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Asian Control Conference

作者： Ancai Zhang Jinhua She Jianlong Qiu Chengdong Yang Lan Zhou School of Automation and Electrical Engineering Linyi University Linyi Shandong China Key Laboratory of Complex Systems and Intelligent Computing Universities of Shandong Linyi Shandong China School of Automation China University of Geosciences Wuhan Hubei China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Information Science and Engineering Linyi University Linyi Shandong China School of Information and Electrical Engineering Hunan University of Science and Technology Xiangtan Hunan China

ISBN: (纸本)9781509015740;9781509015733

This paper concerns the motion trajectory design for an underactuated three-link robot (UTGR). First, we design a controller for the UTGR system based on the system's dynamic structure characteristics. And then, the properties of closed-loop system are analyzed. After that, a motion trajectory of the UTGR is designed based on the analyzed properties and an inverted trajectory idea. The designed trajectory starts from the downward position and ends at the upward position. Tracking of this trajectory can enable the stabilization control objective of UTGR from the downward position to the upward position to be achieved. A numerical example demonstrates the effectiveness of our proposed theoretical results.

关键词： Trajectory Robots Closed loop systems Mathematical model Mechanical systems Tracking

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Integrated 3-D Flight Trajectory Tracking Control with Aerodynamic Constraints on Attitude and control Surfaces

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Asian Journal of Control 2017年第5期20卷

作者： Xueyuan Wang Hao Fang Lihua Dou Jie Chen Bin Xin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

关键词： Trajectory tracking high-order nonlinear system backstepping B-spline neural network

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Analytical and simulation studies of pedestrian flow at a crossing with random update rule

arXiv

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arXiv 2017年

作者： Ding, Zhong-Jun Yu, Shao-Long Zhu, Kongjin Ding, Jian-Xun Chen, Bokui Shi, Qin Jiang, Rui Wang, Bing-Hong School of Automotive and Transportation Engineering Hefei University of Technology Hefei230009 China MOE Key Laboratory for Urban Transportation Complex Systems Theory and Technology Beijing Jiaotong University Beijing100044 China School of Computing National University of Singapore 117417 Singapore Department of Modern Physics University of Science and Technology of China Hefei230026 China

The intersecting pedestrian flow on the 2D lattice with random update rule is studied. Each pedestrian has three moving directions without the back step. Under periodic boundary conditions, an intermediate phase has been found at which some pedestrians could move along the border of jamming stripes. We have performed mean field analysis for the moving and intermediate phase respectively. The analytical results agree with the simulation results well. The empty site moves along the interface of jamming stripes when the system only has one empty site. The average movement of empty site in one Monte Carlo step (MCS) has been analyzed through the master equation. Under open boundary conditions, the system exhibits moving and jamming phases. The critical injection probability αc shows nontrivially against the forward moving probability q. The analytical results of average velocity, the density and the flow rate against the injection probability in the moving phase also agree with simulation results well. Copyright © 2017, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Cloud Control systems

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IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 134-142页

作者： Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future. © 2014 Chinese Association of Automation.

关键词： Big data Cloud computing Computation theory Control systems Control theory Controllers Data handling Distributed computer systems Embedded systems Internet of things

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The paralleleye dataset: Constructing large-scale artificial scenes for traffic vision research

arXiv

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arXiv 2017年

作者： Li, Xuan Wang, Kunfeng Tian, Yonglin Yan, Lan Wang, Fei-Yue School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China Department of Automation University of Science and Technology of China Hefei230027 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Video image datasets are playing an essential role in design and evaluation of traffic vision algorithms. Nevertheless, a longstanding inconvenience concerning image datasets is that manually collecting and annotating large-scale diversified datasets from real scenes is time-consuming and prone to error. For that virtual datasets have begun to function as a proxy of real datasets. In this paper, we propose to construct large-scale artificial scenes for traffic vision research and generate a new virtual dataset called "ParallelEye". First of all, the street map data is used to build 3D scene model of Zhongguancun Area, Beijing. Then, the computer graphics, virtual reality, and rule modeling technologies are utilized to synthesize large-scale, realistic virtual urban traffic scenes, in which the fidelity and geography match the real world well. Furthermore, the Unity3D platform is used to render the artificial scenes and generate accurate ground-truth labels, e.g., semantic/instance segmentation, object bounding box, object tracking, optical flow, and depth. The environmental conditions in artificial scenes can be controlled completely. As a result, we present a viable implementation pipeline for constructing large-scale artificial scenes for traffic vision research. The experimental results demonstrate that this pipeline is able to generate photorealistic virtual datasets with low modeling time and high accuracy labeling. Copyright © 2017, The Authors. All rights reserved.

关键词： Pipelines

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Modified EKF-based Nonlinear Filtering over Wireless Channels with Transmission Failure and Fading

Modified EKF-based Nonlinear Filtering over Wireless Channel...

