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检索条件"机构=Key Laboratory of Intelligent Control and Design of Complex Systems"

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The Fusion of Multisensor Images with Multi-resolutions

The Fusion of Multisensor Images with Multi-resolutions

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第三十三届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Meiling Wang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479947249

Images taken by different sensors at different time instant with different resolutions are formulated by state space models, and are fused by use of Multiscale Kalman Filter(MKF). The effectiveness of the presented algorithm is shown by comparing it with the wavelet based method through experiments, where four performance measures are used. The performance evaluation indices are the root mean square errors(RMSE), the information entropy(Entropy), the space frequency(SF) and the space visibility(SV). Theretical analysis and experimental results show the effectiveness of the presented algorithm.

关键词： Image fusion,multiresolution,multiscale Kalman filter,state space model

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Bipedal walking with toe-off, heel-strike and compliance with external disturbances

Bipedal walking with toe-off, heel-strike and compliance wit...

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IEEE-RAS International Conference on Humanoid Robots

作者： Xuechao Chen Yuhang Zhou Qiang Huang Zhangguo Yu Gan Ma Libo Meng Chenglong Fu Key Laboratory of Intelligent Control and Decision of Complex System China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Mechanical Engineering Tsinghua University Beijing

ISBN: (纸本)9781479971756

Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.

关键词： Legged locomotion Foot Torso Robot kinematics Acceleration Joints

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Information Disclosure in Real-Time Bidding Advertising Markets

Information Disclosure in Real-Time Bidding Advertising Mark...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Juanjuan Li Yong Yuan Rui Qin The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences

Real-time bidding（RTB）advertising is a fast-growing business model in online display advertising *** the guaranteed display advertising,it utilizes programmatic instantaneous auction to price and sell ad inventory on a per-impression *** enbales advertisers to target audiences at demographic,psychographic or behavioral levels across a wide range of *** RTB markets,information about target audiences is usually disclosed to advertisers,while information about publishers（*** ranking,advertising page）are typically not avaliable for advertisers,especially in real-time *** leads to a serious information asymmetry problem in RTB markets,which has significant influence on both advertisers’bidding strategies and publishers’*** this paper,we study the information disclosure strategies of publishers in case when the disclosure may incur an extra *** address this information asymmetry problem by first formulating the RTB auction as an second-price sealed-bid game,then discussing equilibrium information disclosure strategies for publishers and also investigating advertisers’bidding strategies in the three information disclosure cases:all disclosed,non-disclosed,and partially *** find that non-disclosed and partially disclosed strategies may lead to an adverse selection effect,and high-quality publishers will be forced to quit the RTB markets.

关键词： real-time bidding information disclosure asymmetric information adverse selection

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A Survey on Real Time Bidding Advertising

A Survey on Real Time Bidding Advertising

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Yong Yuan Feiyue Wang Juanjuan Li Rui Qin The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of Sciences

Real-time bidding(RTB)is an emerging and promising business model for online computational advertising in the age of big *** on analysis of massive amounts of Cookie data generated by Internet users,RTB advertising has the potential of identifying in real-time the characteristic and interest of the target audience in each ad impression,automatically delivering best-matched ads,and optimizing their prices via auction-based programmatic buying *** has significantly changed online advertising,evolving from the traditional pattern of"media buying"and"ad-slot buying"to"targetaudience buying",and is expected to be the standard business model for online advertising in the *** this paper,we discussed the current market practice of RTB advertising,presented the key roles and typical business processes in RTB markets,and summarized the current research progresses in the existing *** aim of this paper is to provide useful reference and guidance for future works.

关键词： real-time bidding computational advertising online advertising big data

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A Model-based Demand-balance control for complex Urban traffic Networks

A Model-based Demand-balance Control for Complex Urban traff...

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Shu Lin Qing-Jie Kong School of Computer and Control Engineering University of Chinese Academy of Sciences Qingdao Academy of Intelligent Industries the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

Traffic control is an effective and efficient method for the problem of traffic *** complex urban traffic networks,it is necessary to design a high-level controller to regulate the traffic *** the parallel control framework for complex traffic networks,we design a demand-balance MPC controller based on the MFD-based multi-subnetwork model,which can optimize the network traffic mobility and the network traffic throughput by regulating the input traffic flows of the *** transferring traffic flows among subnetworks are indirectly controlled by the demand-balance MPC controller,and a global optimality can be achieved for the entire traffic *** simulation results show the effectiveness of the proposed controller in improving the network traffic throughput.

