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第40届中国控制会议

作者： Gui Yuanyuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at the problem of how to realize the reasonable distribution of goods and the resource scheduling of route planning under dynamic conditions, a phased refresh method is proposed to deal with the requirements in sections. At the same time, the clustering method is introduced to generate the initial population. And the cross and mutation rate is determined by a step-by-step reduction method, which is used to solve the problem of the traditional genetic algorithm falling into the local optimum caused by the uneven distribution of searchable solutions. Finally, the effectiveness of the improved method is verified by simulation experiments.

关键词： resource scheduling phased refresh improved genetic algorithm

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Multi-Batch Production Scheduling for Distributed Serial Lines with Unreliable Machines and Finite Buffers

Multi-Batch Production Scheduling for Distributed Serial Lin...

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第40届中国控制会议

作者： Longzhu Huang Zhiyang Jia Xiaohan Wang Jingchuan Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In the modern manufacturing environment, the production systems develop towards a flexible direction due to the market demands of multiple varieties and small batch-based customized products. To make better use of the existing resources and to improve production efficiency, distributed manufacturing mode begins to appear. This paper concentrates on a multi-type production scheduling problem for distributed serial lines. Specifically, unreliable machines and finite buffers are considered,which are more realistic in the practical production. The mathematical model for the production system with two Bernoulli machines is formulated first. Then, under the hypothetical model mentioned above, the main work of this article is to propose the exact and approximate analyses to calculate the performance indicators. Based on the analysis of the model, the genetic algorithm is applied to optimize the maximum completion time on the distributed serial lines for multi-batch-based production tasks. Finally, the feasibility and effectiveness of the mathematical model and the proposed algorithm are verified through numerical experiments.

关键词： Bernoulli machine intelligent manufacturing Production scheduling Transient analysis

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Consensus of High-Order Multi-Agent systems with Binary-Valued Communications and Switching Topologies

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IEEE Transactions on control of Network systems 2024年

作者： An, Ru Wang, Ying Zhao, Yanlong Zhang, Ji-Feng Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Zhongyuan University of Technology School of Automation and Electrical Engineering Henan Province Zhengzhou450007 China

This paper studies the consensus problem of high-order multi-agent systems (MASs) with binary-valued communications and switching topologies. To tackle the challenge of unknown states caused by binary-valued communications, this paper constructs an estimation-based consensus algorithm. First, a recursive projection identification algorithm is presented to estimate the neighbors' states dynamically. Then, based on these estimates, a consensus law is designed. By constructing and analyzing two combined Lyapunov functions about estimation error and state error, this paper establishes their relation, to overcome the difficulty resulting from the coupling of the estimation and control and less information due to switching topologies. Under the condition of jointly connected topologies, it is proven that by properly selecting the step coefficient, the estimates of states can converge to the true states with a convergence rate as the reciprocal of the recursion times. Besides, the MAS is proved to achieve weak consensus and the consensus rate is also established as the reciprocal of the recursion times. Finally, a simulation example is given to validate the algorithm. © 2024 IEEE.

关键词： Consensus algorithm

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An Adaptive Dynamic Programming Algorithm Based on ITF-OELM for Discrete-Time systems

An Adaptive Dynamic Programming Algorithm Based on ITF-OELM ...

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第33届中国控制与决策会议

作者： Xiaofei Zhang Hongbin Ma Junyong Chen Weixue Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Adaptive dynamic programming(ADP) is a kind of intelligent control method,and it is a non-model-based method that can directly approximate the optimal control policy via online *** gradient algorithm is usually used to update weights of action networks and critic networks,however it is clear that gradient descent-based learning methods are generally very slow due to improper learning steps or may easily converge to local *** this paper,in order to overcome those disadvantages of gradient descent-based learning methods,a novel ADP algorithm based on initial-training-free online extreme learning machine(ITF-OELM),in which the critic network link weights of hidden nodes to output nodes can be obtained by least squares instead of gradient algorithm,is ***,the ADP algorithm based on ITF-OELM is tested on a discrete time torsional pendulum system,and simulation results indicate that this algorithm makes the system converge in a shorter time compared with the ADP based on gradient algorithm.

