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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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New approaches to relaxed stabilization conditions and H-infinity control designs for T-S fuzzy systems

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控制理论与应用（英文版） 2012年第1期10卷 82-91页

作者： Juntao PAN Shumin FEI Yudong NI Mingxiang XUE Key Laboratory of Measurement and Control of Complex Systems of Engineering （Ministry of Education） Southeast University Nanjing Jiangsu 210096 China LAMIH UMR CNRS8503 University of Valenciennes et Hainaut-Cambr6sis Le Mont Houy 59313 Valenciennes Cedex 9 France School of Science Hefei University of Technology Hefei Anhui 230009 China

This paper focuses on the problem of fuzzy control for a class of continuous-time T-S fuzzy systems. New methods of stabilization design and H-infinity control are derived based on a relaxed approach in which both fuzzy Lyapunov functions and staircase membership functions are used. Through the staircase membership functions approx- imating the continuous membership functions of the given fuzzy model, the membership functions can be brought into the design conditions of fuzzy systems, thereby significantly reducing the conservativeness in the recent fuzzy controller design methods. Unlike some previous fuzzy Lyapunov function approaches reported in the literatures, the proposed design techniques of stabilization and H-infinity control do not depend on the time-derivative of the membership functions that may be pointed out as the main source of conservatism when considering fuzzy Lyapunov functions analysis. Moreover, conditions for the solvability of the controller design given here are written in the form of linear matrix inequalities, but not bilinear matrix inequalities, which are easier to be solved by convex optimization techniques. Simulation examples are given to demonstrate the validity and applicability of the proposed approaches.

关键词： T-S fuzzy systems Fuzzy Lyapunov functions Staircase membership functions Linear matrix inequalities

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Expectation-driven migration promotes cooperation by group interactions

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Physical Review E 2012年第6期85卷 066104-066104页

作者： Te Wu Feng Fu Yanling Zhang Long Wang Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China Program for Evolutionary Dynamics Harvard University Cambridge Massachusetts 02138 USA

“Voting with feet” describes the prominent social phenomenon that people tend to move away from deteriorating neighborhoods and search for and join prosperous groups. To quantify the role this kind of expectation-driven migration plays in the evolution of cooperation, here we study a simple yet effective model of cooperation based on spatial public goods games. The population structure is characterized by a square lattice with some nodes being left empty. Individuals have expectations toward their current habitats. Dissatisfied players, whose expectation is not met after interacting with all directly connected neighbors, tend to abstain from the groups of low quality by moving away and explore the physical niches of avail. How fast interaction happens relatively to selection is regulated by the time-scale ratio of game interaction to natural selection. Under strong selection, simulation results show that cooperation is greatly improved for either low, moderate, or high expectations compared to whenever the expectation-driven migration is absent. Further explorations reveal that neither too high nor too low but rather a combination of moderate expectations and rapid interaction establishes cooperation for a moderate public goods enhancement factor. There exists an optimal interval of expectation level most favoring the evolution of cooperation as the required time-scale ratio is minimized.

关键词： GROUP theory PUBLIC goods MATHEMATICAL models NATURAL selection SIMULATION methods & models SPATIAL analysis (Statistics)

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Energy Efficient Data Collection in Hierarchical Wireless Sensor Networks

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China Communications 2012年第9期9卷 79-88页

作者： Zhang Chun Fei Shumin Zhou Xingpeng School of Automation Southeast UniversityNanjing 210096P.R.China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096P.R.China

The majority of the energy consumption by the sensors is the energy requirement for data transmission in Wireless Sensor Networks （WSNs）. Therefore, introducing mobile collectors to collect data instead of nmlti-hop data relay is essential. However, for rmny proposed data gathering ap-proaches, long data deNNy is the train problenm. Hence, the problem of how to decrease the energy consumption and the data deNNy needs to be solved. In this paper, a low deNNy data collection mechanism using multiple mobile collectors is pro- posed. First, a self-organization clustering algorithm is designed. Second, sensor nodes are organized into three-level clusters. Then a collection strategy based on the hierarchical structure is proposed, which includes two rules to dispatch mobile collec- tors rationally. Simulation results show that the proposed mechanism is superior to other existing approaches in terms of the reduction in energy ex-penditure and the decrease in data deNNy.

