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检索条件"机构=State Key Lab Management and Control for Complex Systems"

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A Prior-Free Encode-Decode Change Detection Test to Inspect Datastreams for Concept Drift

A Prior-Free Encode-Decode Change Detection Test to Inspect ...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Alippi, Cesare Bu, Li Zhao, Dongbin Politecn Milan Milan Italy Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100864 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467361293;9781467361286

Online change detection in datastreams has attracted many researchers and is becoming a very hot topic whose relevance will further increase with research on Big Data. Concept drift is induced by changes in stationarity of the process generating the data caused by faults, time variance of the environment and inaccuracy of the change detection mechanism. Here, we propose a recurrent auto-associative Encode-Decode machine trained to reconstruct input data. The generated residual is then inspected for structural changes with a Change Detection Test (CDT). Although any CDT can be used, in the paper we focus the attention on the Hierarchical Intersection of Confidence Intervals change detection test for its capability of controlling false positives with a two layered test and an online version of the Lepage Change Point Model. Once concept drift is detected, the designed Encode-Decode machine, globally acting as an Encode-Decode CDT, is retrained on new data to detect subsequent changes.

关键词： data handling encoding

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Modeling and analysis of wireless power transmission system for inspection robot

Modeling and analysis of wireless power transmission system ...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yang, Mingbo Yang, Guodong Li, En Liang, Zize Lin, Hao Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467351942;9781467351928

A wireless power transmission technique based robotic power management system for prolonging continuous working time of one transmission line inspection robot is introduced in this paper. Magnetic resonance coupled WPT (wireless power transmission) unit is designed and analyzed in form of electrical circuit mode theory. Impedance matching is introduced and a special matching method for four coils resonance coupled based WPT is given. The output power of WPT unit is modeled and relationship between coupled coefficient, angular frequency and amount of output power is given and energy consumption of each unit in power management system is quantified. Experiment shows that models can precisely describe the character of WPT system and it performs to be applicable for charging the inspection robot wirelessly

关键词： wireless power transfer magnetic resonance power transfer efficiency

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Containment control with multiple interacting leaders under switching topologies

Containment control with multiple interacting leaders under ...

引用

第三十二届中国控制会议

作者： Liu Huiyang Cheng Long Tan Min Hou Zengguang Cao Zhiqiang Wang Ming State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781479900305

In this paper, containment control for continuous-time multi-agent systems with multiple interacting leaders is investigated. According to the role each agent plays in the multi-agent team, the agents are classified into two categories: leaders and followers. The containment control problem in this paper is that the leaders converge to a desired formation and the followers move into the convex hull spanned by the leaders’ final positions. A sufficient condition for containment control is that the union of the interaction graphs has a spanning tree frequently enough as the system evolves. It is shown that the followers’ positions in the convex hull are dynamic due to the switching topology. The theoretical results are illustrated by some simulations.

关键词： containment control multi-agent systems directed network topology switching topology cooperative control

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Underwater Target Search With Robotic Fish Based on an Improved Camshift Algorithm

Underwater Target Search With Robotic Fish Based on an Impro...

引用

Chinese Automation Congress (CAC)

作者： Chen, Shifeng Yu, Junzhi Sun, Feihu Tan, Min Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China

ISBN: (纸本)9781479903337

Biomimetic robotic fish has the distinct advantage of efficient propulsion and high maneuverability over conventional underwater vehicles. This paper addresses the underwater target search issue in a free-swimming robotic fish with embedded vision. In particular, we use the stored original image to acquire the color characteristics of the target and propose an improved Camshift algorithm based on the light intensity distribution to search the target in the captured image. Then the robotic fish is driven towards the identified target smoothly with the aid of bio-inspired Central Pattern Generator (CPG) control. All tracking algorithms are implemented in real time with a hybrid control system combining an embedded microprocessor (TI DM3730) and a microcontroller (ATmega128). Latest aquatic experiments demonstrate that a fairly good tracking effect is resulted and the interference caused by the mirror image effect is largely eliminated. The proposed technical scheme offers an alternative to target search in relatively complex underwater environments.

关键词： biomimetic robotic fish underwater search improved Camshift algorithm mirror image interference

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Platform-Level Design for a Crustal Movement Simulation System

Platform-Level Design for a Crustal Movement Simulation Syst...

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IEEE International Conference on Information and Automation (ICIA)

作者： Ma, Qingzeng Li, En Yang, Guodong Liang, Zize Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781479913343

It's very important to investigate the effect of crustal movement on water cycle and related land surface processes in the laboratory environment for geographic researchers, especially the influence of tectonic deformations on the basin, the river course and the estuary. In this paper, a crustal movement simulation system (CMSS) is proposed, including the mechanical design and related control system of the CMSS. The CMSS is implemented with twelve sets of parallel mechanism supported by four serial chains with three degrees of freedom (DOF). Hierarchical control architecture with embedded controller is constructed, which can control the CMSS to accomplish user-defined tectonic movements automatically. Experimental results, performed on test facilities reproducing the real field conditions, are also presented.

