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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

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

ISBN: (纸本)9781479903801

This paper is concerned with a new iterative adaptive dynamic programming (ADP) algorithm to solve optimal control problems for infinite horizon discrete-time nonlinear systems using a numerical controller. The convergence conditions of the iterative ADP are developed considering the errors by the numerical controller which show that the iterative performance index functions can converge to the greatest lower bound of all performance indices within a finite error bound. Neural networks and digital computer are used to approximate the iterative performance index function and compute the numerically iterative control policy, respectively, for facilitating the implementation of the iterative ADP algorithm. Finally, a simulation example is given to illustrate the performance of the present method.

关键词： Adaptive critic designs adaptive dynamic programming approximate dynamic programming nonlinear systems optimal control neural networks reinforcement learning

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EMG-based Estimation of Knee Joint Angle under Functional Electrical Stimulation Using an Artificial Neural Network

EMG-based Estimation of Knee Joint Angle under Functional El...

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32nd Chinese control Conference (CCC)

作者： Chen, Yixiong Hu, Jin Zhang, Feng Li, Pengfeng Hou, Zengguang Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9789881563835

In this paper, an artificial neural network is proposed to estimate knee joint angle in hybrid activation of knee extension motion, including voluntary muscle contraction and functional electrical stimulation (FES) induced contraction. Voluntary electromyography (EMG) signals of three muscles responsible for knee extension and FES parameter which describe the FES intensity are used as input vector of the neural network, while the estimated knee angle is the output. During the experiment, FES with different combinations of parameters (pulse amplitude and pulse width) was delivered to the rectus femoris muscle of a healthy male subject when the knee was in a periodic extension motion by voluntary muscle contraction. Raw EMG signals of three muscles, parameters of FES as well as the actual knee angle were recorded. Totally, there were 52,233 and 17,420 sampling points corresponding to 261 and 87 seconds used to train and validate the neural network. The result shows the trained network has a satisfactory performance on knee joint angle estimation whose output well follows the curve of actual knee angle. Root mean square error between estimated angle and actual angle is employed to represent the estimation accuracy which is 5.07 degree according to the experimental data.

关键词： Functional electrical stimulation Electromyography Neural network

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Generalized Adaptive Dynamic Programming Algorithm for Discrete-Time Nonlinear systems: Convergence and Stability Analysis

Generalized Adaptive Dynamic Programming Algorithm for Discr...

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International Conference on Information Science and Technology (ICIST)

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

ISBN: (纸本)9781467351379

This paper is concerned with a generalized iterative adaptive dynamic programming (ADP) algorithm for discrete-time nonlinear systems. The idea is to use iterative ADP algorithm to obtain iterative control laws which make the iterative performance index function reach the optimum. It is proved that for an arbitrary positive semi-definite function, the iterative performance index functions will converge to the optimum. For different initial functions, it shows that the convergence procedures of the iterative performance index functions are different. Stability properties of the system are analyzed in this paper to show that the iterative control can stabilize the system for suitable initial performance index functions. Admissible control properties of the iterative control laws obtained by the present generalized iterative ADP algorithm are also given in this paper.

关键词： Iterative methods

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An Improved Multimodal Robotic Fish Modelled After Esox Lucius

An Improved Multimodal Robotic Fish Modelled After <i>Esox L...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Wu, Zhengxing Yu, Junzhi Su, Zongshuai 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 focuses on a further exploration of multimodal locomotion governed by bio-inspired central pattern generators (CPGs). To pursue a better swimming performance, an updated robotic fish is constructed. Besides the improved hardware devices involving higher torque servomotors and powerful processors, some innovative mechanical designs are taken into consideration. Specifically, a well-streamlined shape like Esox lucius and a yawing head joint contribute to reduce hydrodynamic drag and strengthen turning ability. A pair of flexible pectoral fins with four degrees of freedom is to enhance the capability of three-dimensional locomotion and to enrich multiple swimming motions. Further discussion on how characteristic parameters in CPGs including frequency, amplitude, and phase relationship impact the swimming performance is also presented. Finally, the robotic fish successfully gains more powerful capability of multimodal locomotion containing forward swimming, backward swimming, turning, diving, and ascending. The experimental results validate the effectiveness of mechanism design and adaptability of multimodal locomotion governed by CPGs.