关键词： A Model-based Demand-balance control for complex Urban traffic Networks MFD Model

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A Two-stage Fuzzy Budget Allocation Model in Search Auctions

A Two-stage Fuzzy Budget Allocation Model in Search Auctions

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Rui Qin Yong Yuan Juanjuan Li The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences

Budget optimization is an important issue faced by advertisers in search auctions,and has significant impact on the design of various advertising *** a limited budget on a search market during a certain period,an advertiser has to distribute her budget to a series of sequential temporal slots(i.e.,days,weeks,or months),during which advertisers must avoid the budget being used up quickly,so as to keep the budget for potential clicks with better performance in the *** the optimal budgets over these temporal slots as fuzzy variables,we establish a two-stage fuzzy budget allocation model,and use particle swarm optimization(PSO)algorithm to solve it in case when these optimal budgets are characterized by discrete fuzzy *** also conduct experiments to validate our model and *** experimental results show that our model can outperform other five budget allocation strategies in terms of reducing the revenue loss of the advertiser.

关键词： budget optimization budget allocation sponsored search auctions two-stage fuzzy programming PSO

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Active disturbance rejection control for synchronization of different fractional-order chaotic systems

Active disturbance rejection control for synchronization of ...

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World Congress on intelligent control and Automation (WCICA)

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang Liaoning Province China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

This paper investigates the fractional-order active disturbance rejection control for the synchronization of two different fractional-order chaotic systems. By the fractional-order extended state observers, the nonlinear dynamics in the synchronization error equations for each subsystems are estimated in real time. Compensating the nonlinear estimations into controllers, the active disturbance rejection controllers are designed to achieve the synchronization. Finally, two examples of synchronization issues on different fractional-order chaotic systems are provided to verify that the fractional-order ADRC is irrelevant with the nonlinear dynamics in the fractional-order chaotic systems. The proposed controllers can achieve the synchronization and estimate the nonlinear dynamics effectively for different fractional-order chaotic systems.

关键词： Synchronization Nonlinear dynamical systems Chaos Equations Noise Observers

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Anti-skid foot design for a humanoid robot

Anti-skid foot design for a humanoid robot

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IEEE International Conference on Robotics and Biomimetics

作者： Haotian She Weimin Zhang Hulin Huang Zhangguo Yu Xuechao Chen Qiang Huang Ministry of Education under Grant 2014CX02004 Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability. First, anti-skid foot for a humanoid robot is proposed in this paper. Second, the material and pattern of foot pads are selected. Finally, the better foot pads are chosen by several experiments and the effectiveness of the new foot pads is confirmed by comparison experiments.

关键词： Foot Legged locomotion Humanoid robots Footwear Friction Rubber

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A new flexible controller for a humanoid robot that considers visual and force information interaction

A new flexible controller for a humanoid robot that consider...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Gan Ma Qiang Huang Zhangguo Yu Xuechao Chen Weimin Zhang Junyao Gao Libo Meng Yun-Hui Liu IRI Beijing Institute of Technology Beijing China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and Decision of Complex System China

To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two approaches do not consider the interaction between the visual controller and force controller. Specifically, the first approach does not consider the interaction between the controllers. The second approach only considers the effect of the output of the visual controller on the force controller, while the effect of the force controller on the visual controller is not considered. This study presents a design for a new flexible controller for a humanoid robot that considers the interaction of visual and force information. The advantages of the proposed method are that it simultaneously incorporates the functions of a visual servo controller and a flexible controller as well as its ability to consider the interaction of visual and force information when a humanoid robot is operating.

关键词： Robot kinematics Visualization Force Cameras Humanoid robots Robot vision systems

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Fast Adaptive Robust control of Electro-hydraulic Servo System

Fast Adaptive Robust Control of Electro-hydraulic Servo Syst...

引用

第三十二届中国控制会议

作者： HE Yudong WANG Junzheng HAO Renjian Key laboratory of intelligent control and decision of complex systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

Electro-hydraulic servo systems(EHSSs) have been widely used in industrial and military applications for their high power-to-size ratio and the ability to supply huge ***,precise control of EHSSs cannot be easily obtained due to their inner nonlinearity and parameter *** load is another factor to decrease the tracking performance of *** adaptive robust control(IARC) was proposed to improve the tracking performance of EHSS,but due to the poor parameter adapting speed,IARC can be further improved to have better *** projection type parameter estimation algorithm is redesigned to increase the adapting speed when parameter is changed.A fast adaptive robust control (FARC) is then proposed to speed up the parameter adapting speed,so that a better tracking performance of FARC is maintained. Simulation results show that the proposed FARC gives an improved tracking performance and a faster parameter adaptation.

关键词： Electric-Hydraulic Servo System Fast Adaptive Robust control

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