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第35届中国控制会议

作者： Luyu Li Zhen Li Xiangdong Liu Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper addresses the stochastic stability problem of a modified extended Kalman filter(MEKF), targeted at the state estimation of the nonlinear system through wireless channel, where both transmission failure and channel fading are practically under consideration. For a class of nonlinear systems whose observation's Jacobi Matrix is always invertible, the sufficient conditions of the error covariance matrices are accordingly established. Moreover, the conditions for the stochastic stability of the estimation error are also derived, which is tighter than the conditions of boundedness of the error ***, a numerical example is given to demonstrate the feasibility of the proposed method.

关键词： Extended Kalman filter stochastic stability transmission failure fading

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H∞ Polytopic Filter Design for Nonlinear systems

H∞ Polytopic Filter Design for Nonlinear Systems

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第35届中国控制会议

作者： Yin Yu Zhen Li Jian Li Luyu Li Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper proposes an H polytopic lter design for a nonlinear system. Based on the polytopic approximation of the nonlinear system, the polytopic lter design is converted into a group of linear matrix inequalities（LMIs） so that the polytopic lter parameters can be effectively acquired by numerical convex optimization algorithms. At this stage, the tensor product（TP） model transformation is utilized to compute the polytopic approximation of the nonlinear system. Particularly, a new recti cation procedure is further developed to obtain a specific polytopic approximation with all the vertex systems being stable, which premises the solvability of the LMIs. The method is much easier to be implemented than traditional approaches such as the Hamilton-Jacobi inequality（HJI）-based methods. Simulation demonstrates the method is much less conservative than the existing method and has good estimation performance.

关键词： H_∞ lter nonlinear systems polytopic model tensor product model transformation

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Learning with only multiple instance positive bags

Learning with only multiple instance positive bags

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2016 International Joint Conference on Neural Networks, IJCNN 2016

作者： Wang, Zhigang Zhao, Zengshun Zhang, Changshui Computer and Communication Engineering School Tianjin University of Technology Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology China Key Laboratory of Computer Vision and System Tianjin University of Technology Ministry of Education China College of Electronics Communication and Physics Shandong University of Science and Technology China Automation Department Tsinghua University State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology China

ISBN: (纸本)9781509006199

In traditional multiple instance learning (MIL), both positive and negative bags are required to learn a prediction function. However, a high human cost is needed to know the label of each bag - positive or negative. Only positive bags contain our focus (positive instances) while negative bags consist of noise or background (negative instances). So we do not expect to spend too much to label the negative bags. Contrary to our expectation, nearly all existing MIL methods require enough negative bags besides positive ones. In this paper we propose an algorithm called 'Positive Multiple Instance' (PMI), which learns a classifier given only a set of positive bags. So the annotation of negative bags becomes unnecessary in our method. PMI is constructed based on the assumption that the unknown positive instances in positive bags be similar each other and constitute one compact cluster in feature space and the negative instances locate outside this cluster. The experimental results demonstrate that PMI achieves the performances close to or a little worse than those of the traditional MIL algorithms on benchmark and real data sets. However, the number of training bags in PMI is reduced significantly compared with traditional MIL algorithms. © 2016 IEEE.

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Application of fuzzy cognitive map in information intelligent push

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Journal of Beijing Institute of Technology 2015年第4期24卷 553-557页

作者：张佳徐胜利邓方 School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Since computer system functions are becoming increasingly complex, the user has to spend much more time on the process of seeking information, instead of utilizing the required infor- mation. Information intelligent push technology could replace the traditional method to speed up the information retrieval process. The fuzzy cognitive map has strong knowledge representation ability and reasoning capability. Information intelligent push with the basis on fuzzy cognitive map could ab- stract the computer user＇ s operations to a fuzzy cognitive map, and infer the user＇ s operating inten- tions. The reasoning results will be translated into operational events, and drive the computer system to push appropriate information to the user.

关键词： fuzzy cognitive map artificial intelligence information intelligent push

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Top-k Dominating Queries on Incomplete Data

Top-k Dominating Queries on Incomplete Data

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作者： Miao, Xiaoye Gao, Yunjun Zheng, Baihua Chen, Gang Cui, Huiyong College of Computer Science Zhejiang University 38 Zheda Road Hangzhou310027 China Key Laboratory of Big Data Intelligent Computing of Zhejiang Province Zhejiang University Hangzhou China School of Information Systems Singapore Management University Singapore178902 Singapore

The top-k dominating (TKD) query returns the k objects that dominate the maximum number of objects in a given dataset. It combines the advantages of skyline and top-k queries, and plays an important role in many decision support applications. Incomplete data exists in a wide spectrum of real datasets, due to device failure, privacy preservation, data loss, and so on. In this paper, for the first time, we carry out a systematic study of TKD queries on incomplete data, which involves the data having some missing dimensional value(s). We formalize this problem, and propose a suite of efficient algorithms for answering TKD queries over incomplete data. Our methods employ some novel techniques, such as upper bound score pruning, bitmap pruning, and partial score pruning, to boost query efficiency. Extensive experimental evaluation using both real and synthetic datasets demonstrates the effectiveness of our developed pruning heuristics and the performance of our presented algorithms. © 2015 IEEE.

关键词： Decision support systems

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