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UTN-Model-Based Traffic Flow Prediction for Parallel-Transportation management systems

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systems 2013年第3期14卷 1541-1547页

作者： Kong, Qing-Jie Xu, Yanyan Lin, Shu Wen, Ding Zhu, Fenghua Liu, Yuncai Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Natl Univ Def Technol Ctr Mil Computat Expt & Parallel Syst Technol Changsha 410073 Hunan Peoples R China

Aiming to comply with the requirement of parallel-transportation management systems (PtMS), this paper presents a short-term traffic flow prediction method for signal-controlled urban traffic networks (UTNs) based on the macroscopic UTN model. In contrast with other time-series-based or spatio-temporal correlation methods, the proposed method focuses more on using the substantial mechanism of traffic transmission in road networks and the topology model of the entire UTN. Furthermore, this approach employs a speed-density model based on the fundamental diagram (FD) to obtain more accurate travel times in links. In the comparison experiment, the microscopic traffic simulation software CORSIM is adopted to simulate the real urban traffic. The experiment results fully verify the outstanding performances of the proposed prediction method.

关键词： CORSIM fundamental diagram (FD) parallel-transportation management systems (PtMS) short-term traffic flow prediction urban traffic network (UTN) model

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Design and its visual servoing control of an inspection robot for power transmission lines

Design and its visual servoing control of an inspection robo...

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IEEE International Conference on Robotics and Biomimetics

作者： Dezheng Zhao Guodong Yang En Li Zize Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

A bi-branchiate robot is presented for the inspection of the high-voltage power transmission lines. With a symmetrical mechanical structure, the robot can roll along the power lines and negotiating all the obstacles in the lines to complete the inspection work. A hierarchical structure based on modular approach are used to design the control system of the robot. A combination mode composed of teleoperation via RF module and local intelligence based on visual servoing is developed to control the inspection robot. Using an image feature acquisition method based on Otsu adaptive threshold, the position and width of the power line in image plane are extracted as the basis of controller design. Experiments of obstacle negotiation and automatic line grasping in laboratory prove the effectiveness of the proposed robot prototype and the relative control method.

关键词： Robot kinematics Cameras Inspection Robot vision systems Feature extraction

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A multi-body mass-spring model for virtual reality training simulators based on a robotic guide wire operating system

A multi-body mass-spring model for virtual reality training ...

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IEEE International Conference on Robotics and Biomimetics

作者： Shao-Hua Mi Zeng-Guang Hou Fan Yang Xiao-Liang Xie Gui-Bin Bian State Key Laboratory of Management and Control for Complex Systems the Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9781479927456

Generally, surgeons of minimally invasive surgery should possess good ability to coordinate their both hands. The manipulation of guide wire is considered a core skill. Obtaining that core skill to perform minimally invasive surgery requires training. In minimally invasive surgery, a surgical robot can assist doctors to position precisely and provide stable operation platform. Therefore, to develop a virtual reality simulators for training purpose based on a robotic guide wire operating system is an important and challenging subject. In this paper, a multi-body mass-spring model for simulating guide wire is presented and evaluated. In order to overcome the disadvantage of using mass-spring approach to model the guide wire, we propose a new collision detection algorithm and a new collision response algorithm. Finally, we test our guide wire with a complex and realistic 3D vascular model, which is selected from computer tomography database of real patients. The result shows that the virtual reality training simulators is effective and promising.

关键词： Wires Solid modeling Force Computational modeling Training Robots Virtual reality

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Modeling and analysis of wireless power transmission system for inspection robot

Modeling and analysis of wireless power transmission system ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Mingbo Yang Guodong Yang En Li Zize Liang Hao Lin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467351942

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： Coils Robots Inspection Wireless communication Power transmission Impedance matching Resonant frequency

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Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism

Design and implementation of a biomimetic robotic jellyfish ...

