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检索条件"机构=State Key Lab. of Management and Control for Complex Systems"

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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Event-triggered consensus and passification co-design for multi-agent systems over unreliable communication networks

Event-triggered consensus and passification co-design for mu...

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American control Conference

作者： Chao Ma Hong Qiao School of Automation and Electrical Engineering University of Science and Technology Beijing 100083 China State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467386838

In this paper, the event-triggered communication strategy with passification consensus co-design is investigated for a class of general multi-agent systems. In particular, the proposed event-triggered mechanism is asynchronous for each agent individually such that the information exchange cost can be reduced effectively. Moreover, with the consideration of unreliable communication networks, randomly occurring transmission failure is modeled by utilizing the stochastic variable. Based on passivity theory, sufficient conditions are established to guarantee that the consensus can be achieved with the desired passification performance. Furthermore, the consensus protocol gain is designed. Finally, a numerical example is provided to demonstrate the effectiveness of our theoretical results.

关键词： Multi-agent systems Symmetric matrices Communication networks Stochastic processes Protocols Eigenvalues and eigenfunctions Information exchange networks(communications) Multi-agent systems information exchange Symmetric matrix Eigenfunctions Markov chain Telecommunications protocols Event trigger Co-design passivity theory Stochastic Processes

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A New Manifold Distance Measure for Visual Object Categorization

A New Manifold Distance Measure for Visual Object Categoriza...

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World Congress on Intelligent control and Automation

作者： Fengfu Li Xiayuan Huang Hong Qiao Bo Zhang Institute of Applied Mathematics AMSS Chinese Academy of Sciences Beijing 100190 China State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467384155

Manifold distances are very effective tools for visual object recognition. However, most of the traditional manifold distances between images are based on the pixellevel comparison and thus easily affected by image rotations and translations. In this paper, we propose a new manifold distance to model the dissimilarities between visual objects based on the complex Wavelet Structural Similarity (CWSSIM) index. The proposed distance is more robust to rotations and translations of images than the traditional manifold distance and the CW-SSIM index based distance. In addition, the proposed distance is combined with the k-medoids clustering method to derive a new clustering method for visual object categorization. Experiments on Coil-20, Coil-100 and Olivetti Face Databases show that the proposed distance measure is better for visual object categorization than both the traditional manifold distances and the CW-SSIM index based distances.

关键词： Manifolds Indexes Visualization Clustering algorithms Distortion Robustness Geometry Manifolds Visualization Clustering algorithms distance measurement abnormal shapes geometry Clustering methods distortion Robustness images

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Transfer Classification for Distinct Manifestations with Shared Information

Transfer Classification for Distinct Manifestations with Sha...

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World Congress on Intelligent control and Automation

作者： Lu Qi Peijie Yin Xiayuan Huang Ken Chen Hong Qiao State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Applied Mathematics Academy of Science Beijing 100190 China State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)9781467384155

An object often has many distinct manifestations in computer vision, which brings a great challenge to utilizing more comprehensive information. Inspired by some biological researches about edge sensitivity and global structure priority, our key insight is to establish unified transfer classification network with shared contour information. Combining two convolutional networks with three cascaded filters, we build a unified kernel SVM classifier based on shared contour features. Two convolutional networks are used for acquiring the contour information of objects exactly. Obtained by three cascaded filters, shared edge features are used by a unified kernels SVM classifier. Our transfer classification network (TCN) is trained and tested with distinct manifestations including real photos (imagenet dataset or cifar-10 dataset) and cartoon abstracts. The model is able to extract robust contour features and achieve considerable transfer recognition accuracy (40% relative improvement to some popular convolutional models).

关键词： Image edge detection Support vector machines Training Feature extraction Kernel Robustness Visualization Edge detection Support Vector Network Feature extraction Visualization Kernel Functional training Seeds contour Robustness Information Sharing Training

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Salient Object Detection based on Boundary Contrast with Regularized Manifold Ranking

Salient Object Detection based on Boundary Contrast with Reg...

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World Congress on Intelligent control and Automation

作者： Yongkang Luo Peng Wang Wanyi Li Xiaopeng Shang Hong Qiao Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences Beijing 100190 China Beijing Aerospace Automatic Control Institute Beijing 100040 China State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467384155

Salient object detection via graph-based manifold ranking, which exploits the boundary prior by using image boundaries as lab.lled background queries, always achieves impressive performance. However, when the salient object broadly touches the image boundary, this method is fragile and may fail. To address this issue, we present a novel approach which bases on boundary contrast with regularized manifold ranking. First, we compute the contrast saliency against the image boundary as ranking queries, instead of directly using the boundaries as background queries. Second, we use an affinity matrix with regularization for manifold ranking to infer saliency value. Third, we integrate saliency inference result with foregroundness based on boundary connectivity to improve the detection accuracy. Last, we adopt multiscale method to mitigate the object scale effect in saliency detection. Experimental results on three benchmark datasets show that the proposed method achieves comparable or better performance than stat-of-the-art methods.

