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37th Chinese control Conference, CCC 2018

作者： Wen-Juan, Lin Yong, He Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences School of Automation Wuhan430074 China

ISBN: (纸本)9789881563941

This paper investigates the problem of the strictly (\mathcal{Q}, \mathcal{S}, \mathcal{R})-\gamma -dissipativity analysis for Markovian jump neural networks with a time-varying delay. By employing an appropriate Lyapunov-Krasovskii functional and using the extended relaxed integral inequality to estimate its derivative, a delay-dependent and mode-dependent condition that guarantee the considered Markovian jump neural networks strictly (\mathcal{Q}, \mathcal{S}, \mathcal{R})-\gamma -dissipative is derived. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Lyapunov functions

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An Efficient Restart-Enhanced Genetic Algorithm for the Coalition Formation Problem 1

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13th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2018

作者： Guo, Miao Xin, Bin Chen, Jie Wang, Yipeng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (数字)9789811328268

ISBN: (纸本)9789811328251

In multi-agent system (MAS), the coalition formation (CF) is an important problem focusing on allocating agents to different tasks. In this paper, the single-task single-coalition (STSC) formation problem is considered. The mathematical model of the STSC problem is built with the objective of minimizing the total cost with the ability constraint. Besides, an efficient restart-enhanced genetic algorithm (REGA) is designed to solve the STSC problem. Furthermore, this paper constructs a comparison experiment, employing a random sampling method, an estimation of distribution algorithm and a genetic algorithm without restart strategy as competitors. The results of statistical analysis by the Wilcoxon’s rank-sum test demonstrate that the designed REGA performs better than its competitors in solving the STSC cases of different scales. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

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Visual enhancement by spectral optimization of light sources 8

Visual enhancement by spectral optimization of light sources

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8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Applications, ISCIIA and ITCA 2018

作者： Jin, Xing Cheng, Xianghui Yang, Xiang Zhang, Jinjin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

The visualization of an object image is directly affected by the spectral power distribution of the illuminated light source. In addition, the quality and the clarity of an object image can be evaluated by the color entropy value. Therefore, in order to obtain higher color entropy value of the target object image, a visual enhancement method is proposed by optimizing the spectral of the illumination. The optimal light source spectrum of the target image is obtained by the maximum color entropy, and the spectral reflectance of the object is obtained by the reconstruction method of the RBF neural network. The images under the optimal illumination source were compared with those of other commercial white light sources (6774K, 5000K, 2700K, 3000K,). The result shows that the optimized light source has a better visual effect and the lines in the image are more apparent. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Application.

关键词： Light sources

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H∞ Consensus control of Multi-agent systems with Round-robin Protocol and Missing Measurements: The Finite-horizon Case

H∞ Consensus Control of Multi-agent Systems with Round-robi...

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第31届中国控制与决策会议

作者： Mengmeng Sun Dongyan Chen School of Science Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology

The H consensus control problem is handled for a class of discrete time-varying multi-agent systems with round-robin protocol and missing measurements. The round-robin protocol is considered, which allows only one agent can send its measurement data at each transmission step in order to prevent the data collisions. And the missing measurements phenomenon is described by a sequence of Bernoulli distributed random variables with known probabilities. We focus on designing the controller parameters to guarantee that the closed-loop multi-agent systems with missing measurements satisfy the H consensus performance. On this basis, some sufficient and necessary conditions are obtained by solving coupled backward recursive Riccati difference equations, where the existence and feasibility of the control scheme can be obtained with the help of the completing squares method and the stochastic analysis technique. At last, a numerical example is given to illustrate the effectiveness of the developed controller design scheme.

关键词： Time-varying Multi-agent systems H_∞ Consensus control Round-robin Protocol Missing Measurements Recursive Riccati Difference Equations

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Dynamical primal-dual accelerated method with applications to network optimization

arXiv

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arXiv 2019年

作者： Zeng, Xianlin Lei, Jinlong Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of control science and engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China

This paper develops a continuous-time primal-dual accelerated method with an increasing damping coefficient for a class of convex optimization problems with affine equality constraints. We then analyze critical values for parameters in the proposed method and prove that the rate of convergence is O(t12 ) by choosing proper parameters. As far as we know, this is the first continuous-time primal-dual accelerated method that can obtain the optimal rate. Then this work applies the proposed method to two network optimization problems, a distributed optimization problem with consensus constraints and a distributed extended monotropic optimization problem, and obtains two variant distributed algorithms. Finally, numerical simulations are given to demonstrate the efficacy of the proposed method. Copyright © 2019, The Authors. All rights reserved.

关键词： Continuous time systems

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Convex Relaxation with Log-Determinant Divergence-L1 Regularization for 3D Shape Reconstruction

Convex Relaxation with Log-Determinant Divergence-L1 Regular...

