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International Conference on Measuring Technology and Mechatronics Automation, ICMTMA

作者： Ji Zhan-Jiang Shi Wei School of Information and Electronic Engineering Wuzhou University China Guangxi Colleges and Universities Key Laboratory of Image Processing and Intelligent Information System Wuzhou University China Guangxi Colleges and Universities Key Laboratory of Professional Software Technology Wuzhou University China Party Committee Office Wuzhou Vocational College China

ISBN: (数字)9781728170817

ISBN: (纸本)9781728170824

The expansion property and chain mixing property have an important significance in terms of theory and application. The concept of the expansion property and chain mixing property are introduced in this paper. We study their dynamical properties. The following result are obtained: (1) Let (K , G) be the hyperspace of (K , G). If (K , G) is expansive, then (K , G) is expansive; (2) Let (K , G) be the hyperspace of (K , G) . If (K , G) is chain mixing, then (K , G) is chain mixing; (3) Let (K , G) be the hyperspace of (K , G) . If (K , G) is chain transitive, then (K , G) is chain transitive; These results enriched the theory of the expansion property and chain mixing property of topological group.

关键词： Mechatronics Automation

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Dynamic analysis of high-dimensional fractional-order gene regulation networks with time delay

Dynamic analysis of high-dimensional fractional-order gene r...

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第三十九届中国控制会议

作者： Zhe Zhang Can Ding Jing Zhang Feng Liu Yingjie Zhang FanyongCheng College of Electrical and Information Engineering Hunan University School of Automation China University of Geosciences College of Computer Science and Electronic Engineering Hunan University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University

This paper mainly analyzes the stability of high-dimensional fractional-order gene regulatory network systems with time *** on the judgment of eigenvalues,this paper proposes sufficient information about the stability of high-dimensional fractional-order gene regulatory network systems with time ***,and by analyzing the characteristic equations,the bifurcation conditions of the high-dimensional fractional-order gene regulatory network system with time delay are ***,the theoretical part of this paper is verified by numerical simulation.

关键词： Gene regulatory network system Stability analysis Dynamic analysis Time delay

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A survey on negative transfer

arXiv

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arXiv 2020年

作者： Zhang, Wen Deng, Lingfei Zhang, Lei Wu, Dongrui the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China the School of Microelectronics and Communication Engineering Chongqing University Chongqing400044 China

—Transfer learning (TL) utilizes data or knowledge from one or more source domains to facilitate the learning in a target domain. It is particularly useful when the target domain has very few or no labeled data, due to annotation expense, privacy concerns, etc. Unfortunately, the effectiveness of TL is not always guaranteed. Negative transfer (NT), i.e., leveraging source domain data/knowledge undesirably reduces the learning performance in the target domain, has been a long-standing and challenging problem in TL. Various approaches have been proposed in the literature to handle it. However, there does not exist a systematic survey on the formulation of NT, the factors leading to NT, and the algorithms that mitigate NT. This paper fills this gap, by first introducing the definition of NT and its factors, then reviewing about fifty representative approaches for overcoming NT, according to four categories: secure transfer, domain similarity estimation, distant transfer, and NT mitigation. NT in related fields, e.g., multi-task learning, lifelong learning, and adversarial attacks, are also discussed. Copyright © 2020, The Authors. All rights reserved.

关键词： Surveys

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A visual kinematics calibration method for manipulator based on nonlinear optimization

arXiv

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arXiv 2020年

作者： Peng, Gang Wang, Zhihao Yang, Jin Li, Xinde Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China IEEE senior member School of Automation South East University Nanjing China

