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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Xie, Yan-Xin Liu, Jun Hu, Cheng-Quan Cui, Jun-Hong Xu, Hongli State Key Laboratory of Robotics CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9781450346375

The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and accelerometer. A major challenge for DR navigation is from measurement error of the inertial sensors (gyroscope, accelerometer, etc.), especially when the AUV is near or at the ocean surface. The AUV's motion is affected by ocean waves, and its pitch angle changes rapidly with the waves. This rapid change and the measurement errors will cause great noise to the direction measured by gyroscopes, and then lead to a large error to the DR navigation. To address this problem, a novel DR method based on neural network (DR-N) is proposed to explore the time-varying relationship between acceleration measurement and orientation measurement, which leverages acoustic localization and neural network estimate timely pitch angle through the explored time-varying relationship. This method enables AUV's DR navigation with a single acceleration, without relying on both acceleration and gyroscope. Most importantly, we can improve the accuracy of AUV navigation through avoiding DR errors caused by gyroscope noise at the sea surface. Simulations show DR-N significantly improves navigation accuracy.

关键词： Accelerometers

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Control method for redundant manipulators with multi-constraints 7

Control method for redundant manipulators with multi-constra...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Lu, Beibei Guo, Shuli Han, Lina Key Lab. of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing100081 China Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Woodstock Road OxfordOX2 6GG United Kingdom Department of Cardiovascular Internal Medicine Nanlou Branch Chinese PLA General Hospital Beijing100853 China

ISBN: (纸本)9784990534349

When redundant manipulators work in a complex environment, many constraints need to be met. Gradient projection method (GPM) is a typical way to fulfil constraints that does not affect the main task. However it's difficult to fulfil all the restrictions simultaneously. In this paper, the Jacobian matrix for constraints is proposed and an extended Jacobian matrix form equivalent to the GPM is obtained. Then the multi-objective compliance control scheme is applied to the extended Jacobian matrix form to ensure that the main task and multi-constraints are fulfilled simultaneously. At last we test this scheme in a sixdegree-of-freedom (6-DOF) manipulator and the simulation results confirm our conclusions. © 2016, Fuji technology Press. All rights reserved.

关键词： Redundant manipulators

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A hybrid-integrated external cavity laser with ultra-wide wavelength tuning range and high side-mode suppression

A hybrid-integrated external cavity laser with ultra-wide wa...

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Optical Fiber Communication Conference, OFC 2016

作者： Guo, Yuyao Li, Xinhang Xu, Weihan Liu, Chuxin Jin, Minhui Lu, Liangjun Xie, Jingya Stroganov, Anton Chen, Jianping Zhou, Linjie State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Institute for Advanced Communication and Data Science Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China SJTU-Pinghu Institute of Intelligent Optoelectronics Pinghu314200 China Terahertz Technology Innovation Research Institute Terahertz Spectrum and Imaging Technology Cooperative Innovation Center Shanghai Key Lab of Modern Optical System University of Shanghai for Science and Technology Shanghai200093 China LIGENTEC SA EPFL Innovation Park Bâtiment L Ecublens1024 Switzerland

We present a III-V/Si3N4 hybrid-integrated tunable laser. The laser shows a record of ~170-nm tuning range with a side mode suppression ratio above 64 dB and an intrinsic linewidth below 2.8 kHz. © 2022 The Autho...

ISBN: (纸本)9781943580071

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Investigation into influence factors of synchronous movement of multi-cylinders

Investigation into influence factors of synchronous movement...