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第三十八届中国控制会议

作者： Wei Cao Luefeng Chen Min Wu Witold Pedrycz School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Electrical and Computer Engineering University of Alberta

Investigated is the problem of estimating the 3 D shape of an object defined by a set of 3 D landmarks with their 2 D correspondences in a single image. To solve this problem, we use a dictionary of the basic shape with LDD-L1 regularization,which is the construction of the shape space model. Based on the proposed convex optimization method, 3 D human pose reconstruction by shape space model and 3 D variable shape model was carried out on the mocap database. To improve accuracy and reduce the number of iterations, we use PSO algorithm to optimize initial value of the key parameter. The experimental results show that the improved algorithm exhibits less iterations but higher accuracy, which can be much helpful in practical applications.

关键词： LDD-L1 regularization 3D reconstruction PSO

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Blockchain-based Social Manufacturing for Customization Production

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IFAC-PapersOnLine 2020年第5期53卷 53-58页

作者： Xiuqin Shang Xi Chen Lulu Niu Gang Xiong Zhen Shen Xisong Dong Zhengchao Shen Chao Liu Bangwen Xi the Research Center of Precision Sensing and Control the state key laboratory for management and control of complex systems & Beijing engineering research center of intelligent systems and technology institute of automation Chinese Academy of Sciences Beijing 100190 China Beijing University of Posts and Telecommunications Beijing 100876 China Alstom Beizhong Power (Beijing) Co. Ltd. Beijing 100040 China the System Integration Electronics (Hangzhou)Co. LTD No. 58 No. 11 Road Foxconn Qiantang Tech-Industrial Area HETZ Hangzhou 310018 China

This paper proposes the social manufacturing based on Blockchain, which realizes precise and efficient customization through smart contract and distributed accounting. It is a new manufacturing mode of service-oriented, distributed and collaborative customization. This paper proposes the definition of SM based on Blockchain. In the process of using to Blockchain, it can form a strong trust relationship, so that multiple nodes / roles in SM can save the complete copy of the whole database, rather than a centralized permission / role. Secondly, the Blockchain-based SM system is developed for customized manufacturing. Finally, its application case and the optimization results are given. In SM, it is the key that how to transform customized manufacturing actions into socialized actions of manufacturing resources through internet communities and interconnect Socialized Manufacturing Resources (SMRs) in upstream and downstream. In this paper, the smart contract relationship is established based on Blockchain between SMRs to build credit mechanism in SM, Which can ensure the effective circulation and association of SMRs.

关键词： Social Manufacturing Blockchain Optimization SM Resources

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot System

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Distributed computation for solving the sylvester equation based on optimization

arXiv

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arXiv 2019年

作者： Deng, Wen Zeng, Xianlin Hong, Yiguang School of Mathematical Sciences University of Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

This paper solves the Sylvester equation in the form of AX + XB = C in a distributed way, and proposes three distributed continuous-time algorithms for three cases. We start with the basic algorithm for solving a least squares solution of the equation, and then give a simplified algorithm for the case when there is an exact solution to the equation, followed by an algorithm with regularization case. Based on local information and appropriate communication among neighbor agents, we solve the distributed computation problem of the Sylvester equation from the optimization viewpoint, and we prove the convergence of proposed algorithms to an optimal solution in three different cases, with help of the convex optimization and semi-stability. Copyright © 2019, The Authors. All rights reserved.

关键词： Convex optimization

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Motion Planning for Heterogeneous Unmanned systems under Partial Observation from UAV

Motion Planning for Heterogeneous Unmanned Systems under Par...

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2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Ci Chen Yuanfang Wan Baowei Li Chen Wang Guangming Xie Huanyu Jiang College of Biosystems Engineering and Food Science Zhejiang University Hangzhou China Southern University of Science and Technology Shenzhen China The State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China National Engineering Research Center for Software Engineering Peking University Beijing China Peng Cheng Laboratory Shenzhen China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs' vast view scope. However, its limitations on flight altitude prevent the UAVs from observing the global map. Thus motion planning in the local map becomes a Partially Observable Markov Decision Process (POMDP) problem. This paper proposes a motion planning algorithm for heterogeneous unmanned systems under partial observation from UAV without reconstruction of global maps. Our algorithm consists of two parts designed for perception and decision-making, respectively. For the perception part, we propose the Grid Map Generation Network (GMGN), which is used to perceive scenes from UAV's perspective and classify the pathways and obstacles. For the decision-making part, we propose the Motion Command Generation Network (MCGN). Due to the addition of the memory mechanism, MCGN has planning and reasoning abilities under partial observation from UAVs. We evaluate our proposed algorithm by comparing it with baseline algorithms. The results show that our method effectively plans the motion of heterogeneous unmanned systems and achieves a relatively high success rate.

关键词： Decision making Markov processes Unmanned aerial vehicles Land vehicles Planning Classification algorithms intelligent robots

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