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BDI agents using evolving artificial neural network for intelligent planning in etching tools

Journal of Harbin Institute of Technology (New Series) 2007年第SUPPL. 2期14卷 135-138页

作者： Xu, Hua Jia, Peifa State Key Lab. of Intelligent Technology and Systems Tsinghua University Beijing 100084 China Dept. of Computer Science and Technology Tsinghua University Beijing 100084 China

Multi robot cooperation in etching tools is a complex application since dynamic state changes of all the cooperative robots should be considered in making control decisions. So it is difficult for traditional agent-based method (such as belief decision intention (BDI) method) to schedule cooperative etching robots. A dynamic intelligent planning method is required to improve the quality of the decision making process. According to the etching cooperative robot system requirements, this paper proposes a dynamic and intelligent planning method on the base of hybrid BDI agent architecture, which is with evolving artificial neural network (NN) in building the intelligence especially in planning process. As the input of the NN, the working states of every robot can be got easily. And the control decisions for every cooperative robot can be easily made by itself with the evolving neural network. It has been demonstrated effective in actual applications.

关键词： Robot applications

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Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent systems

Distributed Quadratic Stabilization of Uncertain Linear Mult...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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Model-based bridge recognition in high resolution SAR image

Model-based bridge recognition in high resolution SAR image

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MIPPR 2009 - Automatic Target Recognition and Image Analysis: 6th International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Pei, Deli Sun, Fuchun Wang, Hongqiao Chen, Ning Department of Computer Science and Technology Tsinghua University Beijing 100084 China State Key Lab. of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing 100084 China Xi'an High Tech. Research Institute Xi'an Shanxi 710025 China

ISBN: (纸本)9780819478061

A new bridge recognition method in Synthetic Aperture Radar (SAR) image using bridge model and SVM is presented in this paper. Firstly, water region is extracted from original SAR image by self-adapt segmentation and mathematic morphological method. Then based on bridge model, the bridge candidates in water region can be found out and their texture feature can also be ***, with the usage of SVM, whether these objects are bridges or not can be identified and the real bridges can be mark ed in the SAR image, as well as the corresponding information such as position. Experiment results show that, with the help of water region segmentation and bridge model, the efficiency of the algorithm is greatly promoted, meanwhile, the recognition accuracy is guaranteed by high quality classifier of SVM. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Synthetic aperture radar

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Adaptive sliding mode control for one-link flexible manipulators with h∞ tracking performance

Adaptive sliding mode control for one-link flexible manipula...

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WCICA 2004 - Fifth World Congress on intelligent control and Automation, Conference Proceedings

作者： Zhang, Youan Lü, Fenglin Sun, Fuchun Department of Automatic Control NAEI Yantai 264001 State Key Lab. Intelligent T./S. Tsinghua University Beijing 100084

A composite controller is designed based on singular perturbation model of one-link flexible manipulators with external disturbances and parameters uncertainties, where a new adaptive sliding mode controller with H∞ tracking performance is designed for the slow subsystem, the adaptive algorithm is used to estimate the unknown perturbation part of system parameters, then, the H∞ tracking design technique and the adaptive sliding mode control scheme are combined to derive the final control law. An optimal controller is designed to stabilize the fast subsystem. Numerical simulation results confirm that the proposed controller can not only attenuate effectively the effect of system uncertainties on tracking error, but also can reduce significantly chattering inherent in conventional sliding mode control. Also, tip vibration can be suppressed effectively.

关键词： Adaptive control systems

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Weather type partition method considering sequential features in photovoltaic forecasting

Weather type partition method considering sequential feature...

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6th International Conference on Renewable Power Generation

作者： Li, Hao Lu, Zongxiang Qiao, Ying Wang, Ningbo Ding, Kun State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Department of Electrical Engineering Tsinghua University Haidian District Beijing100084 China Wind Power Technology Center Gansu Electric Power Corporation Lanzhou730050 China

The prediction method based on the partition of weather types has been widely used in photovoltaic prediction. Here, the temporal characteristics of PV data is studied, the physical meaning of the sequential difference sequences is analysed, and a characteristic index system including sequential characteristics index is proposed. The weather types are partitioned based on self-organising map neural network algorithm. Case study shows that the partition method is helpful to improve the discrimination of weather types and to improve prediction accuracy. © 2017 Institution of Engineering and Technology. All Rights Reserved.

关键词： Weather forecasting

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Cooperative Local Path Planning for Multi-unmanned Vehicles Formation Using the Enhanced Artificial Potential Field 3rd

Cooperative Local Path Planning for Multi-unmanned Vehicles...