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IEEE International Conference on Aircraft Utility systems (AUS)

作者： Chao Hu Pengfei Zhang Xiaoping Ouyang Houtao Ku Qinghe Zhou Enxiao Zhang State Key Lab. of Fluid Power Transmission and Control Zhejiang University Hangzhou China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing China The High School Attached to Zhejiang University Hangzhou China

ISBN: (纸本)9781509010882

Seal is one of the most important characteristics for cylinders and suitable seal configuration will guarantee the long life cycle of the seal and the cylinder. Experiment is the only way which can demonstrate the best seal configuration in applications. In this paper, one approach is brought forward for testing the seal performance of cylinders with different seals configurations at the same load working condition for saving the test time. In the test-rig, the synchronization of cylinders is one of the key technologies. The test system is modelled in the AMESim software. The effect caused by the changes of the different physical parameters is analyzed, such as load stiffness, viscous damping coefficient of cylinder, dead volume of cylinder and internal leakage coefficient. The experiment is carried out and test results agree with the simulation results. Finally, the appropriate solution is proposed for improving the synchronization of the multi-cylinders further.

关键词： Synchronization Valves Seals Damping Load modeling Springs Servomotors

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Unleashing the performance potential of CPU-GPU platforms for the 3D atmospheric Euler solver

Unleashing the performance potential of CPU-GPU platforms fo...

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International Conference on Application Specific systems (ASAP), Architectures and Processors

作者： Haohuan Fu Jingheng Xu Lin Gan Chao Yang Wei Xue Wenlai Zhao Wen Shi Xinliang Wang Guangwen Yang National Supercomputing Center in Wuxi Ministry of Education Key Lab. for Earth System Modeling Center for Earth System Science Tsinghua University Department of Computer Science & Technology Tsinghua University Institute of Software and State Key Laboratory of Computer Science Chinese Academy of Sciences Tsinghua University Beijing Beijing CN

ISBN: (纸本)9781509015047

As a traditional application on various supercomputers, atmospheric modeling has long been suffering from the low performance efficiency. In this paper, we pick the 3D Euler equation solver (the most essential dynamic component for a non-hydrostatic atmospheric model) as the target application, and explore the maximum performance efficiency that can be achieved on CPU-GPU hybrid architectures. Besides presenting the suitable hybrid domain decomposition methodology and taking proper usage of tuning techniques for both the CPU and GPU parts, we further propose a novel GPU tuning technique, namely the customizable data caching mechanism with thread warp rescheduling scheme, which is specifically designed for the Euler solver. Combining all the optimizing approaches together, remarkable performance boost has been achieved on mainstream GPU architectures including Tesla Fermi C2050, K20×, K40 and K80. Especially, on the latest Tesla K80, we demonstrate a 31.64× speedup over the performance of 12-core E5-2697 CPU. In addition, based on a hybrid CPU-GPU node with two 12-core E5-2697 CPUs and two Tesla K80 GPUs, a sustained double-precision performance of 1.04 Tflops (16% of the peak) is achieved, which is remarkably higher than the efficiency of similar optimizing tasks based on heterogeneous platforms (strictly less than 10%, as demonstrated in the related work). In addition, a nearly linear weak scaling efficiency is achieved which demonstrate the effectiveness of our domain decomposition method.

关键词： Atmospheric modeling Graphics processing units Mathematical model Computational modeling Computer architecture Tuning Three-dimensional displays

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Modeling relation paths for representation learning of knowledge bases

Modeling relation paths for representation learning of knowl...

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Conference on Empirical Methods in Natural Language Processing, EMNLP 2015

作者： Lin, Yankai Liu, Zhiyuan Luan, Huanbo Sun, Maosong Rao, Siwei Liu, Song Department of Computer Science and Technology State Key Lab. on Intelligent Technology and Systems National Lab. for Information Science and Technology Tsinghua University Beijing China Samsung R and D Institute of China Beijing China

ISBN: (纸本)9781941643327

Representation learning of knowledge bases aims to embed both entities and relations into a low-dimensional space. Most existing methods only consider direct relations in representation learning. We argue that multiple-step relation paths also contain rich inference patterns between entities, and propose a path-based representation learning model. This model considers relation paths as translations between entities for representation learning, and addresses two key challenges: (1) Since not all relation paths are reliable, we design a path-constraint resource allocation algorithm to measure the reliability of relation paths. (2) We represent relation paths via semantic composition of relation embeddings. Experimental results on real-world datasets show that, as compared with baselines, our model achieves significant and consistent improvements on knowledge base completion and relation extraction from text. The source code of this paper can be obtained from https://***/mrlyk423/relation-extraction. © 2015 Association for Computational Linguistics.