The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not applicable to all manipulators. Another calibration method uses a camera, but the system error caused by the camera's parameters affects the calibration accuracy of the kinematics of the robot arm. Therefore, this paper proposes a method for calibrating the geometric parameters of a kinematic model of a manipulator based on monocular vision. Firstly, the classic Denavit-Hartenberg (D-H) modeling method is used to establish the kinematic parameters of the manipulator. Secondly, nonlinear optimization and parameter compensation are performed. The three-dimensional positions of the feature points of the calibration plate under each manipulator attitude corresponding to the actual kinematic model and the classic D-H kinematic model are mapped into the pixel coordinate system, and the sum of Euclidean distance errors of the pixel coordinates of the two is used as the objective function to be optimized. The experimental results show that the pixel deviation of the end pose corresponding to the optimized D-H kinematic model proposed in this paper and the end pose corresponding to the actual kinematic model in the pixel coordinate system is 0.99 pixels. Compared with the 7.9 deviation pixels between the pixel coordinates calculated by the classic D-H kinematic model and the actual pixel coordinates, the deviation is reduced by nearly 7 pixels for an 87% reduction in error. Therefore, the proposed method can effectively avoid system errors caused by camera parameters in visual calibration, can improve the absolute positioning accuracy of the end of the robotic arm, and has good economy and universality. Copyright © 2020, The Authors. All rights reserved.

关键词： Pixels

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Observer-Based Robust Containment control of Multi-agent Systems With Input Saturation

Observer-Based Robust Containment Control of Multi-agent Sys...

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第三十九届中国控制会议

作者： Juan Qian Xiaoling Wang Guo-Ping Jiang Housheng Su College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunicationsand Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot) School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology

In this paper, the robust containment control problem of the leader-following multi-agent systems with input saturation and input additive disturbance is addressed, where the followers can be informed by multiple leaders. With the help of the lowand-high gain feedback technique and the high-gain observer approach, a distributed control algorithm for each agent is firstly designed by using the observed output information, then sufficient conditions are provided to guarantee the semi-global robust containment of the system. Finally, some numerical simulations are given to verify the correctness of the theoretical results.

关键词： Containment control multi-agent system input saturation input additive disturbance

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Parity space-based model mismatch detection for linear discrete time-invariant systems with unknown disturbances

Parity space-based model mismatch detection for linear discr...

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Chinese control Conference (CCC)

作者： Yi Tang Dan Ling Hong Zhang Yanewei Wang Ying Zheng the Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Electrical and Information Engineering Zhengzhou University of Light Industry Zhengzhou China School of Mechanical & Electrical Engineering Wuhan Institute of Technology Wuhan China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Model mismatch is one of the main factors of control performance degradation. In this paper, a new model mismatch detection approach with parity space-based methods is proposed for linear discrete time-invariant (LDTI) systems. This paper establishes a parity space-based residual evaluation function for the detection of model mismatch. The problem of parity space-based model mismatch is formulated on a state space model of a LDTI system. A standard evaluation function and its thresholds for the detection of model mismatch are proposed by providing the parity model-based residuals. It is shown the proposed approach results in an optimal fault detectability without any assumptions on the probability distribution of unknown disturbances. The effectiveness of the proposed methods is demonstrated by the simulation study of the paper machine head box control example.

关键词： Generators System performance Benchmark testing Sensitivity Degradation Fault detection Aerospace electronics

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Synaptic learning with augmented spikes

arXiv

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arXiv 2020年

作者： Yu, Qiang Song, Shiming Ma, Chenxiang Pan, Linqiang Tan, Kay Chen Tianjin Key Laboratory of Cognitive Computing and Application College of Intelligence and Computing Tianjin University Tianjin China Key Laboratory of Image Information Processing and Intelligent Control Institute of Artificial Intelligence School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China The Department of Computer Science City University of Hong Kong Hong Kong

Traditional neuron models use analog values for information representation and computation, while all-or-nothing spikes are employed in the spiking ones. With a more brain-like processing paradigm, spiking neurons are more promising for improvements on efficiency and computational capability. They extend the computation of traditional neurons with an additional dimension of time carried by all-or-nothing spikes. Could one benefit from both the accuracy of analog values and the time-processing capability of spikes? In this paper, we introduce a concept of augmented spikes to carry complementary information with spike coefficients in addition to spike latencies. New augmented spiking neuron model and synaptic learning rules are proposed to process and learn patterns of augmented spikes. We provide systematic insight into the properties and characteristics of our methods, including classification of augmented spike patterns, learning capacity, construction of causality, feature detection, robustness and applicability to practical tasks such as acoustic and visual pattern recognition. The remarkable results highlight the effectiveness and potential merits of our methods. Importantly, our augmented approaches are versatile and can be easily generalized to other spike-based systems, contributing to a potential development for them including neuromorphic computing. Copyright © 2020, The Authors. All rights reserved.

