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5th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

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

Hybridization is termed as an efficient strategy to improve the performance of many optimizers, and the design of efficient hybrids for difficult optimization problems remains a challenging field. In this study, an automatic method is proposed to generate various hybrid optimizers based on particle swarm optimization and differential evolution for a given problem. Based on the unified framework for hybridization proposed in our recent work, the proposed method can provide plenty of hybrid optimizers for a specific problem with given parent optimizers. Besides, an approach which can provide the unified representation of different kinds of hybridization levels is developed. Moreover, all the generated hybrids are evaluated on the CEC2017 benchmark problems, and the results of the statistic analysis and the Wilcoxon's rank-sum tests demonstrate that the hybrid optimizer utilizing the hybridization strategy performs obviously better than the others on the test functions.

关键词： Particle swarm optimization (PSO)

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Stable walking of quadruped robot on unknown rough terrain

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Journal of Beijing Institute of Technology 2016年第4期25卷 463-472页

作者：何玉东王军政柯贤锋汪首坤 Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity （COG） height is presented. Simulations demonstrate the effectiveness of the proposed meth- od and the improvement of the adaptation of quadruped robots on rough terrain.

关键词： quadruped robot unknown rough terrain walking gait body posture body center ofgravity （COG）

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Optimal Consensus control of Unknown Nonlinear Multi-Agent systems Using Adaptive Dynamic Programming via MRAC

Optimal Consensus Control of Unknown Nonlinear Multi-Agent S...

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Chinese control Conference (CCC)

作者： Hao Fu Xin Chen Wei Wang Jinbin Li Yaodong Zhang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China State Grid Hubei Electric Power Research Institute Wuhan P. R. China

This paper introduces an optimal consensus control scheme for nonlinear multi-agent systems with completely unknown dynamics. In general, it is difficult to solve the coupled Hamilton-Jacobi-Bellman (HJB) equations, which the optimal consensus control relies on in multi-agent systems, especially unknown nonlinear systems. For the purpose of solving the problem, we propose an optimal consensus control approach based on the model reference adaptive control (MRAC) and adaptive dynamic programming (ADP). Using the structure of the diagonal recurrent neural network, the identifier and controller are devised to achieve MRAC for every plant of the unknown nonlinear systems, i.e. the reference model serves as a dynamic model of each individual agent. Then, according to reference models of distributed agents, an adaptive dynamic programming (ADP) is introduced to approximate the solution of the coupled HJB equations.

关键词： Multi-agent systems Mathematical model Adaptation models Heuristic algorithms Recurrent neural networks Dynamic programming

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Torque Ripple Reduction of a Modular-Stator Outer-Rotor Flux-Switching Permanent-Magnet Motor

Torque Ripple Reduction of a Modular-Stator Outer-Rotor Flux...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Jing Zhao Yun Zheng Congcong Zhu Hao Chen Liu Yang Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China

In order to reduce the permanent magnet (PM) volume and combine the advantages of in-wheel motor, a novel modular-stator outer-rotor flux-switching permanent-magnet motor (MSOR-FSPM) whose PM volume is half of that in conventional outer-rotor flux-switching permanent-magnet (COR-FSPM) motor is proposed. However, cogging torque and torque ripple of MSOR-FSPM motor are especially worse due to the inherent double salient effect and the back-EMF harmonics caused by module stator structure. In this paper, structure and operation principle of MSOR-FSPM motor are described simply. Secondly, cogging torque and torque ripple are reduced by using traditional rotor two-step skewing method, but the result is unsatisfactory. Thirdly, a new rotor two-step skewing method is adopted since the ratio of back-EMF period to cogging torque period is the odd. Compared with traditional rotor step skewing method, the new method eliminates the even harmonics of back-EMF and remains the amplitude of fundamental waveform;the odd harmonics of cogging torque and electromagnetic torque are eliminated. Finally, the results of the new rotor step skewing method is verified by 3D finite element method (FEM) and further improved by embedding non-magnetic blocks in the middle of the stator and rotor.

关键词： Rotors Torque Forging Harmonic analysis Brushless motors Torque measurement AC motors

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Design and analysis of a novel double-sided five-phase modular linear permanent magnet machine

Design and analysis of a novel double-sided five-phase modul...

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Annual Conference of Industrial Electronics Society

作者： keyu Guo Jing Zhao Xiangdong Liu Liu Yang Hao Chen Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China

In this paper, in order to replace a conventional electric linear actuator which is consist of rotary PM machine and ball screw, a novel double-sided five-phase modular linear permanent magnet synchronous machine (MLPMSM) is proposed and designed with the same volume. The basic structure of the machine is firstly described and the major dimensions of one module are then optimized to acquire the largest thrust force. Through these methods, the average force of the MLPMSM reaches 206N, which is 58.4% larger than the conventional linear actuator. After that, the 5 th order harmonic in thrust ripple is analyzed and diminished by adjusting the distance between slot openings of the module. As the result the 5 th order harmonic is diminished greatly by 57%.

关键词： Force Optimization Stator cores Actuators Harmonic analysis Iron

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LoRa on the Move: Performance Evaluation of LoRa in V2X Communications

LoRa on the Move: Performance Evaluation of LoRa in V2X Comm...