关键词： Knowledge based systems

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Feature extraction of wobbling rotational symmetry targets

Feature extraction of wobbling rotational symmetry targets

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IEEE International Geoscience and Remote Sensing Symposium, IGARSS 2015

作者： Ai, Xiaofeng Li, Yongzhen Feng, Dejun Feng, Zhao Xiao, Shunping State Key Lab. of Complex Electromagnetic Environmental Effects on Electronicsand Information System National University of Defense Technology Changsha China

ISBN: (纸本)9781479979295

Feature extraction and recognition of wobbling targets are very important in spatial target surveillance. It has been shown that the scattering centers are slipping on the edge of the rotational symmetry target with the target micro-motion according to the electromagnetic scattering theory and electromagnetic computation analysis. Based on the slippery scattering center model, the micro-motion model and high-range resolution profile (HRRP) model of a wobbling rotational symmetry cone-shaped target are introduced, and the observed HRRP sequence is used to construct a time-range distribution matrix, then a estimation method of the wobbling period is proposed based on time-range distribution matrix correlation, which is validated by electromagnetic computation data and dynamic simulation. © 2015 IEEE.

关键词： correlation feature extraction Radar imaging

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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POLSAR LAND COVER CLASSIFICATION BASED on HIDDEN POLARIMETRIC FEATURES in ROTATION DOMAIN and SVM CLASSIFIER

POLSAR LAND COVER CLASSIFICATION BASED on HIDDEN POLARIMETRI...

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ISPRS Geospatial Week 2017

作者： Tao, Chen-Song Chen, Si-Wei Li, Yong-Zhen Xiao, Shun-Ping State Key Lab. of Complex Electromagnetic Environment Effects on Electronics and Information System School of Electronics Science and Engineering National University of Defense Technology Changsha410073 China

Land cover classification is an important application for polarimetric synthetic aperture radar (PolSAR) data utilization. Rollinvariant polarimetric features such as iH/Ani/α/Span are commonly adopted in PolSAR land cover classification. However, target orientation diversity effect makes PolSAR images understanding and interpretation difficult. Only using the roll-invariant polarimetric features may introduce ambiguity in the interpretation of targets' scattering mechanisms and limit the followed classification accuracy. To address this problem, this work firstly focuses on hidden polarimetric feature mining in the rotation domain along the radar line of sight using the recently reported uniform polarimetric matrix rotation theory and the visualization and characterization tool of polarimetric coherence pattern. The former rotates the acquired polarimetric matrix along the radar line of sight and fully describes the rotation characteristics of each entry of the matrix. Sets of new polarimetric features are derived to describe the hidden scattering information of the target in the rotation domain. The latter extends the traditional polarimetric coherence at a given rotation angle to the rotation domain for complete interpretation. A visualization and characterization tool is established to derive new polarimetric features for hidden information exploration. Then, a classification scheme is developed combing both the selected new hidden polarimetric features in rotation domain and the commonly used roll-invariant polarimetric features with a support vector machine (SVM) classifier. Comparison experiments based on AIRSAR and multi-temporal UAVSAR data demonstrate that compared with the conventional classification scheme which only uses the roll-invariant polarimetric features, the proposed classification scheme achieves both higher classification accuracy and better robustness. For AIRSAR data, the overall classification accuracy with the proposed classification schem

关键词： Land Cover Classification Polarimetric Feature Mining Polarimetric Synthetic Aperture Radar (PolSAR) Rotation Domain Support Vector Machine (SVM)

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Obstacle Avoidance for Kinematically Redundant Robot

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IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators system stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

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