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Reaching a stochastic consensus in the noisy networks of linear MIMO agents:Dynamic output-feedback and convergence rate

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Science China(Technological Sciences) 2016年第1期59卷 45-54页

作者： WANG YunPeng CHENG Long YANG ChenGuang HOU ZengGuang TAN Min State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Plymouth University Plymouth PL48ABUnited Kingdom College of Automation Science and Engineering South China University of TechnologyGuangzhou 510640China

This paper addresses the leader-following consensus problem of linear multi-agent systems(MASs) with communication noise. Each agent's dynamical behavior is described by a linear multi-input and multi-output(MIMO) system, and the agent's full state is assumed to be unavailable. To deal with this challenge, a state observer is constructed to estimate the agent's full state. A dynamic output-feedback based protocol that is based on the estimated state is proposed. To mitigate the effect of communication noise, noise-attenuation gains are also introduced into the proposed protocol. In this study, each agent is allowed to have its own noise-attenuation gain. It is shown that the proposed protocol can solve the mean square leader-following consensus problem of a linear MIMO MAS. Moreover, if all noise-attenuation gains are of Q(t-β), where b∈(0,1), the convergence rate of the MAS can be quantitatively analyzed. It turns out that all followers' states converge to the leader's state in the mean square sense at a rate of O(t-β).

关键词： multi-agent system mean square consensus communication noise noise-attenuation gain convergence rate

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On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 394-397页

作者： Fei-Yue Wang Yanqing Gao IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Department of Manufacturing & Mechanical Engineering & Technology Oregon Institute of Technology

This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation. © 2014 Chinese Association of Automation.

关键词： Dielectric waveguides Flexible manipulators Manipulators Orthogonal functions Vibration analysis

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ExNa: an efficient search pattern for semantic search engines

ExNa: an efficient search pattern for semantic search engine...

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作者： Wei, Xiao Zeng, Daniel Dajun State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Shanghai Institute of Technology Shanghai China

Recent years have witnessed the emergence of new types of semantic search engines which attempt to overcome the defects of the traditional search engines by providing different search patterns. A big question here is that in order to achieve the semantic search engines (SSEs), what type(s) of search patterns should SSEs support? To help seek one of the many possible answers, in this paper we start with classifying and comparing current search engines, particularly from the perspective of search patterns which consist of index structure, user profiles, and interaction mechanism. We then present a novel search pattern named ExNa by defining its model and basic operations in detail. To validate the ExNa search pattern, we develop a prototype search engine named KNOWLE, and the experimental results show that KNOWLE equipped with ExNa can improve both the efficiency of the entire system when compared with search engines of other search patterns. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

关键词： Big data

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DeepTrend: A deep hierarchical neural network for traffic flow prediction

arXiv

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arXiv 2017年

作者： Dai, Xingyuan Fu, Rui Lin, Yilun Li, Li Wang, Fei-Yue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Department of Automation Tsinghua University Beijing100084 China

In this paper, we consider the temporal pattern in traffic flow time series, and implement a deep learning model for traffic flow prediction. Detrending based methods decompose original flow series into trend and residual series, in which trend describes the fixed temporal pattern in traffic flow and residual series is used for prediction. Inspired by the detrending method, we propose DeepTrend, a deep hierarchical neural network used for traffic flow prediction which considers and extracts the time-variant trend. DeepTrend has two stacked layers: extraction layer and prediction layer. Extraction layer, a fully connected layer, is used to extract the time-variant trend in traffic flow by feeding the original flow series concatenated with corresponding simple average trend series. Prediction layer, an LSTM layer, is used to make flow prediction by feeding the obtained trend from the output of extraction layer and calculated residual series. To make the model more effective, DeepTrend needs first pre-trained layer-by-layer and then fine-tuned in the entire network. Experiments show that DeepTrend can noticeably boost the prediction performance compared with some traditional prediction models and LSTM with detrending based methods. Copyright © 2017, The Authors. All rights reserved.

关键词： Forecasting

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Towards quality advancement of underwater machine vision with generative adversarial networks

arXiv

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arXiv 2017年

作者： Chen, Xingyu Yu, Junzhi Kong, Shihan Wu, Zhengxing Fang, Xi Wen, Li University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Mechanical Engineering and Automation Beihang University Beijing100191 China

Underwater machine vision has attracted significant attention, but its low quality has prevented it from a wide range of applications. Although many different algorithms have been developed to solve this problem, real-time adaptive methods are frequently deficient. In this paper, based on filtering and the use of generative adversarial networks (GANs), two approaches are proposed for the aforementioned issue, i.e., a filteringbased restoration scheme (FRS) and a GAN-based restoration scheme (GAN-RS). Distinct from previous methods, FRS restores underwater images in the Fourier domain, which is composed of a parameter search, filtering, and enhancement. Aiming to further improve the image quality, GAN-RS can adaptively restore underwater machine vision in real time without the need for pretreatment. In particular, information in the Lab color space and the dark channel is developed as loss functions, namely, underwater index loss and dark channel prior loss, respectively. More specifically, learning from the underwater index, the discriminator is equipped with a carefully crafted underwater branch to predict the underwater probability of an image. A multi-stage loss strategy is then developed to guarantee the effective training of GANs. Through extensive comparisons on the image quality and applications, the superiority of the proposed approaches is confirmed. Consequently, the GAN-RS is considerably faster and achieves a state-of-the-art performance in terms of the color correction, contrast stretch, dehazing, and feature restoration of various underwater scenes. The source code will be made available. Copyright © 2017, The Authors. All rights reserved.