关键词： Machine design

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A biologically inspired model of emotion eliciting from visual stimuli

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NEUROCOMPUTING 2013年 121卷 328-336页

作者： Ren, Dongchun Wang, Peng Qiao, Hong Zheng, Suiwu Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat Res Ctr Precis Sensing & Control Beijing 100190 Peoples R China

Several emotion eliciting models have been proposed in the literature, however most of them are still artificial models which ignore the biological basis. We propose an emotion (without awareness) eliciting model from visual stimuli, which is inspired by biology: we describe an emotion eliciting process that follows the circuits of emotion in the brain derived through the results of neuroscience and the three major modules in the process, visual perception, emotion-eliciting region and emotional valence elicited by the region, are all supported by biology research. In our work, visual perception works with visual stimuli from coarse to the finer level according to human visual system. The elicited emotion in coarse level is also capable of affecting the emotion valence in the finer level. Based on psychophysical research, the emotion-eliciting region is selected out through color preference. The emotion is elicited by the emotion-eliciting region rather than overall visual context, which has been first introduced to computational modeling of emotion eliciting from image stimuli. The emotional valence elicited by the region is calculated on coarseness and directionality by comparing with stored image representations. In the experiments, two types of visual stimuli are considered: (1) natural scenes stimuli and (2) natural scenes and mutilation scenes stimuli. We compare the performance of our model with International Affective Picture System (IAPS), a large set of emotionally evocative color photographs that includes pleasure and arousal ratings made by men and women. Experimental results show that our model can generate human-like emotion based on natural scenes stimuli and obtain the positive or negative emotion as people feel on natural scenes and mutilation scenes stimuli. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Emotion eliciting model Emotion-eliciting region Emotional valence Emotion circuits Visual information

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Adaptive Dynamic Programming Algorithm for Renewable Energy Scheduling and Battery management

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COGNITIVE COMPUTATION 2013年第2期5卷 264-277页

作者： Boaro, Matteo Fuselli, Danilo De Angelis, Francesco Liu, Derong Wei, Qinglai Piazza, Francesco Univ Politecn Marche Dipartimento Ingn Informaz I-60131 Ancona Italy Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

The employment of intelligent energy management systems likely allows reducing consumptions and thus saving money for consumers. The residential load demand must be met, and some advantages can be obtained if specific optimization policies are taken. With an efficient use of renewable sources and power imported from the grid, an intelligent and adaptive system which manages the battery is able to satisfy the load demand and minimize the entire energy cost related to the scenario under study. In this paper, an adaptive dynamic programming-based algorithm is presented to face dynamic situations, in which some conditions of the environment or habits of customer may vary with time, especially using renewable energy. Based on the idea of smart grid, we propose an intelligent management scheme for renewable resources combined with battery implemented with a faster and simpler scheme of dynamic programming, by considering only one critic network and some optimization policies in order to satisfy the load demand. Since this kind of problem is suitable to avoid the training of an action network, the training loop among the two neural networks is deleted and the training process is greatly simplified. Computer simulations confirm the effectiveness of this self-learning design in a typical residential scenario.

关键词： Adaptive dynamic programming Approximate dynamic programming Neural networks Energy scheduling Battery management

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Computational Traffic Experiments Based on Artificial Transportation systems: An Application of ACP Approach

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systems 2013年第1期14卷 189-198页

作者： Zhu, Fenghua Wen, Ding Chen, Songhang Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Natl Univ Def Technol Changsha 410073 Hunan Peoples R China

The Artificial societies, Computational experiments, and Parallel execution (ACP) approach provides us an opportunity to look into new methods that address transportation problems from new perspectives. In this paper, we present our work and results of applying the ACP approach on modeling and analyzing transportation systems, particularly carrying out computational experiments based on artificial transportation systems (ATSs). Two aspects in the modeling process are analyzed. The first is growing an ATS from the bottom up using agent-based technologies. The second is modeling environmental impacts under the principle of "simple is consistent." Finally, three computational experiments are carried out on one specific ATS, i.e., Jinan-ATS, and numerical results are presented to illustrate the applications of our method.

关键词： Agent Artificial societies, Computational experiments, and Parallel execution (ACP) approach artificial transportation systems (ATSs) computational experiment "simple is consistent"

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Necessary and Sufficient Conditions for Solving Leader-Following Problem of Multi-Agent systems with Communication Noises

Necessary and Sufficient Conditions for Solving Leader-Follo...

