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2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016

作者： Dong, Xiang Sun, Henghui Wang, Zengfu Cheng, Long Institute of Intelligent Machines Chinese Academy of Sciences Hefei230031 China State Key Lab. of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781509033645

A new turning-mechanism for Amoeba-like Robot was proposed in this paper, which based on the amoeba-like robot kinematics characteristics of tail contracting and skin flipping. First, one kind of variable-speed node composed of the spring and damp was designed. Because of the existing of the variable-speed nodes, the velocities of the two strip-skins depended not only on the velocities of threads that gone through the variable-speed nodes, but also on the spring and damp it contained. So, although the velocities of threads that induced the velocities of the strip-skins were the same, the velocities of the strip-skins still can be different since the variable-speed nodes existed. That difference in velocities made the turning movement possible. Second, the dynamic model for the turning movement of the Amoeba-like Robot was established and analyzed. The analysis results included the angular velocity and angle curve related to time, which were computed with the dynamic model when shortening speed of threads length was constant. The results achieved in this paper provided an important basic for the research on the behaviors and control strategy of amoeba-like robot. The new turning-mechanism can be popularized to the tracked mobile robot, for it provided a new and available turning method. © 2016 IEEE.

关键词： Velocity

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Parallel Learning:Overview and Perspective for Computational Learning Across Syn2Real and Sim2Real

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 603-631页

作者： Qinghai Miao Yisheng Lv Min Huang Xiao Wang Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China School of Artificial Intelligence Anhui UniversityHefei 266114China Qingdao Academy of Intelligent Industries Qingdao 230031China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

The virtual-to-real paradigm,i.e.,training models on virtual data and then applying them to solve real-world problems,has attracted more and more attention from various domains by successfully alleviating the data shortage problem in machine *** summarize the advances in recent years,this survey comprehensively reviews the literature,from the viewport of parallel ***,an extended parallel learning framework is proposed to cover main domains including computer vision,natural language processing,robotics,and autonomous ***,a multi-dimensional taxonomy is designed to organize the literature in a hierarchical ***,the related virtual-toreal works are analyzed and compared according to the three principles of parallel learning known as description,prediction,and prescription,which cover the methods for constructing virtual worlds,generating labeled data,domain transferring,model training and testing,as well as optimizing the strategies to guide the task-oriented data generator for better learning *** issues remained in virtual-to-real are ***,the future research directions from the viewpoint of parallel learning are suggested.

关键词： Machine learning parallel learning parallel systems sim-to-real syn-to-real virtual-to-real

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Dynamic budget adjustment in search auctions

Dynamic budget adjustment in search auctions

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21st Workshop on Information Technologies and systems, WITS 2011

作者： Zhang, Jie Yang, Yanwu Qin, Rui Zeng, Daniel Li, Xin State Key Lab. of Intelligent Control and Management of Complex Systems Chinese Academy of Sciences Beijing 100190 China Department of Management Information Systems University of Arizona United States Department of Information Systems City University of Hong Kong Kowloon Tong Hong Kong

With serious advertising budget constraints, advertisers have to adjust their daily budget according to the performance of advertisements in real time. Thus we can leave precious budgets to better opportunities in the future, and avoid the surge of ineffective clicks for unnecessary costs. However, advertisers usually have no sufficient knowledge and time for real-time advertising operations in search auctions. We formulate the budget adjustment problem as a state-action decision process in the reinforcement learning (RL) framework. Considering dynamics of marketing environments and some distinctive features of search auctions, we extend continuous reinforcement learning to fit the budget decision scenarios. The market utility is defined as discounted total clicks to get during the remaining period of an advertising schedule. We conduct experiments to validate and evaluate our strategy of budget adjustment with real world data from search advertising campaigns. Experimental results showed that our strategy outperforms the two other baseline strategies.

关键词： Marketing

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Vulnerability analysis of power grid based on multi-agent complex systems

Vulnerability analysis of power grid based on multi-agent co...

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2011 IEEE International Conference on Service Operations, Logistics and Informatics, SOLI 2011

作者： Dong, Xisong Xiong, Gang Hou, Jiachen Dong, Fan Nyberg, Timo R. State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China BIT Research Centre Aalto University Aalto Finland

ISBN: (纸本)9781457705731

Modern power grid is a typical multi-level complex giant system. The conventional analytical methods based on reductionism can't provide sufficient guidance for its operation and management. complex system theory, based on holism, has its specific advantages in power grid's research. But, it has some limitations. In this article, we improve complex grid by introducing new parameters which can describe the grid's characters better and using multi-agent theory. As an application, the complex power grid constructed with actual data from North China grid is constructed and its vulnerability has been simulated and analyzed under different attacks. © 2011 IEEE.

关键词： complex networks

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Identification of concurrent control chart patterns with singular spectrum analysis and learning vector quantization

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JOURNAL OF intelligent MANUFACTURING 2013年第6期24卷 1241-1252页

作者： Gu, Nong Cao, Zhiqiang Xie, Liangjun Creighton, Douglas Tan, Min Nahavandi, Saeid Deakin Univ Ctr Intelligent Syst Res Waurn Ponds Vic 3216 Australia Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Schlumberger Ltd Houston TX 77073 USA

Identification of unnatural control chart patterns (CCPs) from manufacturing process measurements is a critical task in quality control as these patterns indicate that the manufacturing process is out-of-control. Recently, there have been numerous efforts in developing pattern recognition and classification methods based on artificial neural network to automatically recognize unnatural patterns. Most of them assume that a single type of unnatural pattern exists in process data. Due to this restrictive assumption, severe performance degradations are observed in these methods when unnatural concurrent CCPs present in process data. To address this problem, this paper proposes a novel approach based on singular spectrum analysis (SSA) and learning vector quantization network to identify concurrent CCPs. The main advantage of the proposed method is that it can be applied to the identification of concurrent CCPs in univariate manufacturing processes. Moreover, there are no permutation and scaling ambiguities in the CCPs recovered by the SSA. These desirable features make the proposed algorithm an attractive alternative for the identification of concurrent CCPs. Computer simulations and a real application for aluminium smelting processes confirm the superior performance of proposed algorithm for sets of typical concurrent CCPs.