关键词： Image reconstruction

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Design of Low-cost Position Differential Positioning System Based on STM32

Design of Low-cost Position Differential Positioning System ...

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Chinese Automation Congress

作者： Haijun Fu Ming Qiu Xisong Dong Gang Xiong Haonan Xiong Xiang Su Shichao Chen Zhen Shen Xiujiang Guo School of Artificial Intelligence Beijing Union University Beijing China The Cloud Computing Center Chinese Academy of Sciences Dongguan China The Qingdao Academy of Intelligent Industries Macau University of Science and Technology Qingdao China Beijing Union University Beijing China School of Electrical Engineering and Electronic Information Xihua University Chengdu China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China The Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China Department of Computer Science University of Helsinki Fin Finland Measurement Center Station PetroChina Huabei Oilfield Company Renqiu China

There exist some obstacles to realize high-precision positioning with using the position differential technique due to the limiting factors. However, with the advancement of chip performance and the establishment of multiple satellite navigation systems, position differential positioning can be realized to meet the civilian high-precision positioning demand while significantly reducing costs. This paper is to explore the engineering application and propose a new method. Through the experiments and data analysis, we have found the error correlation between two receivers in a small area and designed a set of positioning system, and programmed in the Keil μVision5 in C language. The system consists of the current mainstream low-cost STM32, UBLOX NEO 6M chip, NRF24L01 chip, GPS antenna and power supply module. Each two receivers can form a differential positioning system. At present, the system in the low-speed status is, in the urban environment, basically reaching within 0.5 - 3 m of the positioning error.

关键词： Position differential positioning Low cost Error correlation GPS STM32

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Data-Based Robust control for Unknown Nonlinear systems 35

Data-Based Robust Control for Unknown Nonlinear Systems

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第35届中国控制会议

作者： YANG Xiong LIU Derong WEI Qinglai School of Electrical Engineering and Automation Tianjin University School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781509009107

In this paper, we develop a data-based robust control method for a class of unknown nonlinear systems with input constraints. First, we transform the robust control problem into a constrained optimal control problem by introducing a value function for the nominal system. Then, under the framework of integral reinforcement learning, we construct an actor-critic architecture to approximately solve the constrained optimal control problem. Based on the present architecture, we only require system data rather than the availability of full/partial prior knowledge of system dynamics. In addition, by using Lyapunov's direct method, we prove that the obtained approximate optimal control can guarantee the unknown nonlinear system to be uniformly ultimately bounded. Finally, we provide an example to illustrate the effectiveness of the developed method.

关键词： Constrained input Integral reinforcement learning Nonlinear systems Optimal control Robust control

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Sa1221 ENDOSCOPIC MOLECULAR IMAGING OF EARLY GASTRIC CANCER USING HUMAN HEAVY-CHAIN FERRITIN NANOPROBE UNDER CONFOCAL LASER ENDOMICROSCOPY

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Gastrointestinal Endoscopy 2018年第6期87卷 AB169-AB170页

作者： Yang Du Kelong Fan Hejun Zhang Shigang Ding Xiyun Yan Jie Tian Institute of Automation Chinese Academy of Sciences Beijing China Key Laboratory of Molecular Imaging of Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Beijing China Institute of Biophysics Chinese Academy of Sciences Beijing China Key Laboratory of Protein and Peptide Pharmaceutical Beijing China Gastroenterology Peking University Third Hospital Beijing China Beijing Key Laboratory for Helicobacter pylori Infection and Upper Gastrointestinal Diseases Beijing China

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Distributed Consensus Tracking control for Multiple Simple-Pendulum Network systems 35

Distributed Consensus Tracking Control for Multiple Simple-P...

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第35届中国控制会议

作者： JIANG Yulian WANG Shenquan LI Yuanchun LIU Derong College of Electrical and Electronic Engineering Changchun University of Technology The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781509009107

This paper investigates the consensus tracking problem for networked control systems consisting of multiple simplependulums driven by corresponding DC motors.A distributed adaptive consensus control algorithm is developed to guarantee the state tracking for each simple-pendulum with nonlinear *** dynamic model of networked simple-pendulums driven by DC motors is obtained first,and the mathematical description of consensus tracking control problem for multi-agent system is ***,fully distributed consensus tracking protocol without any global information is designed by using adaptive control technology to adjust the coupling weights between neighboring ***,simulation results demonstrate the effectiveness of the proposed consensus tracking control algorithm.

关键词： consensus tracking simple-pendulum network system adaptive control nonlinear dynamics multi-agent system

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12.2: A 3D Display Parallel System: Light Field Re-rendering and Depth Sense Optimization

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SID Symposium Digest of Technical Papers 2018年第S1期49卷

作者： Renjing Pei Kui Ma Feiyue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye's visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer's demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance.

关键词： 3D Display Parallel System Depth Sense Light Field Re-rendering 3D Video Processing One-shot Segmentation

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