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第25届中国控制与决策会议

作者： Yunpeng Wang Long Cheng Zeng-Guang Hou Min Tan Huiyang Liu Min Wang State Key Laboratory of Management and Control for Complex Systems (SKLMCCS) Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781467355339

The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise's effect, a positive time-varying gain a(t) is employed in the protocol. It is proved that the proposed protocol can solve the mean square leader-following problem if the following conditions hold: 1) the communication topology graph has a spanning tree;2) ∫∞0 a(t)dt = ∞;3) lim t→∞ a(t) = 0. The requirements on a(t) are different from most existing papers, where a(t) is required to satisfy that ∫∞0 a(t) = ∞ and ∫∞0 a2(t) < ∞. It turns out that ∫∞0 a2(t) < ∞ implies lim t→∞ a(t) = 0, if a(t) is uniformly continuous. Therefore this paper relaxes the requirements on a(t) to some extent. In addition, under the mild condition (a(t) is uniformly continuous) these three conditions are necessary as well. Furthermore, if ∫∞0 a2(t)<∞, the employed protocol is proved to be able to solve the almost sure leader-following problem of first-order integral multi-agent system. Finally, a simulation example is provided to verify the effectiveness of the employed protocols.

关键词： Leader-following, Consensus, Multi-agent system, Communication noise

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Optimal Home Energy management Under Dynamic Electrical and Thermal Constraints

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2013年第3期9卷 1518-1527页

作者： De Angelis, Francesco Boaro, Matteo Fuselli, Danilo Squartini, Stefano Piazza, Francesco Wei, Qinglai Univ Politecn Marche Dipartimento Ingn Informaz I-60131 Ancona Italy Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

The optimization of energy consumption, with consequent costs reduction, is one of the main challenges in present and future smart grids. Of course, this has to occur keeping the living comfort for the end-user unchanged. In this work, an approach based on the mixed-integer linear programming paradigm, which is able to provide an optimal solution in terms of tasks power consumption and management of renewable resources, is developed. The proposed algorithm yields an optimal task scheduling under dynamic electrical constraints, while simultaneously ensuring the thermal comfort according to the user needs. On purpose, a suitable thermal model based on heat-pump usage has been considered in the framework. Some computer simulations using real data have been performed, and obtained results confirm the efficiency and robustness of the algorithm, also in terms of achievable cost savings.

关键词： Dynamic residential scenarios energy and task scheduling mixed-integer linear programming (MILP) optimal home energy management smart grid thermal comfort

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Amphibious Pattern Design of a Robotic Fish with Wheel-propeller-fin Mechanisms

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JOURNAL OF FIELD ROBOTICS 2013年第5期30卷 702-716页

作者： Yu, Junzhi Ding, Rui Yang, Qinghai Tan, Min Zhang, Jianwei Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Hamburg Dept Informat TAMS Grp D-22527 Hamburg Germany

This paper is devoted to the underwater and terrestrial locomotion aspects of an amphibious robotic fish propelled by modular fish-like propelling units and a pair of hybrid wheel-propeller-fin mechanisms. According to the mechanical structure and locomotion characteristics of the robot, a central pattern generator (CPG) network comprising coupled oscillators is employed to produce signals for swimming, crawling, as well as transitions between them. Specifically, a set of four key parameters including a tonic input drive, a direction factor, and two pitch factors is introduced to serve as input to the CPG network. Meanwhile, a finite state machine is built to trigger locomotor pattern transitions. Field tests on the amphibious patterns and autonomous water-land transition demonstrate the effectiveness of the adopted CPG-based control architecture. The latest results show that the robot attained a maximum advancing speed of 1.16m/s (corresponding to 1.66 body lengths per second), a minimal turning radius of approximately 0.55 m (corresponding to 0.79 body lengths) on land, as well as an average rolling speed of 204 degrees per second in an alligator-like roll maneuver. It is also found that the dolphin-like dorsoventral swimming could provide an increase of 10.3% in speed compared to the fish-like carangiform swimming on the same propulsion platform.

关键词： input drive Swimming Underwater MECHANICAL STRUCTURES pattern layout Body Height finite state machines Robot Locomotion control Architecture

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