关键词： crustal movement tectonic deformation parallel mechanism hierarchical control architecture

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Bezier Curve Based Path Planning for A Mobile Manipulator in Unknown Environments

Bezier Curve Based Path Planning for A Mobile Manipulator in...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Jiao, Jile Cao, Zhiqiang Zhao, Peng Liu, Xilong Tan, Min Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781479927449

This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined according to the related information of the path as well as obstacles. The mobile manipulator has the ability to adapt to the environment and the optimal path will be updated once the new detected obstacles block this path. The path planning approach is verified by simulations.

关键词： Motion planning

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Cooperative Multiagent Reinforcement Learning Using Factor Graphs

Cooperative Multiagent Reinforcement Learning Using Factor G...

引用

4th International Conference on Intelligent control and Information Processing (ICICIP)

作者： Zhang, Zhen Zhao, Dongbin Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467362498;9781467362481

In this paper, we propose a sparse reinforcement learning (RL) algorithm using factor graphs. The contribution is to make the original sparse RL algorithm applicable for tasks decomposed in a more general manner. For some problems, it is more reasonable to divide agents into cliques, each of which is responsible for its specific subtask. In this way, the global Q-value function is decomposed into the sum of simpler local Q-value functions, each of which may contain more than two action variables. Such decomposition can be expressed by a factor graph and exploited by the general max-plus algorithm to get the global greedy joint action. The experimental results show that our methodology is feasible and effective.

关键词： graph theory learning (artificial intelligence) multi-agent systems

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An Enhanced Dual-finger Robotic Hand for Catheter Manipulating in Vascular Intervention: A Preliminary Study

An Enhanced Dual-finger Robotic Hand for Catheter Manipulati...

引用

IEEE International Conference on Information and Automation (ICIA)

作者： Bian, Gui-Bin Xie, Xiao-Liang Feng, Zhen-Qiu Hou, Zeng-Guang Wei, Peng Cheng, Long Tan, Min Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781479913343

Cardiovascular disease is a class of diseases that involve the heart and blood vessels, which is the leading cause of deaths globally. Vascular interventional surgery is an effective treatment. As belongs to minimally invasive surgery (MIS), it is more popular due to the advantages of smaller injury, faster recovery and higher accuracy rate. However, it needs up to 10 years to train a skilled surgeon for minimally invasive cardiovascular surgeries. The surgeon cannot avoid receiving the excessive dose of X-ray due to long time operation in daily work. A dual-finger robotic hand (DRH) was introduced to assist the surgeon in manipulating the catheter/guide wire. As a surgical device, DRH is aiming at simple mechanism, ease to use and convenient sterilization. It was carefully investigated how the surgeon manipulates the catheter/guide wire. The bionic thumb and forefinger were designed to imitate human's. Compared to human's, the two bionic fingers are enhanced due to that they can advance the catheter/guide wire without moving the whole hand. The DRH mechanism was carefully designed. A console was also designed for the surgeon to manipulate DRH. After the DRH control was done, the minimum robotic cardiovascular interventional system was formed. Experimental results have validated the feasibility of DRH and the robotic system. Future work regarding DRH is also discussed.

关键词： Vascular Intervention dual-finger robotic hand catheter/guide wire

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Adaptive Optimal control for Nonlinear systems with control Constraints Using GDHP Technique

Adaptive Optimal Control for Nonlinear Systems with Control ...

引用

4th International Conference on Intelligent control and Information Processing (ICICIP)

作者： Zhang, Dehua Liu, Derong Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467362498;9781467362481

An optimal control scheme with prescribed performance for a class of affine nonlinear systems with control constraints is developed in this paper. Based on optimization theory and methods, a constrained optimization problem is formulated. Then, we develop an improved adaptive dynamic programming algorithm based on globalized dual heuristic programming technique to solve the optimal control problem. The validity of the present scheme is verified via simulation experiments by applying our method to a typical affine nonlinear system with nonlinear dead-zone control.

关键词： adaptive control dynamic programming heuristic programming nonlinear control systems optimal control

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Boundary Value Problems for Stochastic Budget Distribution in Search Advertisements

Boundary Value Problems for Stochastic Budget Distribution i...

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

作者： Qin, Rui Yang, Yanwu Wang, Feiyue Zeng, Daniel Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781479905300;9781479905294

In sponsored search auctions, advertisers have to distribute the budget to a series of temporal slots in order to maximize the expected revenue. There exists a budget demand for each temporal slot, which can not be known exactly by the advertiser due to some uncertainties in the search marketing environments. The estimation of the value range of budget demand in a temporal slot seriously affects the advertising performance. In this paper we study the effect of the value range on the revenue and conduct some experiments to validate our model and identified properties with the real-world data collected from practical advertising campaigns. Experimental results show that, under a certain condition, (a) the higher estimation of the upper bound and the lower bound might increase the expected revenue, and (b) the expected revenue is positively proportional to the mean value of the value range and is negatively proportional to the size.

关键词： budget distribution budget demand stochastic strategy budget constraints search advertisement

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