关键词： Manifolds Image segmentation Object detection Benchmark testing Automation Image color analysis Computer vision

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Time-varying universe based linguistic dynamic analysis of timing design for parallel traffic light

Time-varying universe based linguistic dynamic analysis of t...

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Hong Mo Fei-Yue Wang Fenghua Zhu School of Electrical and Information Engineering Changsha University of Science and Technology Changsha CN State Key Lab. of Management and Control for Complex Systems Institute of Automation CN

Reasonable timing design for traffic light can induce and maintain the transportation systems in good order. How to allocate the time are the keys. In the paper, the theory of time-varying universe is used to describe the circle time, and corresponding fuzzy sets on the universe are also discussed to modeling the situation of traffic flow, then the parallel traffic management and control methods which are dynamic with the time change are presented. A simulation example are provided to analyze the linguistic dynamic evolution of timing design of traffic light when the traffic flow is change with time-varying for an intersection.

关键词： Timing Pragmatics Vehicle dynamics Fuzzy sets complex systems Vehicles

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A method of human-robot collab.ration for grinding of workpieces

A method of human-robot collaboration for grinding of workpi...

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IEEE International Conference on Mechatronics and Automation

作者： Jianhua Su Hong Qiao Lijin Xu Ming Wang State Key Lab. of Management and Control for Complex Systems Chinese Academy of Science Beijing P.R. China Anhui Effort Equipment Co. Ltd Hefei Anhui Province China

ISBN: (纸本)9781479970995

This paper presents a strategy of human-robot collab.ration in grinding system. A collision-avoidance region, which ensures an operator should not be collision with a robot arm, is firstly detected by tracking the operator motion. Then, a path planning method, which uses control points of NURBS (Non-Uniform Rational B-Splines) to modify the path of the robot, is presented. Hence, whenever a possible collision with the robot and operator is predicted, the robot trajectory could be changed accordingly. Finally, a human-robot collab.ration grinding system is built to enable a robot to perform safe grinding operations with the aid of humans.

关键词： Collision avoidance Trajectory Cameras Robot vision systems Service robots Collab.ration

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Path Planning and Decision Making for Autonomous Vehicle in Urban Environment

Path Planning and Decision Making for Autonomous Vehicle in ...

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International Conference on Intelligent Transportation

作者： Mengyin Fu Wenjie Song Yang Yi Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China State Key Lab. of Intell. Control & Decision of Complex Syst. Beijing Instn. of Technol. China

ISBN: (纸本)9781467365970

In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle - IN 2 BOT, which has taken part in "Chinese Intelligent Vehicle Challenge" for many times, this method is proved more effective than our previous method after experiments under various conditions.

关键词： Path planning Roads Vehicles Decision making Planning Mobile robots Image edge detection

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Emotion extraction and entrainment in social media: The case of U.S. immigration and border security 13

Emotion extraction and entrainment in social media: The case...

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13th IEEE International Conference on Intelligence and Security Informatics, ISI 2015

作者： Chung, Wingyan He, Saike Dajun Zeng, Daniel Benjamin, Victor Dept. of Decision and Info. Sciences School of Business Administration Stetson University DeLandFL United States State Key Lab of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Dept. of MIS U. of Arizona TucsonAZ United States Dept. of MIS Eller College of Management University of Arizona TucsonAZ United States

ISBN: (纸本)9781479998883

Emotion plays an important role in shaping public policy and business decisions. The growth of social media has allowed people to express their emotion publicly in an unprecedented manner. Textual content and user linkages fostered by social media networks can be used to examine emotion types, intensity, and contagion. However, research into how emotion evolves and entrains in social media that influence security issues is scarce. In this research, we developed an approach to analyzing emotion expressed in political social media. We compared two methods of emotion analysis to identify influential users and to trace their contagion effects on public emotion, and report preliminary findings of analyzing the emotion of 105,304 users who posted 189,012 tweets on the U.S. immigration and border security issues in November 2014. The results provide strong implication for understanding social actions and for collecting social intelligence for security informatics. This research should contribute to helping decision makers and security personnel to use public emotion effectively to develop appropriate strategies. © 2015 IEEE.

关键词： Decision making

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