关键词： WSNs energy consumption rrmltiplemobile collectors data delay

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GPU based ordinal optimization for traffic signal coordination

GPU based ordinal optimization for traffic signal coordinati...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Wang, Kai Shen, Zhen Changsha Hunan China State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan 523808 Guangdong Province China

ISBN: (纸本)9781467324007

Traffic signal coordination has long been a hot topic in Intelligent Transportation systems (ITS) research. Simulation-based optimization is an important method to optimize the coordination designs as the traffic systems are not easily described by mathematical models accurately. For the traffic simulator in the method, micro-simulation is becoming more and more popular than the macroscopic or mesoscopic simulation in recent years, as the micro-simulation can describe drivers' decision-making process and their driving behaviors in the framework of ITS. However, the computing burden for the micro-simulation is usually very heavy as a large number of vehicles are modeled and simulated separately. For the optimizer in the method, iterative algorithms such as Genetic Algorithms (GA), Ant Colony Optimization (ACO), and Particle Swarm Optimization (PSO) are widely used to find the global optimal solutions. However, these algorithms usually take too much time to converge when a large-scale road network is encountered. To alleviate the computing burden and speed up the convergence, we build an agent-based traffic simulator and employ Ordinal Optimization (OO) as the optimizer. We accelerate both the simulator and the optimizer with Graphics Processing Unit (GPU), which has been applied successfully in many areas for parallel computing. Simulation results show the effectiveness of the OO method and the power of GPU for parallel computing. © 2012 IEEE.

关键词： Graphics processing unit

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A GPU based trafficparallel simulation module of artificial transportation systems

A GPU based trafficparallel simulation module of artificial ...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

ISBN: (纸本)9781467324007

Traffic micro-simulation is an important tool in the Intelligent Transportation systems (ITS) research. In the micro-simulation, a bottom up system can be built up by the interactions of vehicle agents, road agents, traffic lights agents, etc. The Artificial societies, Computational experiments, and Parallel execution (ACP) approach suggests integrating other metropolitan systems such as logistic, infrastructure, legal and regulatory, weather and environmental systems to build an Artificial Transportation System (ATS) to help solve ITS problems. This is reasonable as the transportation system is complex that is affected by many systems interacting with each other. However, there is a challenge that the computing burden can be very heavy as there can be many agents of different kinds interacting in parallel in ATS. In recent years, the Graphics Processing Units (GPUs) have been applied successfully in many areas for parallel computing. Compared with the traditional CPU cluster, GPU has an obvious advantage of low cost of hardware and electricity consumption. In this paper, we build a parallel traffic simulation module of ATS with GPU. The simulation results are reasonable and a maximum speedup factor of 105 is obtained compared with the CPU implementations. © 2012 IEEE.

关键词： Graphics processing unit

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A Simplified Minimum Enclosing Ball based Fast Incremental Support Vector Machine (SVM) Algorithm for Person Detection and Tracking

A Simplified Minimum Enclosing Ball based Fast Incremental S...

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World Congress on Intelligent control and Automation

作者： Suiwu Zheng Hong Qiao Lihao Jia Toshio Fukuda State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Micro-Nano Systems Engineering Nagoya University

ISBN: (纸本)9781467313971

In order to meet the requirements of stable person detection and tracking techniques in dynamic visual system, we propose a simplified minimum enclosing ball based fast incremental support vector machine (SVM) algorithm for person detection and tracking. Based on the simplified minimum enclosing ball (MEB) method, we propose a simplified and fast incremental algorithm to compute the MEB. By utilizing the equivalence between MEB and the dual problem in SVM, we achieve the online and incremental adjustment of the SVM classifier coefficients. The proposed method do not need to solve the quadratic programming problem. It is fast for training. Moreover, it can achieve the online update of classifiers for object tracking with small sample size. Finally, the efficiency of the proposed incremental SVM is validated by detection experiments on dynamic pedestrians tracking system.

