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World Congress on Intelligent control and Automation (WCICA)

作者： Yao Sun Fengshui Jing Zize Liang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China

Although optimal fusion algorithms of system state estimation have been proposed and studied for FAST in the past years, multi-sample-rate measurements and observation time-delay have always been restrictive factors to derive a glorious fusion results for state estimation. Based on the optimal fusion algorithm in the minimum mean square error sense, an iterated extended Kalman filter is investigated for discrete-time systems with multi-sample-rate measurements and delayed measurements in this paper, re-sampling observations from high sampling frequency channel and reducing the usage rate of observations with greater noises to investigate the estimation problem. The performance and improvement is clearly demonstrated through the numerical example. This study is manifestly advantageous for the feed supporting system of FAST.

关键词： Kalman filters State estimation Noise Extraterrestrial measurements Delays Frequency measurement

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A general image skew detection approach with a bio-inspired mechanism

A general image skew detection approach with a bio-inspired ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xilong Liu Zhiqiang Cao Kun Ai Jile Jiao Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China

This paper proposes a simple but effective bio-inspired approach for skew detection of different kinds of images including nature images, documents, paintings etc., which requires no parameter tuning. Without relying on local visual cues, the proposed approach exploits the global statistics of an image. Orientation perceptron is designed in the inspiration of biological simple cells for local orientation detection. Statistics of their outputs are processed and then transferred by orientation transform into a curve whose maximum value is used to determine the skew angle. The effectiveness of the proposed approach is verified by experiments.

关键词： Gravity Transforms Estimation Visualization Pattern recognition Mathematical model Algorithm design and analysis

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ACP based self-learning control for urban intersection

ACP based self-learning control for urban intersection

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

作者： Feng Chen Lingyun Zhu Chuyue Han Gang Xiong University of Science and Technology of China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

The intersection models,such as delay models and queuing length models,are the foundations of optimal signal timing for urban *** of the field data of intersection,it is highly difficult to calibrate parameters of the intersection *** to the effects of intersection topology,channelization and traffic conditions on these models,obviously it is impossible for single model to be suitable for optimal control of various *** is emerging technique for Intelligent Traffic systems(ITS).It provides an effective means for problem-solving of complex traffic issues by constructing artificial system which is consistent with corresponding real *** on ACP approach,we propose a self-learning optimal control strategy for typical *** this approach,optimal control policy is found by systematic interaction with the traffic environment,so as to adapt dynamic traffic conditions and different intersection ***,according to traffic characteristics analysis of intersection,joint control of all approaches can be reduced to optimal control of only one ***,the computational and storage complexities are decreased *** experiment results demonstrate that our approach has considerably lower average delay and higher traffic capacity of intersection than these optimal control methods which are respectively based on HCM2000 and Webster models.

关键词： HCM agent ACP based self-learning control for urban intersection

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On mobilizing processes of Cyber Movement Organizations 19

On mobilizing processes of Cyber Movement Organizations

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wang, Tao Liu, Zhong Cui, Kainan Zhang, Jie Wang, Fei-Yue Philip Chen, C.L. College of Information System and Management National University of Defense Technology Changsha410073 China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China Department of Computer and Information Science Science and Technology University of Macau China

ISBN: (纸本)9783902823625

Cyber Movement Organization (CMO) is a special kind of social movement organization on the Web. In this paper, we propose a model to simulate the mobilizing process of CMO, which consists of the individual unit, organization unit, and the mobilizing mechanisms. The mobilizing mechanisms has three sub-mechanisms: the participation mechanism, the choice mechanism, and the inviting mechanism. A dataset of more than two million "human flesh search" related microblogs is used to validate the model. Empirical results show that our model can capture the key features of the real-world mobilizing process. © IFAC.

关键词： Automation

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Nearly Optimal control Scheme for Discrete-Time Nonlinear systems With Finite Approximation Errors Using Generalized Value Iteration Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 4134-4139页

作者： Qinglai Wei Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China (Tel: +86-10-82544761 Fax: +86-10-82544799

In this paper, a new generalized value iteration algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The idea is to use iterative adaptive dynamic programming (ADP) to obtain the iterative control law which makes the iterative performance index function reach the optimum. The generalized value iteration algorithm permits an arbitrary positive semi-definite function to initialize it, which overcomes the disadvantage of traditional value iteration algorithms. When the iterative control law and iterative performance index function in each iteration cannot be accurately obtained, a new design method of the convergence criterion for the generalized value iteration algorithm with finite approximation errors is established to make the iterative performance index functions converge to a finite neighborhood of the lowest bound of all performance index functions. Simulation results are given to illustrate the performance of the developed algorithm.

