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自动化学报 2013年第8期39卷 1330-1338页

作者： WEI Qing-Ping WANG Shuo DONG Xiang SHANG Liu-Ji TAN Min The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Intelligent Machines Chinese Academy of Sciences

A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

关键词：水下机器人车辆设计动力学分析起伏仿生鳍计算流体动力学运动学分析

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A General Framework for BER Analysis of OFDMA and Zero-Forcing Interleaved SC-FDMA over Nakagami-m Fading Channels with Arbitrary m

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IEEE WIRELESS COMMUNICATIONS LETTERS 2013年第4期2卷 395-398页

作者： Wen, Miaowen Cheng, Xiang Yin, Xuefeng Yang, Liuqing Jiao, Bingli Peking Univ Sch Elect Engn & Comp Sci Beijing 100871 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Tongji Univ Sch Elect & Informat Engn Shanghai 200092 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Colorado State Univ Dept Elect & Comp Engn Ft Collins CO 80523 USA

In this letter, bit error rate (BER) analysis is presented for both orthogonal frequency-division multiple access (OFDMA) and zero-forcing (ZF) interleaved single-carrier frequency-division multiple access (SC-FDMA) systems over Nakagami-m frequency-selective fading channels with arbitrary m. Specifically, the analytical BER is derived for both cases based on a general framework, that is by exploiting the statistics of the equalized noise. In comparison with the exiting alternatives, the proposed BER analysis has only half of the computational complexity for the OFDMA system and is more general for the SC-FDMA case.

关键词： Bit error rate (BER) zero-forcing SC-FDMA OFDMA

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A self-organizing neuro-fuzzy network based on first order effect sensitivity analysis

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NEUROCOMPUTING 2013年 118卷 21-32页

作者： Chen, Cheng Wang, Fei-Yue Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Natl Univ Def Technol Ctr Mil Computat Expt & Parallel Syst Changsha 410073 Hunan Peoples R China

As an effective method that can provide the information about the influence of inputs on the variation of output, variance based sensitivity analysis is widely used to determine the structure of neural networks. In the past, the global sensitivity analysis method for the total effect has been used for the structure learning of neural networks and various growing and pruning algorithms have been developed. In this paper, we find that neuro-fuzzy networks have the characteristics of additive models in which the first order effect index of the influence can provide the same comprehensive information as the total effect index, thus we only need to analyze the first order effects of the inputs to their output layers. Based on this observation, many low-cost effective methods for the first order effect global sensitivity can be used in for developing self-organizing neuro-fuzzy networks. Specifically, Random Balance Designs is employed here for sensitivity analysis. In addition, we also introduce the concept of systemic fluctuation of neuro-fuzzy networks to determine whether adjustment is needed for a network. This concept helps us to build a new procedure about the leaning of self-organizing neuro-fuzzy networks and to accelerate its speed of convergence in learning and organizing. Examples of simulations have demonstrated that our proposed method performs better than other existing procedures for self-organizing neuro-fuzzy networks, especially in learning of the network structure. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Neuro-fuzzy networks First order effect Sensitivity analysis Systemic fluctuation

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An automatic tumor segmentation framework of cervical cancer in T2-weighted and diffusion weighted magnetic resonance images

An automatic tumor segmentation framework of cervical cancer...

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Conference on Medical Imaging - Image Processing

作者： Kao, Yueying Li, Wu Xue, Huadan Ren, Cui Tian, Jie Chinese Acad Sci Med Image Proc Grp State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China

ISBN: (纸本)9780819494436

Cervical cancer is one of the common malignant tumors and is a major health threat for women. The accurate segmentation of the cervical cancer is of important clinical significant for prevention, diagnosis and treatment of cervical cancer. Due to the complexity of the structure of human abdomen, the images in a single imaging modality T2-weighted MR images can not sufficiently show the precise information of the cervical cancer. In this paper, we present an automatic segmentation framework of cervical cancer, making use of the information provided by both T2-weighted magnetic resonance (MR) images and diffusion weighted magnetic resonance (DW-MR) images of cervical cancer. This framework consists of the following steps. Firstly, the DW-MR images are registered to T2-weighted MR images using mutual information method;then classification operation is executed in the registered DW-MR images to localize the tumor. Secondly, T2-weighted MR images are filtered by P-M nonlinear anisotropic diffusion filtering technique;and then bladder and rectum are segmented and excluded, so the Region of Interest (ROT) containing tumor is extracted. Finally, the tumor is accurately segmented by Confederative Maximum a Posterior (CMAP) algorithm combining with the results of T2-weighted MR images and DW-MR images. We tested this framework on 5 different cervical cancer patients. Compared with the results outlined manually by the experienced radiologists, it is demonstrated effectiveness of our proposed segmentation framework.