关键词： Neurons

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Chinese microblog rumor detection based on deep sequence context

Chinese microblog rumor detection based on deep sequence con...

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作者： Lin, Dazhen Ma, Ben Cao, Donglin Li, Shaozi Department of Cognitive Science Xiamen University Xiamen China Fujian Key Laboratory of Brain-inspired Computing Technique and Applications Xiamen University Xiamen China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China

Rumor is one of the main problems in social media, which often shows deeply and rapidly undesirable affection on the society. Although many rumor detection models consider content features and social features, all of them are based on the word independence assumption, which lacks the sequence context. Thus, if we use some words that often appear in rumors, our posts will be recognized as a rumor. To solve this problem, we propose a deep sequence context model (DSCM) for Chinese microblog rumor detection. This model considers two important factors of rumors: falsity and influence. Firstly, to learn falsity, we abolish the word independence assumption and use long short-term memory (LSTM) units to capture bi-direction sequence context information in content. Secondly, to learn influence, we combine the deep sequence context information with social features to learn the connection between content and social features. In our experiment, our results show that our approach outperforms several state-of-the-art machine learning approaches, including term frequency and inverse document frequency (TFIDF), LSTM, and gated recurrent unit (GRU) in rumor detection. © 2018 John Wiley & Sons, Ltd.

关键词： Long short-term memory

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Model-Free Sliding Mode Iterative Learning control for Cz Silicon Single Crystal Diameter

Model-Free Sliding Mode Iterative Learning Control for Cz Si...

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第三十九届中国控制会议

作者： Yin Wan Ding Liu Junchao Ren Congcong Liu Jie Sun National & Local Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

Aiming at the complex nonlinear dynamic time-varying characteristics for Czochralski（Cz） silicon single crystal growth process and the difficulty in modeling and controlling the crystal diameter by conventional mechanisms, based on the idea of data-driven modeling and control, this paper proposes an improved model-free sliding mode iterative learning control（MFA-SMILC） method. First, a data-driven model of crystal diameter is established using an extreme learning machine（ELM）with actual process data;Then, based on the compact-format dynamic linear（CFDL） data model, a discrete sliding mode control algorithm is used to design a data-driven controller structure for crystal diameters, and the stability of the iterative tracking error is verified by the stability analysis;Finally, the proposed MFA-SMILC controller is applied to silicon single crystal diameter control, and compared with the conventional model-free adaptive iterative learning control（MFA-ILC）, it is found that MFASMILC has faster response speed and convergence speed, which verifies the effectiveness of the proposed control method.

关键词： Cz silicon single crystal growth Crystal diameter Model free iterative learning control Sliding mode control

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The Design and control of Novel Needle Position Robotic System with Motion Uncertainties

The Design and Control of Novel Needle Position Robotic Syst...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Yi Liu Jing Guo Jiang Lan Yujia Tang Xinwei Chen Xiaoming Xiong Guangdong University of Technology Guangzhou China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou Fujian China Chipeye Microelectronics Foshan Ltd. Foshan China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The robotic system have been widely used in many scenarios, especially been used in the operating room at the past decades. Needle based pervutaneous interventions as one of the surgical applications, have attracted much attentions from both engineering and surgical communities. However, the current robotic system are normally too cumbersome and hard to the used by clinicians directly into the operating room. A light-weighted robotic system with intuitive control approach to perform autonomous surgical tasks is desired to better benefit the surgical procedures. In this paper, we designed a novel light-weighted robotic assisted needle position system which can realize the needle position and orientation in the operating room. In order to further improve the performance of the developed robotic system considering motion uncertainties of the mechanical design, a PID controller is utilized to improve the accuracy of the needle position in the developed robotic system. Thus more intuitive control and operation of the needle position can be achieved within the proposed robotic system and control framework.

关键词： Needles Robot kinematics Kinematics Uncertainty Biomedical imaging control systems

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