关键词： Adaptive dynamic programming approximate dynamic programming nonlinear system optimal control reinforcement learning

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Phototherapy: Metal–Organic‐Framework‐Derived Mesoporous Carbon Nanospheres Containing Porphyrin‐Like Metal Centers for Conformal Phototherapy (Adv. Mater. 38/2016)

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Advanced Materials 2016年第38期28卷

作者： Shunhao Wang Lu Shang Linlin Li Yingjie Yu Chongwei Chi Kun Wang Jie Zhang Run Shi Heyun Shen Geoffrey I. N. Waterhouse Sijin Liu Jie Tian Tierui Zhang Huiyu Liu Beijing Key Laboratory of Bioprocess Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing Laboratory of Biomedical Materials Beijing University of Chemical Technology Beijing 100029 P. R. China Key Laboratory of Photochemical Conversion and Optoelectronic Materials Technical Institute of Physics and Chemistry Chinese Academy of Sciences Beijing 100190 P. R. China State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco‐Environmental Sciences Chinese Academy of Sciences Beijing 100085 P. R. China University of Chinese Academy of Sciences Beijing 100049 P. R. China Beijing Institute of Nanoenergy and Nanosystems National Center for Nanoscience and Technology (NCNST) Chinese Academy of Sciences Beijing 100083 P. R. China Department of Materials Science and Engineering State University of New York at Stony Brook Stony Brook NY 11790 USA Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China School of Chemical Sciences The University of Auckland Auckland 1142 New Zealand

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Closed-loop controlled nanoprobing inside SEM

Closed-loop controlled nanoprobing inside SEM

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IEEE Conference on Nanotechnology

作者： Chao Zhou Zheng Gong Brandon K. Chen Min Tan Yu Sun State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Advanced Micro and Nanosystems Laboratory University of Toronto Toronto ON Canada

Probing nanostructures (e.g., nanoelectronics) requires accurate and precise nanopositioning. Furthermore, since measuring I-V data from DC to GHz typically takes more than a minute, little drift is tolerated during the data collection process. This paper reports a closed-loop controlled nanomanipulation system for operation inside a scanning electron microscope (SEM). The system consists of long range coarse positioners and high precision fine positioners. A new position sensing method was developed to achieve nanometer sensing resolution. Closed-loop controller is introduced to control fine. Experimental results demonstrate that the system is capable of automated probing of nanostructures with accuracy better than 3 nm and a drift rate

关键词： Scanning electron microscopy Nanobioscience Strain Nanostructures Sensor systems Manipulators

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A probabilistic spectral graph matching algorithm for robust correspondence between lunar surface images

A probabilistic spectral graph matching algorithm for robust...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xu Yang Chuan-Kai Liu Zhi-Yong Liu Hong Qiao Bao-Feng Wang Zi-Dong Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing Aerospace Flight Control Center School of Information Science and Technology Donghua University

The correspondence between key points is an important problem in lunar surface image processing, and further lays the foundation for the navigation of a rover and the terrain reconstruction of the lunar surface. However, the problem is still challenging due to the existence of large scale and rotation transformations, reflected view of the same scenery, and different illumination conditions between acquired images as the lunar rover moves forward. Traditional appearance matching algorithms, like SIFT, often fail in handling the above situations. By utilizing the structural cues between points, in this paper we propose a probabilistic spectral graph matching method to tackle the point correspondence problem in lunar surface images acquired by Yutu lunar rover which has been recently transmitted to the moon by China's Chang'e-3 lunar probe. Compared with traditional methods, the proposed method has three advantages. First, the incorporation of the structural information makes the matching more robust with respect to geometric transformations and illumination changes. Second, the assignment between points is interpreted in a probabilistic manner, and thus the best assignments can be easily figured out by ranking the probabilities. Third, the optimization problem can be efficiently approximately solved by spectral decomposition. Simulations on real lunar surface images witness the effectiveness of the proposed method.

关键词： Moon Probabilistic logic Image edge detection Surface treatment Accuracy Optimization Robustness

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Research on multi-dimensional data visualization analysis of large enterprise's purchasing fund

Research on multi-dimensional data visualization analysis of...

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

作者： Minhui Lv Hongxia Zhao Department of Equipment Economics and Management Naval University of Engineering Wuhan China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479960590

With the continuous development of data storage technology, the complexity, category and size of data increase sharply; on the other hand, the wide expansion of its application domain brings great challenges on the traditional data processing and analysis technology. In this paper, the data analysis and processing technology and its development status are introduced and by multi-dimensional data visualization analysis method and combining the knowledge of domain experts, the equipment purchasing fund data of a large enterprise is analyzed to provide reliable management decision to the investment and investment volume of business fund.

关键词： Investment Visualization Data mining

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The design of a mother robot for marsupial robotic system

The design of a mother robot for marsupial robotic system

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IEEE International Conference on Mechatronics and Automation

作者： Peng Zhao Zhiqiang Cao Lingyi Xu Chao Zhou De Xu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China The Research Center of Precision Sensing and Control Chinese Academy of Sciences Beijing China

A mother or transporting robot is designed in this paper, which is dedicated to retrieve, transport and deploy the children or smaller robots to configure a robotic team called the marsupial robotic system. In order to manage children robots flexibly, a multi-floor docking station is mounted on the mother robot with a lifting platform which is dragged via lead-screw driving. Touch switches are utilized to initialize the lifting height and identify whether a child robot arrives at the parking position. Also, a dock camera is set on the top of the station to recognize different children robots for the purpose of deploying or retrieving. The locomotion ability is enhanced by combining the advantages of the wheeled-mobile platform and tracked-mobile platform with the concept of wheel-track combo, which barely increases the complexity of mechanism. Finally, a prototype of mother robot is developed and implemented.

关键词： Mobile robots Robot kinematics Robot sensing systems Computer interfaces Wheels Cameras

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