关键词： cervical cancer image segmentation Confederative Maximum a Posterior magnetic resonance image

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On-road Vehicle Detection Method based on Multi-scale Active Basis Model

On-road Vehicle Detection Method based on Multi-scale Active...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Yao, Yanjie Xiong, Gang Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Cloud Comp Ctr Dongguan Res Inst CASIA Dongguan Peoples R China State Key Lab Management & Control Complex Syst Beijing Peoples R China

ISBN: (纸本)9781479903801

This paper introduces a vehicle detection method based on multi-scale active basis model in traffic surveillance systems. Due to the effects of perspective, vehicles which are close to the camera are larger and more detailed than the far ones on individual video frames. Using camera calibration, we get the multi-scale information of vehicles, and then we learn the multi-scale active basis model from the target training sample set by using the shared sketch algorithm. The multi-scale ABM can detect vehicles in various poses, shapes, and sizes in a whole video frame. The experiment results show that this proposed method can fit the changes of vehicle size in images.

关键词： ABM multiscale camera calibration vehicle detection

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26th Annual Computational Neuroscience Meeting (CNS*2017) of the Organization for Computational Neuroscience Antwerp, Belgium, July 15-20, 2017

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 59-59页

作者： [Anonymous] Indiana University Purdue University Indianapolis Indianapolis IN 46032 USA Stark Neurosciences Research Institute Indiana University School of Medicine Indianapolis IN 46032 USA Department of Mathematics East Carolina University Greenville NC 27858 USA Jülich Supercomputing Centre Forschungszentrum Jülich 52425 Jülich Germany Future Systems Swiss National Supercomputing Centre 8092 Zurich Switzerland User Engagement and Support Swiss National Supercomputing Centre 6900 Lugano Switzerland Institut de Neurosciences des Systèmes Aix Marseille Univ 13005 Marseille France Simulation Lab Neuroscience Forschungszentrum Jülich Jülich Germany Department of Experimental Psychology Ghent University 9000 Ghent Belgium Donders Center for Cognitive Neuroimaging Radboud University 6525HR Nijmegen The Netherlands Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO 80309 USA Department of Neurosurgery Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Neurology Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Otolaryngology Johns Hopkins School of Medicine Baltimore MD 21287 USA INSERM U968 Paris France Sorbonne Universités UPMC University Paris 06 UMR_S 968 Institut de la Vision Paris France CNRS UMR_7210 Paris France Department of Computer Architecture and Technology University of Granada (CITIC) Granada Spain Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Institut de la Vision Paris France Department of Adaptive Machine Systems Osaka University Osaka Japan Department of Computer Science University of Cergy-Pontoise Cergy-Pontoise France Department of Physics and Astronomy College of Charleston Charleston SC 29424 USA School of Physics Faculty of Science University of Sydney Sydney NSW 2006 Australia Center of Excellence for Integrative Brain Function Australian Research Council Sydney Australia Max Planck Institute for Human Cognitive and Brain Sciences Saxony Lei

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Modeling social causality and responsibility judgment in multi-agent interactions

Modeling social causality and responsibility judgment in mul...

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23rd International Joint Conference on Artificial Intelligence, IJCAI 2013

作者： Mao, Wenji Gratch, Jonathan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Institute for Creative Technologies University of Southern California United States

ISBN: (纸本)9781577356332

Based on psychological attribution theory, this paper presents a domain-independent computational model to automate social causality and responsibility judgment according to an agent's causal knowledge and observations of interaction. The proposed model is also empirically validated via experimental study. Copyright © 2013, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Multi agent systems

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Artificial Societies, Computational Experiments, and Parallel systems: An Investigation on a Computational Theory for complex Socioeconomic systems

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IEEE TRANSACTIONS ON SERVICES COMPUTING 2013年第2期6卷 177-185页

作者： Wen, Ding Yuan, Yong Li, Xia-Rong Natl Univ Def Technol Ctr Mil Computat Expt & Parallel Syst Technol Coll Informat Syst & Management Changsha 410073 Hunan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This paper addresses issues related to the development of a computational theory and corresponding methods for studying complex socioeconomic systems. We propose a novel computational framework called ACP (Artificial societies, Computational experiments, and Parallel systems), targeting at creating an effective computational theory and developing a systematic methodological framework for socioeconomic studies. The basic idea behind the ACP approach is: 1) to model the complex socioeconomic systems as artificial societies using agent techniques in a "bottom-up" fashion;2) to utilize innovative computing technologies and make computers as experimental laboratories for investigating socioeconomic problems;and 3) to achieve an effective management and control of the focal complex socioeconomic system through parallel executions between artificial and actual socioeconomic systems. An ACP-based experimental platform called MacroEconSim has been discussed, which can be used for modeling, analyzing, and experimenting on macroeconomic systems. A case study on economic inflation is also presented to illustrate the key research areas and algorithms integrated in this platform.

关键词： Artificial societies computational experiments parallel systems socioeconomic systems

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A docking approach for child robot based on vision guiding by mother robot

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 429-431+435页

作者： Zhao, Peng Cao, Zhiqiang Chen, Xuchao Xu, De State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

A docking approach for child robot suitable for marsupial robot was designed in this paper. The mother robot obtained the posture of child robot relative to the docking entrance by visual perception to instruct the child robot. In each of left, right and back sides of child robot, there was a color symbol with two colors arranged vertically. The mother robot extracted the color borderline of each symbol it observed in a way of connection growing, and then the position information of corresponding color symbol in image as well as the length ratio could be acquired to guide the motion of child robot. Finally, the child robot entered the docking station in an appropriate posture. This approach was verified by experimental results.

关键词： Color

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