superiority of the proposed method. Copyright © 2021, The Authors. All rights reserved.

关键词： Numerical methods

Model-Based and Data-Driven control of Event- and Self-Triggered Discrete-Time LTI systems

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arXiv 2022年

作者： Wang, Xin Berberich, Julian Sun, Jian Wang, Gang Allgöwer, Frank Chen, Jie The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70550 Germany The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

The present paper considers the model-based and data-driven control of unknown linear time-invariant discretetime systems under event-triggering and self-triggering transmission schemes. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which also offers a way of co-designing the ETS matrix and the controller. To further alleviate the sampling burden of ETS due to its continuous/periodic detection, a self-triggering scheme (STS) is developed. Leveraging pre-collected input-state data, an algorithm for predicting the next transmission instant is given, while achieving system stability. Finally, numerical simulations showcase the efficacy of ETS and STS in reducing data transmissions as well as of the proposed co-design methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

Learning oriented cross-entropy approach to user association in load-balanced HetNet

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arXiv 2018年

作者： Huang, Xietian Xu, Wei Xie, Guo Jin, Shi You, Xiaohu Southeast University Nanjing China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an China

This letter considers optimizing user association in a heterogeneous network via utility maximization, which is a combinatorial optimization problem due to integer constraints. Different from existing solutions based on convex optimization, we alternatively propose a cross-entropy (CE)-based algorithm inspired by a sampling approach developed in machine learning. Adopting a probabilistic model, we first reformulate the original problem as a CE minimization problem which aims to learn the probability distribution of variables in the optimal association. An efficient solution by stochastic sampling is introduced to solve the learning problem. The integer constraint is directly handled by the proposed algorithm, which is robust to network deployment and algorithm parameter choices. Simulations verify that the proposed CE approach achieves near-optimal performance quite efficiently. Copyright © 2018, The Authors. All rights reserved.

关键词： Heterogeneous networks