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Flocking in Multi-Agent Systems with Multiple Virtual Leaders Based Only on Position Measurements

Communications in Theoretical Physics 2012年第5期57卷 801-807页

作者：苏厚胜 Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and Technology

Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring *** this paper,the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements.A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity,collision between agents can be avoided,and the final tight formation minimizes all agents' global potentials.A simulation example is presented to verify and illustrate the theoretical results.

关键词： distributed control flocking multi-agent system multiple virtual leaders

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Displacement prediction of landslide based on PSOGSA-ELM with mixed kernel

Displacement prediction of landslide based on PSOGSA-ELM wit...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Cheng Lian Zhigang Zeng Wei Yao Huiming Tang School of Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry China School of Computer Science South-Central University for Nationalities Wuhan China Faculty of Engineering China University of Geosciences Wuhan China

The prediction of landslide displacement is essential for carrying out to improve the disaster warning system and reduce casualties and property losses. This study applies a novel neural network technique, extreme learning machine (ELM) with kernel function, to landslide displacement prediction problem. However, the generalization performance of ELM with kernel function depends closely on the kernel types and the kernel parameters. In this paper, we use a convex combination of Gaussian kernel function and polynomial kernel function in ELM, which may use these two types of kernel functions' advantages. In order to avoid blindness and inaccuracy in parameter selection, a novel hybrid optimization algorithm based on the combination of Particle Swarm Optimization (PSO) and Gravitational Search Algorithm (GSA) is used to optimize the regularization parameter C, the Gaussian kernel parameter γ, the polynomial kernel parameter q and the mixing weight coefficient η. The performance of our model is verified through two case studies in Baishuihe landslide and Yuhuangge landslide.

关键词： Kernel Terrain factors Optimization Hazards Reservoirs Training Support vector machines

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RLSESN-based PID adaptive control for a novel wearable rehabilitation robotic hand driven by PM-TS actuators

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International Journal of intelligent Computing and Cybernetics 2012年第1期5卷 91-110页

作者： Jun Wu Jian Huang Yongji Wang Kexin Xing Key Laboratory of Image Processing and Intelligent Control Department of Control Science and EngineeringHuazhong University of Science and TechnologyWuhanChina

Purpose-The purpose of this paper is to develop a novel wearable rehabilitation robotic hand driven by Pneumatic Muscle-Torsion Spring(PM-TS)for finger *** has complex nonlinear dynamics,which makes PM modelling *** realize high-accurate tracking for the robotic hand,an Echo State Network(ESN)-based PID adaptive controller is proposed,even though the plant model is ***/methodology/approach-To drive a single joint of rehabilitation robotic hand,the paper proposes a new PM-TS actuator comprising a Pneumatic Muscle(PM)and a Torsion Spring(TS).Based on the novel actuator,a wearable robotic hand is *** employing the model-free approximation capability of ESN,the RLSESN based PID adaptive controller is presented for improving the trajectory tracking performance of the rehabilitation robotic *** ESN together with Recursive Least Square(RLS)is called a RLSESN,where the ESN output weight matrix is updated by the online RLS learning ***–Practical experiments demonstrate the validity of the PM-TS actuator and indicate that the performance of the RLSESN based PID adaptive controller is better than that of the conventional PID *** addition,they also verify the effectiveness of the proposed rehabilitation robotic ***/value–A new PM-TS actuator configuration that uses a PM and a torsion spring for bi-directional movement of joint is *** utilizing the new PM-TS actuator,a novel wearable rehabilitation robotic hand for finger therapy is *** on the unknown plant model,the RLSESN_PID controller is proposed to attain satisfactory performance.

关键词： Robotics Control systems Controllers Actuators Adaptive system theory Wearable rehabilitation robotic hand Echo state network Pneumatic muscle Trajectory tracking

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A uniform solution to the independent set problem through tissue P systems with cell separation

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Frontiers of Computer Science 2012年第4期6卷 477-488页

作者： Xingyi ZHANG Xiangxiang ZENG Bin LUO Zheng ZHANG Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and TechnologyAnhui UniversityHefei 230039China Department of Computer Science Xiamen UniversityXiamen 361005China Key Laboratory of Image Processing and Intelligent Control Department of Control Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Membrane computing is an emergent branch of natural computing, which is inspired by the structure and the functioning of living cells, as well as the organization of cells in tissues, organs, and other higher order structures. Tissue P systems are a class of the most investigated computing mod- els in the framework of membrane computing, especially in the aspect of efficiency. To generate an exponential resource in a polynomial time, cell separation is incorporated into such systems, thus obtaining so called tissue P systems with cell separation. In this work, we exploit the computational efficiency of this model and construct a uniform family of such tissue P systems for solving the independent set problem, a well-known NP-complete problem, by which an efficient so- lution can be obtained in polynomial time.

关键词： membrane computing tissue P system cell sep- aration independent set problem

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A nonlinear sliding mode observer for the estimation of temperature distribution in the planar solid oxide fuel cell stack

A nonlinear sliding mode observer for the estimation of temp...

