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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Haoran Zhang Mingrui Hao Ruohan Yang Keyuan Yue Zhichao Feng School of Computer Science and Information Engineering Harbin Normal University Harbin P. R. China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory School of Electronics and Information Northwestern Polytechnical University Xi’an P. R. China Department of Missile Engineering Rocket Force University of Engineering Xi’an P. R. China

The article puts focus on the the problem of performance assessment for UAV formation with leader-following structure and switching communication topology in the presence of unknown exogenous perturbations. First, two time-varying indicators are devised on the basis of the regulated outputs of the followers. Then, a trainable performance assessment model is constructed by means of belief rule base expert system (BRB) with the two time-varying indicators as the inputs and the assessment utility as the final output. At last, relevant simulation experiments are conducted to validate the practicability of the established performance assessment model for leader-following UAV formation subject to switching communication topology and unknown external perturbations.

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Yajun Liu Ru Li Aimin Li Rong Fei Xie Guo Fang-Xiang Wu Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an University of Technology Xi'an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Department of Computer Science Department of Mechanical Engineering Division of Biomedical Engineering University of Saskatchewan Saskatoon Canada

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions.

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Non-Singular Fixed-Time Robust Containment control for Autonomous Surface Vehicles

SSRN

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SSRN 2023年

作者： Ma, Junda Sun, Hefang Tan, Chong Zhao, Tianyuan Liu, Ke College of Automation Harbin University of Science and Technology Harbin150000 China Provincial Key Laboratory of Complex Intelligent System and Integration Harbin150000 China College of Journalism and Communication Jilin University Changchun130000 China College of Measurement and Control Technology and Communication Engineering Harbin University of Science and Technology Harbin150000 China

For the containment control problem of autonomous surface vehicles with external disturbances, a novel non-singular fixed-time control scheme is developed, where the multi-ship system consists of real leaders and followers. In contrast with traditional containment cases studied in most of the existing literature, the real leaders are required to track the desired trajectories, and the followers need to get into the convex hull spanned by the real leaders in fixed time. The method for solving the fixed-time containment control problem is divided into the following steps: Firstly, a fixed-time disturbance observer is designed to estimate the external disturbance for the leaders and the followers, and the estimation result is used to compensate for the input of the control system;Second, combined with fixed-time stability theory and a switch function, a non-singular fixed-time trajectory tracking controller for leaders is designed, such that the position tracking error could be bounded within a fixed time;Third, to achieve formation efficiently, a non-singular fixed-time containment controller strategy incorporating with graph theory is proposed for coordinating followers, such that the fixed-time stability can be ensured. Finally, simulation examples are given to demonstrate the effectiveness of the proposed method. © 2023, The Authors. All rights reserved.

关键词： Graph theory

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A Many-Objective Evolutionary Algorithm Assisted by Ideal Hyperplane

SSRN

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SSRN 2022年

作者： Zhang, Zhixia Wen, Jie Wang, Hui Cai, Xingjuan Cui, Zhihua Zhang, Wensheng School of Computer Science and Technology Taiyuan University of Science and Technology China School of Information Engineering Nanchang Institute of Technology Nanchang330099 China State Key Laboratory of Intelligent Control and Management of Complex System Institute of Automation Chinese Academy of Sciences China State Key Lab. for Novel Software Technology Nanjing University China

