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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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Trajectory Prediction of Spinning Ball Based on Fuzzy Filtering and Local Modeling for Robotic Ping-Pong Player

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2013年第11期62卷 2890-2900页

作者： Su, Hu Fang, Zaojun Xu, De Tan, Min 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 100864 Peoples R China

In this paper, a novel prediction method of the striking position is proposed for a robotic ping-pong player. In order to remove the noise involved in the coordinates of ping-pong ball, a new nonlinear filter based on fuzzy logic approach is presented. Then, least square method (LSM) is utilized to compute the initial flying and rotational velocities based on the filtered positions of the ball. The impact between a ping-pong ball and the table is studied, and the analytic model that represents the relationship between the velocities before and after rebound is developed. Based on statistical analysis, a memory-based local modeling approach is presented to obtain a more accurate velocity after rebound. The succeeding trajectory is predicted according to the initial state of the ball and the flying and rebound models. The striking position can be obtained from the predicted trajectory. Experiments are well conducted and verify that sufficient precision of the striking position have been achieved with the proposed method.

关键词： Filter fuzzy logic robotic ping-pong player spinning ball trajectory prediction

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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： Fish

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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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Adding Active Learning to LWR for Ping-Pong Playing Robot

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IEEE TRANSACTIONS ON control systems TECHNOLOGY 2013年第4期21卷 1489-1494页

作者： Huang, Yanlong Xu, De Tan, Min Su, Hu 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

In this brief, we consider the problem of controlling the racket attached to the ping-pong playing robot, so that the incoming ball is returned to a desired position. The maps that are used to calculate the racket's initial parameters are described. They are implemented with the locally weighted regression (LWR). An active learning approach based on the fuzzy cerebellar model articulation controller (FCMAC) is proposed, and then it is added to the LWR, which is regarded as lazy learning. A learning algorithm that is used for updating the experience data in the fuzzy CMAC according to the errors between the actual and desired landing positions is presented. A series of experiments has been performed to demonstrate the applicability of the proposed method.

关键词： Active learning fuzzy cerebellar model articulation controller (FCMAC) lazy learning locally weighted regression (LWR) ping-pong playing robot

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Design-based spatial sampling: Theory and implementation

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ENVIRONMENTAL MODELLING & SOFTWARE 2013年 40卷 280-288页

作者： Wang, Jin-Feng Jiang, Cheng-Sheng Hu, Mao-Gui Cao, Zhi-Dong Guo, Yan-Sha Li, Lian-Fa Liu, Tie-Jun Meng, Bin Chinese Acad Sci Inst Geog Sci & Nat Resources Res State Key Lab Resources & Environm Informat Syst Beijing 100101 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Various sampling techniques are widely used in environmental, social and resource surveys. Spatial sampling techniques are more efficient than conventional sampling when surveying spatially distributed targets such as CO2 emissions, soil pollution, a population distribution, disaster distribution, and disease incidence, where spatial autocorrelation and heterogeneity are prevalent. However, despite decades of development in theory and practice, there are few computer programs for spatial sampling. We investigated the three-fold relationship between targets, sampling strategies and statistical methods in spatial contexture. Accordingly, the information flow of the spatial sampling process was reconstructed and optimized. SSSampling, a computer program for design-based spatial sampling, has been developed from the theoretical basis. Three typical applications of the software, namely sampling design, optimal statistical inference and precision assessment, are demonstrated as case studies. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Spatial sampling Sampling trinity relationship Prior knowledge Design-based sampling

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Intelligent systems and Technology for Integrative and Predictive Medicine: An ACP Approach

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ACM TRANSACTIONS ON INTELLIGENT systems AND TECHNOLOGY 2013年第2期4卷 1–6页

作者： Wang, Fei-Yue Wong, Pak Kin Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing Peoples R China Natl Univ Def Technol Changsha Hunan Peoples R China Univ Arizona Systemat Bioengn Lab Tucson AZ USA

