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2021 China Automation Congress, CAC 2021

作者： Xu, Yongkang Wang, Shoukun Zhao, Hongqiang Chen, Zhihua State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China State Key Laboratory of High Performance and Complex Manufacturing Central South University Changsha China

ISBN: (纸本)9781665426473

A speed consensus control strategy for a six-wheel-drive skid-steering mobile robot was proposed based on a hierarchical controller in a complex environment with unknown disturbances. The effective method of reliable speed consensus control strategy should consider some disturbances, such as the internal-robot assembly error, which including instability of motor control system and external physical interference in robot dynamic system. In this paper, a driving anti-slip control system with PID and the stability control system with sliding mode by variable structure is designed and integrated to elevate the stability of the robot. And, a G-vector control algorithm based on sliding mode control is proposed to reduce the yaw angle as much as possible during the process of differential steering of robots. The effectiveness of the proposed control strategy is verified by an example of a *** results show that the method has good control performance in control accuracy and stability. © 2021 IEEE

关键词： Motion control

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An Efficient Restart-Enhanced Genetic Algorithm for the Coalition Formation Problem 1

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13th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2018

作者： Guo, Miao Xin, Bin Chen, Jie Wang, Yipeng School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (数字)9789811328268

ISBN: (纸本)9789811328251

In multi-agent system (MAS), the coalition formation (CF) is an important problem focusing on allocating agents to different tasks. In this paper, the single-task single-coalition (STSC) formation problem is considered. The mathematical model of the STSC problem is built with the objective of minimizing the total cost with the ability constraint. Besides, an efficient restart-enhanced genetic algorithm (REGA) is designed to solve the STSC problem. Furthermore, this paper constructs a comparison experiment, employing a random sampling method, an estimation of distribution algorithm and a genetic algorithm without restart strategy as competitors. The results of statistical analysis by the Wilcoxon’s rank-sum test demonstrate that the designed REGA performs better than its competitors in solving the STSC cases of different scales. © 2018, Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment

Photoelectric Intelligent Detection Platform Based on Multif...

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第43届中国控制会议

作者： Qianjing Xu Wenjie Chen Zhijun Xue State Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson *** photoelectric intelligent platform can be used to run multiple target detection algorithms after design and *** as *** of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing ***, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availability of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing ***, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage.

关键词： Multifunctional Edge Computing Equipment Photoelectric intelligent Platform Object Detection

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems 42

Two Degree of Freedom Active Disturbance Rejection Control S...

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42nd Chinese control Conference, CCC 2023

作者： Shan, Xiyuan Cai, Tao School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Time delay

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Detection and Positioning of Workpiece Grinding Area in Dark Scenes with Large Exposure 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Guo, Zhentao Zhao, Guiyu Bian, Jinyue Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. However, the problem of workpiece grinding area detection and positioning is difficult to be solved in dark scenes with large exposure. This paper proposes a method that fuses technologies such as processing of the image, coordinate and point cloud, which can accurately detect and locate the workpiece grinding area. Firstly, A method based on YOLOv7 and improved image preprocessing is used to detect labels of the grinding area. Secondly, A model for the prediction of the coordinates based on multiple linear regression was used to predict the coordinates of missing labels for the same grinding area. Finally, Data processing of the point cloud and transformation of the system of coordinates are used to achieve the acquisition of the coordinates of positioning vertices in the grinding area and conversion from the camera coordinate system to the world coordinate system. We used several sets of data for evaluation in our experiments, and the experimental results show that our proposed method can effectively detect the workpiece grinding area. At the same time, our method can also predict the coordinates of missing labels, which provides a more stable and reliable guarantee for industrial production. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multiple linear regression

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Robust human-computer interaction for unstable camera systems

Robust human-computer interaction for unstable camera system...