关键词： Adaptive Dynamic Programming Extreme Learning Machine Discrete-time systems

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A semantic segmentation method based on improved u-net network 4

A semantic segmentation method based on improved u-net netwo...

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4th International Conference on Advanced Electronic Materials, Computers and Software Engineering, AEMCSE 2021

作者： Li, Penghui Zhang, Lijun Qiao, Jinlong Wang, Xiangguo China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan China

ISBN: (纸本)9781665415965

Semantic segmentation is the most important branch of image processing. Semantic segmentation based on deep learning occupies the mainstream method. CNN, FCN, U-NET and DEEPLAB series have achieved good results in the field of image semantic segmentation. The improvement methods of each network also emerge in an endless stream, but the emphasis of improving the network focuses on the feature transfer and feature fusion between network layers in each method. In this paper, based on u-net, we use deep convolution, residual autonomic force and dendrite network to improve the network model. Deep convolution can reduce the amount of calculation, deepen the depth of network, extract more abundant image information, and transmit information between network layers in a more refined way. Dendritic networks are different from ordinary neural networks. Ordinary neural networks process information as models of nerve cell bodies. The role of neural dendrites is also important in the process of information processing. Dendritic network is used as a model of neural dendrites to improve the ability of information processing. The improved network in this paper was tested on the VOC2012 dataset, and the experimental results showed that PA, mAP and IoU were 93.36%, 92.28% and 68.26% respectively. The experimental results showed that the improved network in this paper had improved in all indicators. © 2021 IEEE.

关键词： Semantic Segmentation

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An Automatic Hand Rehabilitation Assessment System: Implementation and Experiments 12

An Automatic Hand Rehabilitation Assessment System: Implemen...

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12th International Conference on CYBER Technology in automation, control, and intelligent systems, CYBER 2022

作者： Wang, Yifan Cheng, Long Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The lack of rehabilitation therapists and the increase of disabled individuals have reduced the opportunities for patients to receive well rehabilitation assessment. Towards solving this challenge, establishing a therapist-assistance assessment system to reduce the medical resource consumption is demanding. This paper proposes an automatic hand rehabilitation assessment system based on the Leap Motion vision sensor and a self-designed hand strength measurement device. The assessment algorithm requires the patients to complete every motion given in Fugl-Meyer assessment scale (FMA), and automatically scores the completion level of each motion via recognizing different hand gestures and hand grasping strength. As illustrated by the experiments on ten volunteers, the proposed assessment system can obtain the reliable scores which are consistent with the ones manually obtained via FMA. © 2022 IEEE.

关键词： Patient rehabilitation

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Multiple Non-cooperative Targets Encirclement by Relative Distance based Positioning and Neural Anti-Synchronization control

arXiv

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arXiv 2024年

作者： Liu, Fen Yuan, Shenghai Meng, Wei Su, Rong Xie, Lihua Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control School of Automation Guangdong University of Technology Guangzhou510006 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore

From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains challenging. In this work, multiple targets encirclement by using a minimum of two tasking agents, is considered where the relative distance measurements between the agents and the targets can be obtained by using onboard sensors. Based on the measurements, the center of all the targets is estimated directly by a fuzzy wavelet neural network (FWNN) and the least squares fit method. Then, a new distributed anti-synchronization controller (DASC) is designed so that the two tasking agents are able to encircle all targets while staying opposite to each other. In particular, the radius of the desired encirclement trajectory can be dynamically determined to avoid potential collisions between the two agents and all targets. Based on the Lyapunov stability analysis method, the convergence proofs of the neural network prediction error, the target-center position estimation error, and the controller error are addressed respectively. Finally, both numerical simulations and UAV flight experiments are conducted to demonstrate the validity of the encirclement algorithms. The flight tests recorded video and other simulation results can be found in https://***/B8uTorBNrl4. © 2024, CC BY.

关键词： Orbits

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Performance Analysis of Silicon Optical Phased Array with Nonuniform Antenna

Performance Analysis of Silicon Optical Phased Array with No...