One of the principal goals in medicine is to determine and implement the best treatment for patients through fastidious estimation of the effects and benefits of therapeutic procedures. The inherent complexities of physiological and pathological networks that span across orders of magnitude in time and length scales, however, represent fundamental hurdles in determining effective treatments for patients. Here we argue for a new approach, called the ACP-based approach, that combines artificial (societies), computational (experiments), and parallel (execution) methods in intelligent systems and technology for integrative and predictive medicine, or more generally, precision medicine and smart health management. The advent of artificial societies that collect the clinically relevant information in prognostics and therapeutics provides a promising platform for organizing and experimenting complex physiological systems toward integrative medicine. The ability of computational experiments to analyze distinct, interactive systems such as the host mechanisms, pathological pathways, and therapeutic strategies, as well as other factors using the artificial systems, will enable control and management through parallel execution of real and arficial systems concurrently within the integrative medicine context. The development of this framework in integrative medicine, fueled by close collaborations between physicians, engineers, and scientists, will result in preventive and predictive practices of a personal, proactive, and precise nature, including rational combinatorial treatments, adaptive therapeutics, and patient-oriented disease management.

关键词： Theory

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Multi-objective optimal control for a class of nonlinear time-delay systems via adaptive dynamic programming

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SOFT COMPUTING 2013年第11期17卷 2109-2115页

作者： Song, Ruizhuo Xiao, Wendong Wei, Qinglai Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

A novel multi-objective adaptive dynamic programming (ADP) method is constructed to obtain the optimal controller of a class of nonlinear time-delay systems in this paper. Using the weighted sum technology, the original multi-objective optimal control problem is transformed to the single one. An ADP method is established for nonlinear time-delay systems to solve the optimal control problem. To demonstrate that the presented iterative performance index function sequence is convergent and the closed-loop system is asymptotically stable, the convergence analysis is also given. The neural networks are used to get the approximative control policy and the approximative performance index function, respectively. Two simulation examples are presented to illustrate the performance of the presented optimal control method.

关键词： Optimal control Adaptive dynamic programming Multi-objective Approximate dynamic programming Time-delay

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HMM-Based Human Fall Detection and Prediction Method Using Tri-Axial Accelerometer

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IEEE SENSORS JOURNAL 2013年第5期13卷 1849-1856页

作者： Tong, Lina Song, Quanjun Ge, Yunjian Liu, Ming Chinese Acad Sci Inst Intelligent Machines Hefei 230031 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Hefei 230031 Peoples R China

Falls in the elderly have always been a serious medical and social problem. To detect and predict falls, a hidden Markov model (HMM)-based method using tri-axial accelerations of human body is proposed. A wearable motion detection device using tri-axial accelerometer is designed and realized, which can detect and predict falls based on tri-axial acceleration of human upper trunk. The acceleration time series (ATS) extracted from human motion processes are used to describe human motion features, and the ATS extracted from human fall courses but before the collision are used to train HMM so as to build a random process mathematical model. Thus, the outputs of HMM, which express the marching degrees of input ATS and HMM, can be used to evaluate the risks to fall. The experiment results show that fall events can be predicted 200-400 ms ahead the occurrence of collisions, and distinguished from other daily life activities with an accuracy of 100%.

关键词： Accelerometer acceleration time series (ATS) fall detection fall prediction hidden Markov model (HMM)

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Relative entropy minimizing-based theory of intelligent systems

Relative entropy minimizing-based theory of intelligent syst...

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2013 International Conference on Artificial Intelligence, ICAI 2013

作者： Xi, Guangcheng State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)1601322488

Based on the point of view of neuroethology and cognition-psychology, general frame of theory for intelligent systems is presented by means of principle of relative entropy minimizing in this paper. Cream of the general frame of theory is to present and to prove basic principle of intelligent systems: entropy increases or decreases together with intelligence in the intelligent systems. The basic principle is of momentous theoretical significance and practical significance. From the basic principle can not only derive two kind of learning algorithms (statistical simulating annealing algorithms and annealing algorithms of mean-field theory approximation) for training large kinds of stochastic neural networks, but also can thoroughly dispel misgivings created by second law of thermodynamics on peoples psychology, hence make one be fully confident of facing life. Because of Human society, natural world, and even universe all are intelligent systems.

关键词： Intelligent systems

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