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作者： Zhu, Hao You, Qing Chen, Wenjie School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

A lot of vision systems have been embedded in devices around us, like mobile phones, vehicles and UAVs. Many of them still need interactive operations of human users. However, specifying accurate object information could be a challenging task due to video jitters caused by camera shakes and target motions. In this paper, we first collect practical hand drawn bounding boxes on real-life videos which are captured by hand-held cameras and UAV-based cameras. We give a deep look into human-computer interactive operations on unstable images. The collected data shows that human input suffers heavy deviations which are harmful to interaction accuracy. To achieve robust interactions on unstable platforms, we propose a target-focused video stabilization method which utilizes a proposal-based object detector and a tracking-based motion estimation component. This method starts with a single manual click and outputs stabilized video stream in which the specified target stays almost stationary. Our method removes not only camera jitters but also target motions simultaneously, therefore offering an comfortable environment for users to do further interactive operations. The experiments demonstrate that the proposed method effectively eliminates image vibrations and significantly increases human input accuracy. © Copyright 2018 The Institute of Electronics Information and Communication Engineers.

关键词： Cameras

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CFSeRec: A Contrastive Framework for Sequential Recommendation 42

CFSeRec: A Contrastive Framework for Sequential Recommendati...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tong Dai, Yaping Shao, Shuai School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two problems respectively. Token shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data, so that the long-tailed problem is mitigated. Through the application of projection head method, the sequence representation becomes more general and robust, rather than just adapted to the task of contrastive learning. Therefore, the impact of noise on sequence recommender systems is effectively alleviated. Experiments on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain, when comparing to the seven previous frameworks. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Recommender systems

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Data-driven control of Event-triggered Linear systems 11

Data-driven Control of Event-triggered Linear Systems

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11th IEEE Data Driven control and Learning systems Conference, DDCLS 2022

作者： Wang, Xin Sun, Jian Wang, Gang State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

The present paper considers the data-driven control of unknown linear time-invariant discrete-time systems under an event-triggering transmission scheme. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional (DLF) approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which offers a way of co-designing the ETS matrix and the controller using pre-collected noisy input-state data. Finally, numerical simulations showcase the efficacy of ETS in reducing data transmissions as well as of the proposed co-design methods. © 2022 IEEE.

关键词： Stability criteria

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From Unmanned systems to Autonomous intelligent systems

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Engineering 2022年第5期8卷 16-19页

作者： Jie Chen Jian Sun Gang Wang Department of Control Science and Engineering Tongji UniversityShanghai 201804China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 200092China Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

*** Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century *** that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can *** attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].

关键词： frontier inert policy

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Vehicle Motion Prediction at Intersections Based on the Turning Intention and Prior Trajectories Model

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自动化学报（英文版） 2021年第10期8卷 1657-1666页

作者： Ting Zhang Wenjie Song Mengyin Fu Yi Yang Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081 Nanjing University of Science and Technology Nanjing 210014China

Intersections are quite important and complex traffic scenarios, where the future motion of surrounding vehicles is an indispensable reference factor for the decision-making or path planning of autonomous vehicles. Considering that the motion trajectory of a vehicle at an intersection partly obeys the statistical law of historical data once its driving intention is determined, this paper proposes a long short-term memory based (LSTM-based) framework that combines intention prediction and trajectory prediction together. First, we build an intersection prior trajectories model (IPTM) by clustering and statistically analyzing a large number of prior traffic flow trajectories. The prior trajectories model with fitted probabilistic density is used to approximate the distribution of the predicted trajectory, and also serves as a reference for credibility evaluation. Second, we conduct the intention prediction through another LSTM model and regard it as a crucial cue for a trajectory forecast at the early stage. Furthermore, the predicted intention is also a key that is associated with the prior trajectories model. The proposed framework is validated on two publically released datasets, next generation simulation (NGSIM) and INTERACTION. Compared with other prediction methods, our framework is able to sample a trajectory from the estimated distribution, with its accuracy improved by about 20％. Finally, the credibility evaluation, which is based on the prior trajectories model, makes the framework more practical in the real-world applications.

关键词： Autonomous vehicle intersection motion prediction prior trajectories model turning intention

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