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Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Yang Chen Mengyuan Ye Duowei Zeng School of Automation China University of Geosciences Wuhan China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

Optical phased array (OPA) on silicon platform is developed as a hot topic in the past decade. In order to achieve both large field of view (FOV) and high side mode suppression ratio (SMSR), large-scale antenna with spacing of half wavelength is usually required, resulting in large footprint and complex scanning design. Recently, OPAs with nonuniform antenna are proposed as efficient solutions to achieve large FOV with simplified layout. Here, we analyze the performance of various OPAs with different nonuniform antenna designs. In addition, a genetic algorithm optimization method is further proposed for nonuniform antenna design. OPA with the proposed nonuniform antenna is simulated with a steering range of ±50° and SMSR of 11.3dB.

关键词： Phased arrays Layout Asia Optimization methods Silicon Performance analysis Optical arrays

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Task Sequence Planning Algorithm for Cooperative Assembly of Dual-arm Robot

Task Sequence Planning Algorithm for Cooperative Assembly of...

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2021 China automation Congress, CAC 2021

作者： Zhang, Jin Gan, Yahui Wang, Zhengwei Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781665426473

Dual-arm collaborative robots have gradually become a research hotspot in the field of robotics due to their unique collaboration and flexibility, and they have a wide range of application prospects especially in the assembly manufacturing industry. However, the existing dual-arm robot lacks autonomy in assembly operations, especially when faced with a large number of randomly placed assembly parts, how to make the robot have independent assembly task decision-making ability is a challenge. In response to this problem, this paper proposes a new dual-arm robot collaborative assembly task sequence planning algorithm, which fully considers the constraints of the dual-arm robot's mechanical structure, kinematics, characteristics of objects to be assembled, interference between objects, etc.. Firstly, The algorithm uses the Monte Carlo method to analyze the working space of the left and right arms of the dual-arm robot, while taking into account the structural constraints of the robot. Then, according to the characteristics of the object to be assembled, the idea of interference sphere is proposed to analyze the interference between objects in the assembly task. The influence of the operation, and finally combined with the movement cost of the dual-arm assembly, the assembly task sequence is effectively planned. The algorithm was verified by simulation using the ABB YuMi dual-arm collaborative robot, and the experimental results proved the feasibility and effectiveness of the algorithm. © 2021 IEEE

关键词： Monte Carlo methods

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TASF: Terrestrial-Aerial Synergistic Framework for a New Generation of intelligent Transportation 27

TASF: Terrestrial-Aerial Synergistic Framework for a New Gen...

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27th IEEE International Conference on intelligent Transportation systems, ITSC 2024

作者： Wang, Cong Nie, Dujun Zhang, Ruijun Teng, Siyu Chen, Long Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Hong Kong Baptist University Kowloon Hong Kong Waytous Inc. Beijing China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems The State Key Laboratory of Management and Control for Complex Systems Beijing100190 China Shenzhen518107 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China

ISBN: (纸本)9798331505929

Terrestrial-Aerial Synergistic Framework (TASF) represents a novel approach to intelligent transportation, integrating terrestrial and aerial vehicles to enhance urban transportation efficiency and capacity. In this paper, we offer an in-depth analysis of TASF, emphasizing its innovative applications in urban transportation, parcel delivery, and emergency response services. TASF incorporates a five-layer architecture comprising perception, communication, planning, control, and interaction. With the five-layer architecture, TASF can achieve effective collaboration among terrestrial and aerial vehicles, encompassing two principal features: terrestrial-aerial synergistic parallel perception and multi-agent parallel management. Parallel perception results from fusing Bird's Eye View (BEV) representations from Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), whereas decentralized multi-agent management employs foundational models to enhance decision-making capabilities. Additionally, we consider challenges and potential solutions related to TASF, including safety, reliability, energy efficiency, management and integration. TASF marks a paradigm-shifting leap in the realm of intelligent transportation systems, providing a scalable and efficacious solution tailored to the dynamic requirements of urban mobility and emergency services. © 2024 IEEE.

关键词： decision making

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