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Chinese control Conference (CCC)

作者： Jundong Xiao Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479900305

Inspired by the characteristics of high agility and stability of live jellyfish, a novel biomimetic robotic jellyfish based on multi-linkage mechanism is developed in this paper. The robotic jellyfish consists of a streamlined head, a cavity shell, four driving devices with bevel gears, four actuators based on multi-linkage mechanism, a regulating mechanism for adjusting barycenter and a skin. The four centrosymmetric actuators is used to imitate the locomotion of jellyfish, including the relaxation phase and the contraction phase. The mutually independent and coordinated control of the four actuators is able to achieve diversified movements such as swimming forward, pitching and yawing. As a new type of bio-inspired robots, the robotic jellyfish with high agility, stability and low noise, will serve as a platform for underwater reconnaissance and environmental monitoring.

关键词： Robot kinematics Actuators Electronic mail laboratories Automation

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Identifying peer influence in online social networks using transfer entropy

Identifying peer influence in online social networks using t...

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Pacific Asia Workshop on Intelligence and Security Informatics, PAISI 2013

作者： He, Saike Zheng, Xiaolong Zeng, Daniel Cui, Kainan Zhang, Zhu Luo, Chuan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Management Information System University of Arizona Tucson AZ 85719 United States School of Electronic and Information Engineering Xi'an Jiaotong University Xi'an China

ISBN: (纸本)9783642396922

The past few years have witnessed the rapid growth of online social networks, which have become important hubs of social activity and conduits of information. Identifying social influence in these newly emerging platforms can provide us with significant insights to better understand the interaction behaviors among online users. However, it is difficult for us to measure the influence quantitatively among user peers, since many key factors such as homophily and heterogeneity, can not be observed in our real world conveniently. More recent work mainly focuses on developing theoretical models based on explicit causal knowledge. Nevertheless, such knowledge is usually not available and often needs to be discovered. In this paper, we introduce a model free approach to formulate causal inferences of behaviors among user peers. Experimental results show that influence measured by our approach could successfully reconstruct the underlying networks structure. Furthermore, two additional case studies based on this approach reveal that influentials wield power through specific venues, which constitute a comparatively small portion of the whole channels. © 2013 Springer-Verlag.

关键词： Social networking (online)

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A general robot environment understanding approach inspired by biological visual cortex

A general robot environment understanding approach inspired ...

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IEEE International Conference on Robotics and Biomimetics

作者： Xilong Liu Zhiqiang Cao Jile Jiao Kun Ai Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

A general vision approach for environment understanding of mobile robot is proposed, which is inspired by biological visual cortex. Gray level image from robot camera is firstly processed in the selective attention layer, and then in S and C layers for meaningful structure elements. With the help of the Sc layer designed for endpoints detection, the line segments map is generated to serve as the form of environment understanding results. Experiments on mobile robot are implemented by the task of avoiding obstacles with different sizes and shapes, pits, sharp cliffs, et al. The experimental results demonstrate the adaptability and versatility of the proposed approach.

关键词： Visualization Sensors Object segmentation Collision avoidance Image segmentation Mobile robots

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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

作者： Jile Jiao Zhiqiang Cao Peng Zhao Xilong Liu Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

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： Manipulators Mobile communication Path planning Sensors Robot kinematics Acceleration

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A Fast Recognition Algorithm for Detecting Common Broadcasting Faults

A Fast Recognition Algorithm for Detecting Common Broadcasti...

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

作者： Gou Chao Wang KunFeng Hu Bin Xiong Gang Zhu Fenghua Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol Beijing Peoples R China

ISBN: (纸本)9781479905300;9781479905294

The video before it is been broadcast should be detected to find out whether it has broadcasting faults. Broadcasting fault mainly refers to black field, static frame, color bar, mute, volume excess. In this paper, we proposed a fast recognition algorithm based on MATlab to detect common broadcasting faults. We used M language to complete a software platform which can identify the static frame, black fields, color bar in the video sequence, and the mute, volume excess in the audio sequence. Experimental evaluation shows that our approach significantly performs well in the automatic broadcasting faults detection.

关键词： MATlab Broadcasting fault Audio/Video detection

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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： Derong Liu Qinglai Wei State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467327626

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： ADP Convergence Stability Analysis Stability analysis Automatic data processing Adenosine Diphosphate Converge performance indicators Iterative control law Optimum Nonlinear systems

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