关键词： control charts Concurrent patterns Singular spectrum analysis Learning vector quantization networks Aluminium smelting

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A Local Learning Based Image-To-Class Distance for Image Classification

A Local Learning Based Image-To-Class Distance for Image Cla...

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第一届亚洲模式识别会议

作者： Xinyuan Cai Rongguo Zhang Baihua Xiao Chunheng Wang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio State Key Laboratory of Intelligent Control and Management of Complex SystemsInstitute of Automation

ISBN: (纸本)9781457701221

Image-To-Class distance is first proposed in Naive- Bayes Nearest-Neighbor. NBNN is a feature-based image classifier, and can achieve impressive classification accuracy. However, the performance of NBNN relies heavily on the large number of training samples. If using small number of training samples, the performance will degrade. The goal of this paper is to address this issue. The main contribution of this paper is that we propose a robust Image-to-Class distance by local learning. We define the patch-to-class distance as the distance between the input patch to its nearest neighbor in one class, which is reconstructed in the local manifold space;and then our image-toclass distance is the sum of patch-to-class distance. Furthermore, we take advantage of large-margin metric learning framework to obtain a proper Mahalanobis metric for each class. We evaluate the proposed method on four benchmark datasets: Caltech, Corel, Scene13, and Graz. The results show that our defined Image-To-Class Distance is more robust than NBNN and Optimal-NBNN, and by combining with the learned metric for each class, our method can achieve significant improvement over previous reported results on these datasets.

关键词： local learning image-to-class distance large margin metric learning Na(i)ve Bayes Nearest-Neighbor image classification

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Quadratic-Chi Similarity Metric Learning for Histogram Feature

Quadratic-Chi Similarity Metric Learning for Histogram Featu...

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第一届亚洲模式识别会议

作者： Rongguo Zhang Xinyuan Cai Chunheng Wang Baihua Xiao State Key Laboratory of Intelligent Control and Management of Complex SystemsInstitute of Automation State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio

ISBN: (纸本)9781457701221

Histogram features, such as SIFT, HOG, LBP et al, are widely used in modern computer vision algorithms. According to [18], chi-square distance is an effective measure for comparing histogram features. In this paper, we propose a new method, named the Quadric-chi similarity metric learning (QCSML) for histogram features. The main contribution of this paper is that we propose a new metric learning method based on chi-square distance, in contrast with traditional Mahalanobis distance metric learning methods. The use of quadric-chi similarity in our method leads to an effective learning algorithm. Our method is tested on SIFT features for face identification, and compared with the state-of-art metric learning method (LDML) on the benchmark dataset, the labeled Faces in the Wild (LFW). Experimental results show that our method can achieve clear performance gains over LDML.

关键词： histogram feature metric learning Quardic-chi similarity face identification

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A New Recursive Composite Adaptive controller for Robot Manipulators

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Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Second-Order Consensus of Networked Mechanical systems With Communication Delays 11

Second-Order Consensus of Networked Mechanical Systems With ...

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11th World Congress on intelligent control and Automation

作者： Wang, Hanlei Cheng, Long Beijing Inst Control Engn Sci & Technol Space Intelligent Control Lab Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781479958252

In this paper, we address the second-order consensus problem for networked mechanical systems on a directed topology in the case of existence of nonuniform communication delays. To realize the goal of second-order consensus, we propose an adaptive consensus scheme that consists of an adaptive controller and a distributed velocity observer. It is demonstrated that the position and velocity consensus errors between the mechanical systems converge to zero, and that the velocities of the mechanical systems converge to the scaled weighted average of their initial values. We further demonstrate that the proposed consensus scheme can be used to solve the second-order consensus problem for multiple mechanical systems with a constant-velocity leader. The performance of the proposed consensus scheme is shown by a numerical simulation.

关键词： Second-order consensus communication delay networked mechanical systems uncertainties adaptive control

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Contextual Constrained Independent Component Analysis Based Foreground Detection for Indoor Surveillance

Contextual Constrained Independent Component Analysis Based ...

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第一届亚洲模式识别会议

作者： Zhong Zhang Wen Zhou Baihua Xiao Shuang Liu Chunheng Wang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio State Key Laboratory of Intelligent Control and Management of Complex SystemsInstitute of Automation

ISBN: (纸本)9781457701221

Recently, Independent Component Analysis based foreground detection has been proposed for indoor surveillance applications where the foreground tends to move slowly or remain still. Yet such a method often causes discrete segmented foreground objects. In this paper, we propose a novel foreground detection method named Contextual Constrained Independent Component Analysis (CCICA) to tackle this problem. In our method, the contextual constraints are explicitly added to the optimization objective function, which indicate the similarity relationship among neighboring pixels. In this way, the obtained de-mixing matrix can produce the complete foreground compared with the previous ICA model. In addition, our method performs robust to the indoor illumination changes and features a high processing speed. Two sets of image sequences involving room lights switching on/of and door opening/closing are tested. The experimental results clearly demonstrate an improvement over the basic ICA model and the image difference method.

关键词： foreground detection contextual constraints indoor surveillance independent component analysis

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