In many-objective optimization problems (MaOPs), it is a difficult task for evolutionary algorithms to balance convergence and diversity while rapidly converging to the Pareto front. As the number of objectives increases, the difficulty of evolutionary algorithms increases with individual selection pressure. To address above problems, we propose a many-objective evolution algorithm assisted by an ideal hyperplane (MaOEA-IH). Firstly, the ideal hyperplane as a reference surface to guide the individual to search the Pareto front, which is established from the extremum of each dimension of the objective space. Secondly, a parallel p -norm mating selection strategy is proposed to improve convergence. In addition, two factors are considered in this strategy: 1) different p -norm are used to measure different spatial scales;2) individual selection uncertainty is defined by incorporating a probabilistic perturbation mechanism. Thirdly, the improved shift-based density estimation strategy is used as the evaluation criterion for environmental selection to improve the convergence and diversity of solution sets and enhance selection pressure. To verify the effectiveness of the proposed algorithm, MAOEA-IH is compared with seven excellent algorithms in three benchmark sets (DTLZ, WFG and MaF). The results show that the proposed MAOEA-IH is highly competitive in solving MaOPs. © 2022, The Authors. All rights reserved.

关键词： Geometry

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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Distributed cooperative guidance for maneuvering targets with directed conmunication topologies

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2020年 41卷

作者： Dong, Xiaofei Ren, Zhang Chi, Qingxi Li, Qingdong School of Automation Science and Electrical Engineering Beihang University Beijing100083 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100083 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100083 China

This paper studies the distributed cooperative guidance for maneuvering targets with directed communication topologies. First, a guidance system model is established based on the geometric relationship between the aircraft and the target, in which the nonlinear problem is solved by feedback linearization. In this design, the unknown maneuver of the target is observed by the extended state observer, and the estimation of the unknown maneuver of the target is applied to the design of the guidance law. In this process, the influence of the target maneuvering on the time-to-go is eliminated by means of direct compensation. Then, the designed guidance law is brought into the guidance model, transforming the problem of cooperative guidance into the problem of consensus. Next, the necessary and sufficient conditions for the convergence of the designed cooperative guidance law are obtained by conducting the pole analysis. Finally, the designed cooperative guidance law and the method of the parameter selection are analyzed by adopting the simulation analysis. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.

关键词： State estimation

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New approach for constructing BDD from a complex fault tree

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of technology 2007年第SUPPL. 1期27卷 140-144页

作者： Zhu, Lin Chen, Jie Chen, Wen-Jie Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

A new conversion method for fault tree (FT) to binary decision diagram (BDD) was introduced. Firstly, FT was reduced and the reduction rule was proposed, share-node conception was introduced on the basis of FT decomposition, then the rules of connection of component BDD was proposed. Furthermore the route-based BDD reduction rule was proved, with which reduction can be done at the same time with BDD composition, and the route sequence and cut sets can be obtained, while computation and storage is greatly reduced during the process. Finally, the procedure of the transformation is presented. The affectivity effectiveness and practicability is thereby proved.

关键词： Fault tree analysis

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Backlash neural network model for hysteresis nonlinearity

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of technology 2007年第SUPPL. 1期27卷 226-230页

作者： Liao, Xiao-Zhong Lu, Guo-Hui Liu, Xiang-Dong Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

A Backlash neural network model is proposed for the systems with hysteresis nonlinearity. In order to approximate the hysteresis nonlinearity, Backlash-type operators are used as one layer of the neural network. Then, the number of Backlash operators and neurons of hidden layer are gotten through simulation. Compared with the normal BP network, the results show the improvement validity of the proposed Backlash neural network model for describing the hysteresis nonlinearity.

关键词： Nonlinear network analysis

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Algorithm of improved marriage in honey bees optimization and convergence analysis

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of technology 2007年第SUPPL. 1期27卷 80-84页

作者： Yang, Chen-Guang Cai, Tao Tu, Xu-Yan Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

One problem of marriage in honey bees optimization (MBO) is that its complex computation process will limit its applications. The paper proposed an improved marriage honey bees optimization (IMBO). By randomly initializing drones and restricting the condition of iteration, the calculation process becomes easier. The global convergence characteristic of IMBO is also proved based on the Markov chain theory. With different number of nodes, traveling salesman problem(TSP) is used to compare the IMBO with MBO and genetic algorithm(GA). Simulation results show that IMBO has better convergence performance.

关键词： Genetic algorithms

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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