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3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Zhang, Xin Duan, Xuting Zhou, Jianshan Zhang, Long Opening Project of Key Laboratory of Operation Safety Technology on Transport Vehicles Ministry of Transport PRC Beijing China School of Transportation Science and Engineering Beihang University Beijing China State Key Lab of Intelligent Transportation System Beijing China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China Zhongguancun Laboratory Beijing China National Key Laboratory of Science and Technology on Information System Security Institute of Systems Engineering Beijing China

ISBN: (纸本)9789819711024

An enhanced approach utilizing APF(artificial potential field) method is introduced in this paper. By adopting this approach, the challenge of local minima that may occur when dealing with local path planning for unmanned vehicles is tackled. When the unmanned vehicle approaches an obstacle, a virtual attractive potential field is implemented, utilizing the deviation in the heading angle of the vehicle to control the steering angle. Consequently, the vehicle can avoid obstacles, resolving the issue of local minima and enabling its application in path planning for multi-unmanned vehicles. The ROS with Gazebo simulation platform is used to verify the enhanced algorithm’s effectiveness in multi-unmanned vehicle path planning in an unknown environment. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Motion planning

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Simulation of lightning strike in 2-D and 3-D with fractal theory and its application

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering 2010年第22期30卷 127-134页

作者： Xu, Wei Chen, Shui-Ming He, Jin-Liang State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China

Lighting causes great damage to power systems due to the stochastic nature of lightning discharges and the vulnerability of lightning leaders to various environments in the process of inception and propagation. In this work, the growth of diffusion limited aggregation (DLA) was adopted for reproducing branches and tortuosity of lightning channels in both 2-D and 3-D simulations. By comparing the fractal dimensions of natural lightning discharges and simulation results on various discharge settings, we discovered that a fractal coefficient η = 2 can deliver a credible model of lightning strikes. We further proved the consistency between simulation results and observations conducted in Japan during 2005 and 2006 winter seasons on lightning strikes to a windmill and its lightning-protection tower. But the credibility of the result needs to be verified by further experimental data, when the model extended from 2-D to 3-D. Moreover, striking probability and the shielding effect in the actual condition were analyzed with the proposed simulation model. © 2010 Chin. Soc. for Elec. Eng.

关键词： Fractal dimension

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Mobile big data analysis with machine learning

arXiv

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arXiv 2018年

作者： Xie, Jiyang Song, Zeyu Li, Yupeng Ma, Zhanyu Pattern Recognition and Intelligent Systems Lab. Beijing University of Posts and Telecommunications Beijing China State Key Lab. of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing China

This paper investigates to identify the requirement and the development of machine learning-based mobile big data analysis through discussing the insights of challenges in the mobile big data (MBD). Furthermore, it reviews the state-of-the-art applications of data analysis in the area of MBD. Firstly, we introduce the development of MBD. Secondly, the frequently adopted methods of data analysis are reviewed. Three typical applications of MBD analysis, namely wireless channel modeling, human online and offline behavior analysis, and speech recognition in the internet of vehicles, are introduced respectively. Finally, we summarize the main challenges and future development directions of mobile big data analysis. Copyright © 2018, The Authors. All rights reserved.

关键词： Big data

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Design and implementation of automatic voltage control system applied to a power grid in Northeast US

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Dianwang Jishu/Power System Technology 2013年第2期37卷 349-355页

作者： Zhang, Mingye Guo, Qinglai Sun, Hongbin Tong, Jianzhong Zhang, Boming Wu, Wenchuan Wang, Bin State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China PJM Interconnection PA 19403 United States

With the raising of requirement of power grid operation to voltage control and reactive power management level, automatic voltage control (AVC) becomes a hot spot in the research. Due to the constraints in the management mode, the applied research of AVC is hitherto a blank in North America power grids. An AVC system, which is suitable to special management modes of a certain interconnected power grid in Northeast U. S. and can meet the demand of on-line operation, is designed and implemented. In the designed system, phase shifter models are added into power flow modules and during the computation of control strategy by optimal power flow (OPF) the static security constraints after the assumed faults are considered. Both the data and assessment results of long-term on-line trail-operation show that the reactive power and voltage level of the interconnected power grid can be improved by applying the designed AVC system, and both security and economy of the interconnected power grid can be enhanced.

关键词： Electric power system control

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Multi-Modal Local Receptive Field Extreme Learning Machine for Object Recognition

Multi-Modal Local Receptive Field Extreme Learning Machine f...

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International Joint Conference on Neural Networks

作者： Fengxue Li Huaping Liu Xinying Xu Fuchun Sun Department of Electronic Information Taiyuan University of Technology Department of Computer Science and Technology Tsinghua University State Key Lab. of Intelligent Technology and Systems

ISBN: (纸本)9781509006212

Learning rich representations efficiently plays an important role in multi-modal recognition task, which is crucial to achieve high generalization performance. To address this problem, in this paper, we propose an effective Multi-Modal Local Receptive Field Extreme Learning Machine (MM-ELM-LRF) structure, while maintaining ELM's advantages of training efficiency. In this structure, ELM-LRF is firstly conducted for feature extraction for each modality separately. And then, the shared layer is developed by combining these features from each modality. Finally, the Extreme Learning Machine (ELM) is used as supervised feature classifier for the final decision. Experimental validation on Washington RGB-D Object Dataset illustrates that the proposed multiple modality fusion method achieves better recognition performance.

关键词： Representation learning Multi-modal Local receptive field Extreme learning machine

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