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第五届世界氢能技术大会(WHTC2013)

作者： Huan Cheng Xi Li Jianhua Jiang Lin Zhang Jian Li Jie Yang Department of control science and Engineering Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China School of Materials Science and Engineering State Key Laboratory of Material Processing and Die and Mould Technology Huazhong University of Science and Technology Wuhan 430074 China School of Mechanical and Electronic Information China University of Geosciences Wuhan 430074 China

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Controllability of Discrete-Time Multi-Agent Systems with Multiple Leaders on Fixed Networks

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Communications in Theoretical Physics 2012年第12期58卷 856-862页

作者：刘波胡卫娜张杰苏厚胜 College of Science North China University of Technology Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology

This paper investigates controllability of discrete-time multi-agent systems with multiple leaders on fixed networks. The leaders are particular agents playing a part in external inputs to steer other member agents. The followers can arrive at any predetermined configuration by regulating the behaviors of the leaders. Some sufficient and necessary conditions are proposed for the controllability of discrete-time multi-agent systems with multiple leaders. Moreover, the case with isolated agents is discussed. Numerical examples and simulations are proposed to illustrate the theoretical results we established.

关键词： multi-agent systems fixed topology controllability controllable matrix

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A novel video face clustering algorithm based on divide and conquer strategy

A novel video face clustering algorithm based on divide and ...

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12th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2012

作者： Gou, Gaopeng Huang, Di Wang, Yunhong Laboratory of Intelligent Recognition and Image Processing Beijing Key Laboratory of Digital Media Beihang University Beijing China

ISBN: (纸本)9783642326943

Video-based face clustering is a very important issue in face analysis. In this paper, a framework for video-based face clustering is proposed. The framework contains two steps. First, faces are detected from videos and divided into subgroups using temporal continuity information and SIFT (Scale Invariant Feature Transform) features. Second, the typical samples are selected from these subgroups in order to remove some non-typical faces. A similarity matrix is then constructed using these typical samples in the subgroups. The similarity matrix is further processed by our method to generate the face clustering results of that video. Our algorithm is validated using the SPEVI datasets. The experiments demonstrated promising results from our algorithm. © 2012 Springer-Verlag.

关键词： Clustering algorithms

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Towards independent color space selection for human skin detection

Towards independent color space selection for human skin det...

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13th Pacific-Rim Conference on Multimedia, PCM 2012

作者： Xu, Tao Wang, Yunhong Zhang, Zhaoxiang Laboratory of Intelligent Recognition and Image Processing Beijing Key Laboratory of Digital Media Beihang University Beijing China

ISBN: (纸本)9783642347771

Skin color detection plays an important role in video based applications. Without considering the selection of suitable color space, a novel skin color detection method is proposed based on the flexible neural tree, which can identify the important components of color spaces automatically. With large training data sets, our method builds a flexible neural tree structure and optimizes its parameters using Genetic Programming and Particle Swarm Optimization algorithms. In experiments, features comprised of all channels extracted from RGB, YCbCr and HSV color spaces are used for the constructing and evaluating of the novel skin color model, in which six most important components, i.e., R, G, B, Y, Cr and S are selected for testing. Furthermore, our method achieves higher accuracy and lower false positive rate than state of the art methods on Compaq and ECU data set. © 2012 Springer-Verlag.

关键词： Genetic programming

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Active learning for transferrable object classification in cross-view traffic scene surveillance

Active learning for transferrable object classification in c...

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13th Pacific-Rim Conference on Multimedia, PCM 2012

作者： Zhang, Zhaoxiang Tang, Jun Zhao, Yuhang Wang, Yunhong Liu, Jianyun Laboratory of Intelligent Recognition and Image Processing Beijing Key Laboratory of Digital Media Beihang University Beijing China

ISBN: (纸本)9783642347771

We discuss the problem of object classification in cross-view traffic scene surveillance videos in this paper. To classify moving objects in traffic scene videos into pedestrian, bicycle and variety of vehicles, an effective intelligent classification framework has been proposed which takes advantage of a transfer machine learning method to bridge the gap between source scene data and target scene data. The transfer learning algorithm makes one classifier adaptive to perspective changes instead of training two different classifiers for corresponding perspectives. The samples transferred from source scene database have saved much manual labeling work on target scene database. In this paper, we propose an active transfer learning method to decrease manual labeling work further for target scene traffic object classification. Redundant experiments are conducted and experimental results demonstrate the effectiveness and convenience of our approach. © 2012 Springer-Verlag.

关键词： Learning algorithms

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A hybrid local feature for face recognition

A hybrid local feature for face recognition

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12th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2012

作者： Gou, Gaopeng Huang, Di Wang, Yunhong Laboratory of Intelligent Recognition and Image Processing Beijing Key Laboratory of Digital Media Beihang University Beijing China

ISBN: (纸本)9783642326943

Efficient face encoding is an important issue in the area of face recognition. Compared to holistic features, local features have received increasing attention due to their good robustness to pose and illumination changes. In this paper, based on the histogram-based interest points and the speeded up robust features, we propose a hybrid local face feature, which provides a proper balance between the computational speed and discriminative power. Experiments on three databases demonstrate the effectiveness of the proposed method as well as its robustness to the main challenges of face recognition and even in practical environment. © 2012 Springer-Verlag.

关键词： Face recognition

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