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On the quantitative analysis of sparse RBMs 17th

On the quantitative analysis of sparse RBMs

引用

17th Pacific-Rim Conference on Multimedia, PCM 2016

作者： Zhang, Yanxia Yang, Lu Meng, Binghao Cheng, Hong Zhang, Yong Wang, Qian Zhu, Jiadan School of Mathematical Sciences University of Electronic Science and Technology of China Chengdu611731 China Department of Mathematics and Information Engineering Chongqing University of Education Chongqing400067 China School of Automation Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu611731 China Ricoh Software Research Center of Beijing Beijing100044 China

ISBN: (纸本)9783319488899

With the development of deep neural networks, the model of restricted Boltzmann machine(RBM) has gradually become one of the essential aspects in deep learning researches. Because of the presence of the partition function, it is intractable to get the model selection, control the complexity, and learn an exact maximum likelihood in RBM model. A kind of effective measure is approximate inference that adopts annealing importance sampling(AIS) scheme only to evaluate a RBM’s performance. At present, there is little quantitative analysis on discrepancies generated by different RBM models. So we focus on the innovation research on some quantitative evaluation of the generalization performance of all kinds of sparse RBM models, including the classical sparse RBM(SpRBM) and the log sum sparse RBM(LogSumRBM). We discuss the influence and efficiency of the AIS strategy for these sparse RBMs’ estimations. Particularly, we confirm that the LogSumRBM is the optimal model in RBM and sparse RBMs for its smaller deviations in the assessment results regardless of the training MNIST data and the test, which provides a guarantee on some theories and experience in the choice of the deep learning models in the future. © Springer International Publishing AG 2016.

关键词： Importance sampling

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Automatic Rebuild Salient Object Sequence from Video

Automatic Rebuild Salient Object Sequence from Video

引用

2016 IEEE Chinese Guidance, Navigation and Control Conference (IEEE CGNCC2016)

作者： Tie Liu Haibin Duan Zejian Yuan IEEE School of Automation Science and Electrical Engineering Beihang University Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

We present a novel approach to automatic rebuild salient object sequence from video while considering the visual attention rebuilding *** the salient object tracking,salient objects may transfer between frames,which induces the invalidation of temporal *** formulate the salient object rebuild problem as an energy minimization problem in a conditional random field framework,with salient object features,spatial and temporal coherent *** consider whether the salient object should be rebuilt in three ***,the potential salient object sequence segments are analyzed using the computed salient ***,variables are assigned to indicate whether two pixels from consecutive frames belong to the same salient object ***,dynamic programming algorithm is designed to resolve this energy minimization *** indicate that our approach can deal with the salient object rebuild problem well for automatic visual attention applications and video content analysis.

关键词： frame Automatic Rebuild Salient Object Sequence from Video Object

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Research on Dust Evolution Simulation System Based on Dynamic Data Driven

Research on Dust Evolution Simulation System Based on Dynami...

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2016 International Conference on Sustainable Energy, Environment and Information engineering (SEEIE 2016)

作者： Xiao-mei HU He-wei QU Jun-jun HU Yuan TIAN Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai University Electrical Engineering and Computer Science College of EngineeringUniversity of Michigan

The dust evolution simulation provides an important way to analyze the impact of dust on the environment. Dynamic data driven application system framework is applied and dust evolution simulation model based on DDDAS framework is proposed. Compared with the simulation model of dust evolution without DDDAS, the functions of the inputs of real-time data and modification of simulation parameters ensure the improvement of the accuracy of dust evolution simulation. The experimental results show that the dust evolution simulation with DDDAS framework is more precise than the simulation without DDDAS, which proves the effectiveness of the dust evolution simulation system based on dynamic data driven.

关键词： Dynamic data driven Dust evolution simulation Kinetic monte carlo Dust accumulation

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Guide rail design for a passive suction cup based wall-climbing robot

Guide rail design for a passive suction cup based wall-climb...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dingxin Ge Chao Ren Takahiro Matsuno Shugen Ma Department of Robotics Ritsumeikan University 525-8577 Shiga Japan School of Electrical Engineering and Automation Tianjin University 300072 China

ISBN: (纸本)9781509037636

This paper designs a guide rail for a wall-climbing robot based on passive suction cups. The designed guide rail can guarantee stable climbing of a wall-climbing robot. Firstly, to design the parameters of the guide rail, properties of the utilized passive suction cup are experimentally studied. Then a guide rail is designed to distribute the forces of the attached suction cups. It guarantees that the front attached suction cup of the robot obtains a large enough reaction force from the attached surface. Experimental results show that the robot prototype with the designed guide rail is able to stably climb a surface without falling off, since the front suction cup of the robot prototype can be completely attached to the climbing surface.

关键词： Rails Robots Force Pressing Prototypes Belts Rough surfaces

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Trajectory tracking control of an omnidirectional mobile robot with friction compensation

Trajectory tracking control of an omnidirectional mobile rob...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chao Ren Shugen Ma School of Electrical Engineering and Automation Tianjin University China 300072 Department of Robotics Ritsumeikan University Shiga Japan 525-8577

ISBN: (纸本)9781509037636

This paper presents and discusses the trajectory tracking control design with friction compensation for a three wheeled omnidirectional mobile robot. Firstly, a dynamic model without considering the friction forces is derived. Part of the control effort is used to compensate the friction effects, which is estimated by an extended state observer without using a friction model. Then traditional resolved acceleration control is applied to the robot, based on the derived dynamic model. In addition, stability analysis of the controller and observer is presented. Experimental results show that the proposed control design is efficient in compensating the friction effects and in improving the tracking control performances.