关键词： Person Detection Incremental Support Vector Machine

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A monitoring network based on embedded vision nodes suitable for robotic systems 1

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5th International Conference on Intelligent Robotics and Applications, ICIRA 2012

作者： Jiao, Jile Ye, Shuguang Cao, Zhiqiang Yang, Yuequan Liu, Xilong Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China JiangSu King Source Electric Co. Ltd. Jiangsu 225200 China College of Information Engineering Yangzhou University Yangzhou 225009 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

A visual monitoring network suitable for robotic systems is presented in this paper. The monitoring network is composed of embedded vision nodes. By interacting with an upper computer as well as the robotic system, the monitoring network provides an important supplement, which may accelerate the task execution. Each embedded vision node captures and processes images independently, and it is easy to install with compact size. The vision node contains a S3C2440 processor as the main processing module, a CMOS camera as the image capturing module and a zigbee module for wireless communication. The detection based on frame difference or color feature is used to determine the mass center of moving object. On this basis, the object information from one vision node may also be sent to another one for stereo vision localization with stereo vision model and least square method. Application examples are demonstrated to testify the monitoring network. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Zigbee

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ACP based 3D emergency drills system for petrochemical plants

ACP based 3D emergency drills system for petrochemical plant...

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10th World Congress on Intelligent control and Automation, WCICA 2012

作者： Jing, Sifeng Cheng, Changjian Xiong, Gang Liu, Xiwei Shang, Xiuqin Wang, Weixing State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Industrial Technology Innovation and Incubation Center Chinese Academy of Sciences Songshan-Lake 523808 China

ISBN: (纸本)9781467313988

To further enhance emergency management skills of an organisation's emergency response personnel, emergency response training,especially 3D emergency drill, is currently becoming more and more important in the petrochemical sector. So, a novel 3D emergency drills system is designed and developed based on ACP approach, which can be used for mocking emergency response plan drills and evaluating the plan. A case study reveals that the performance of the system is good and the system can meet the needs of emergency response training and optimizing emergency response plan in petrochemical plants. © 2012 IEEE.

关键词： Personnel training

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Description for 3D images with histogram of gradients based on maximum directional derivative

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2012年第4期6卷 15-23页

作者： Wang, Hu Zhang, Wensheng Liu, Jin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China State Key Laboratory of software Engineering Computer School Wuhan University Wuhan 430072 China

The histogram of gradients for three-dimensional images (HOG3D) has been widely used to generate descriptors of local features for the matching of salient interest blobs between volumetric medical images. The distinctiveness of descriptors is essential to match similar patterns as well as differentiate different patterns. However, most methods for HOG3D are based on the unequal azimuth-elevation-angle division of the three-dimensional orientations, leading to the reduction of the distinctiveness. This paper presents a description method to extract distinctive descriptors by using a novel histogram of gradients based on the maximum directional derivative (HOG3DMAX). The three-dimensional orientations are divided equally into 24 homogeneous regions for the bins of gradient histogram to improve the distinctiveness. In addition, the interpolation of gradients is applied in HOG3DMAX according to the relatively simple form of the homogeneous regions in order to avoid harmful effects from boundary in images. Experiments were performed on three sets with different extents of similarity. The cluster analysis and classification accuracy were utilized to validate the proposed method. Compared with the commonly used azimuth-elevation based method, the new method shows lower intra-cluster pairwise distances relative to inter-cluster pairwise distances, and achieved 5% higher classification accuracy. The results indicate the improvement of distinctiveness by using equally divided regions and the interpolation of gradients. We conclude that the HOG3DMAX is an effective description method for three-dimensional images.

关键词： Cluster analysis

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