关键词： Friction Dynamics Mobile robots Observers DC motors Control design

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Robot kinematic calibration with plane constraints based on POE formula

Robot kinematic calibration with plane constraints based on ...

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International Conference on Information and automation (ICIA)

作者： Rencheng Wang Guilin Yang Hongzhen Zhao Jun Luo School of Mechatronic Engineering and Automation Shanghai University Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology Chinese Academy of Sciences

ISBN: (纸本)9781509041039

Utilizing plane constraints, a linear kinematic calibration algorithm is proposed for industrial robots based on local frame representation of the POE (Product-of-Exponential) formula. Different from conventional calibration methods which need expensive measurement equipment, the proposed method only needs a laser range finder mounted onto the robot end-effector and several predefined planes fixed to the base. As it suffices to lump all the kinematic errors into the initial poses of the local coordinate frames, the error model derived from the plane constraints is significantly simplified. An iterative least square algorithm is employed to identify the kinematic errors of the robot. Simulation results demonstrate the effectiveness of the proposed calibration method.

关键词： Robot kinematics Calibration Service robots Kinematics Robot sensing systems Measurement by laser beam

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Output regulation of linear heterogeneous multi-agent systems via output and state feedback

Output regulation of linear heterogeneous multi-agent system...

引用

作者： Adib Yaghmaie, Farnaz Lewis, Frank L. Su, Rong School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S. Ft. WorthTX76118 United States

In this paper, we propose output feedback and state feedback controllers for output regulation of linear heterogeneous multi-agent systems. We use a general model for the output regulation problem of linear multi-agent systems which accounts for a general directed and fixed communication graph, heterogeneity of the agents, an arbitrary number of inputs and outputs and both state and output feedback. First, we derive global and local sufficient conditions for the existence of local output feedback and local state feedback controllers. We show that both controllers have an H∞ criterion as a part of their sufficient conditions. Second, we design these controllers locally to insure those sufficient conditions. Third, for the case of output feedback, we show that the design procedure requires a feasible solution to the set of two LMIs and one non-convex algebraic constraint. We provide an existing algorithm to find a feasible solution to this problem. Fourth, for the case of state feedback we prove that the H∞ criterion is satisfied if and only if there exists a feasible solution to an LMI. Moreover, we define an output regulation region such that selecting the state feedback coupling gain from this region ensures that the sufficient condition is always satisfied. © 2016 Elsevier Ltd. All rights reserved.

关键词： State feedback

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Binocular Stereo Vision Based Obstacle Detection Method for Manipulator

Binocular Stereo Vision Based Obstacle Detection Method for ...

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2016 International Conference on Electrical engineering and automation（ICEEA2016）

作者： Xiao-xue ZHANG Qiang LIU Jin-guo LIU Tian ZHANG Zhi-yu NI School of Information and Control Engineering Liaoning Shihua University The State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

An obstacle detection method is proposed based on binocular stereo vision for manipulator. Firstly, images are preprocessed after camera calibration such as graying and distortion correction. Then, aiming at the defect that feature points are extracted mixed with many edge response points by traditional SIFT(Scale Invariant Feature Transform) algorithm, we propose wavelet transform to extract the edge points, and compare the edge points with feature points to further eliminate unstable feature points. Finally, the effectiveness of the algorithm is verified by obstacle detection and obstacle avoiding experiments. The results demonstrate that the improved SIFT algorithm can remove the edge responses that the DOG operator generates effectively, and improve the stability and anti-noise ability of SIFT algorithm compared with traditional SIFT algorithm.

关键词： Binocular stereo vision Obstacle detection Manipulator

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Multiple-fan Active Control Wind Tunnel for Outdoor Near-surface Airflow Simulation 34

Multiple-fan Active Control Wind Tunnel for Outdoor Near-sur...

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第三十四届中国控制会议

作者： WANG Jia-Ying MENG Qing-Hao LUO Bing ZENG Ming SUN Biao Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781467374439

This paper presents a design scheme of a multiple-fan active control wind tunnel system for outdoor near-surface airflow simulation. The wind tunnel, with a rectangular shape, has 6 swivel plates which can rotate in-90°90° at the entrance. Each swivel plate consists of 8 axial flow fans. The stochastic control strategy is used to regulate fan speeds and the angles of swivel plates in order to produce time-varying wind speed and direction. The simulated airflow in the wind tunnel is compared with the outdoor near-surface airflow by analyzing the statistical indicators and multi-scale entropy of wind speed. The experimental results show that the wind tunnel can reliably simulate the outdoor near-surface airflow. This wind tunnel provides a convenient experimental platform for the odor source localization research in the outdoor near-surface breeze condition.

关键词： Wind tunnel,multiple-fan wind tunnel,active control strategy,statistical analysis,multi-scale entropy

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Three-Dimensional Gas Distribution Mapping with a Micro-Drone 34

Three-Dimensional Gas Distribution Mapping with a Micro-Dron...

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第三十四届中国控制会议

作者： LUO Bing MENG Qing-Hao WANG Jia-Ying SUN Biao WANG Ying Institute of Robotics and Autonomous Systems School of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781467374439

This paper presents the methods and experiment results of three-dimensional gas distribution mapping with a microdrone. With the 3D Kernel DM(kernel extrapolation distribution mapping) algorithm implemented into the micro-drone's onboard computer, the gas distribution map is real-time updated when the micro-drone flies along predefined sweeping path to traverse the search area in outdoor environments. Results show that the concentration grid map obtained can represent the real gas distribution in a certain extent, and demonstrate that gas distribution mapping with a micro-drone is applicable in the realistic scenarios.

关键词： drone,micro UAV,chemical sensing,gas distribution mapping,quadcopter,three-dimensional

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