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2018 IEEE intelligent Vehicles Symposium, IV 2018

作者： Li, Yuke Han, Shuangshuang Yang, Linyao Wang, Fei-Yue Zhang, Hui State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266109 China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing100049 China Qingdao Huituo Intelligent Machine Company Qingdao China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China Computer Science Department School of Computer Science Carnegie Mellon University PittsburghPA15213 United States Conviva Inc. Silicon ValleyCA94404 United States

ISBN: (纸本)9781538644522

Recent years have witnessed much interest in Low Power Wide Area (LPWA) technologies, which are gaining unprecedented momentum and commercial interest towards the realisation of the Internet of Things (IoT). Long Range (LoRa), as a representative LPWA technology, has the potential to satisfy the growing demand for the longer range and larger amount connectivities in vehicular communication networks. In this paper, LoRa is firstly applied into two typical vehicular networks, namely Vehicle-to-Infrastructure (V2I)and Vehicle-to-Vehicle (V2V), and performance of LoRa schemes with different parameter configurations are evaluated and compared. Further, Monte Carlo simulations indicate that the schemes equipped with higher bandwidth or lower spreading factor exhibit significant advantages in combating the fast fading caused by Doppler effect in networks. © 2018 IEEE.

关键词： Monte Carlo methods

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IEEE Transactions on Evolutionary Computation Special Issue on Parallel Evolution for Large Scale Optimization

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IEEE Transactions on Evolutionary Computation 2018年第4期22卷 633-633页

作者： Wang, Fei-Yue Wei, Qinglai Tang, Ke Coello Coello, Carlos A. State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences China Qingdao Academy of Intelligent Industries China Department of Computer Science and Engineering Southern University of Science and Technology China Department of Computer Science CINVESTAV-IPN Mexico

Prospective authors are requested to submit new, unpublished manuscripts for inclusion in the upcoming event described in this call for papers.

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Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model

Adaptive robust controller for electric cylinder with fast p...

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第36届中国控制会议

作者： Duo yang Li Jun Zheng Wang Ren Jian Hao Shou Kun Wang Wei Shen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In this paper,the adaptive robust control（ARC） algorithm is proposed for tracking control of the electric cylinder *** to the analysis of the working principle of the electric cylinder servo system,the model of the system is established on the modified Lugre friction model,and single observer is designed for calculating friction as *** the ARC controller and adaptive law are designed for on-line parameters estimation,frictional compensation and the suppression external *** the Lyapunov approach,the stability of this system can be obtained in this *** simulation result shows that ARC can suppresses external disturbances effectively and realize real-time online parameter estimation.

关键词： adaptive robust control Lugre model parameter estimation

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Real-Time lane detection and forward collision warning system based on stereo vision 28

Real-Time lane detection and forward collision warning syste...

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28th IEEE intelligent Vehicles Symposium, IV 2017

作者： Song, Wenjie Fu, Mengyin Yang, Yi Wang, Meiling Wang, Xinyu Kornhauser, Alain State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China Princeton University United States Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9781509048052

This paper presents a real-Time and robust lane detection and forward collision warning technique based on stereo cameras. First, obstacles image is obtained through stereo matching and UV-disparity segmentation algorithm. Then, Inverse Perspective Mapping(IPM) and Sobel filtering are conducted to generate a low-noise top view of the road by fusing the obstacles image and the original image. Next, Hough Transformation for the top view map is completed and the extreme points(poles) are calculated as the detected lanes according to the traffic lanes model. Besides, the host lane is selected or supplemented among all the detected lanes and the nearest obstacle in this host lane is detected for the forward collision warning. Experimental results on the public data set indicate that our method can work effectively and real-Timely in the normal structured environment. © 2017 IEEE.

关键词： Roads Cameras Image segmentation Robustness Real-time systems Automobiles Alarm systems

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Learning ReLU networks on linearly separable data: Algorithm, optimality, and generalization

arXiv

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arXiv 2018年

作者： Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Lab of Intelligent Control Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Tongji University Shanghai200092 China

Neural networks with REctified Linear Unit (ReLU) activation functions (a.k.a. ReLU networks) have achieved great empirical success in various domains. Nonetheless, existing results for learning ReLU networks either pose assumptions on the underlying data distribution being e.g. Gaussian, or require the network size and/or training size to be sufficiently large. In this context, the problem of learning a two-layer ReLU network is approached in a binary classification setting, where the data are linearly separable and a hinge loss criterion is adopted. Leveraging the power of random noise perturbation, this paper presents a novel stochastic gradient descent (SGD) algorithm, which can provably train any single-hidden-layer ReLU network to attain global optimality, despite the presence of infinitely many bad local minima, maxima, and saddle points in general. This result is the first of its kind, requiring no assumptions on the data distribution, training/network size, or initialization. Convergence of the resultant iterative algorithm to a global minimum is analyzed by establishing both an upper bound and a lower bound on the number of non-zero updates to be performed. Moreover, generalization guarantees are developed for ReLU networks trained with the novel SGD leveraging classic compression bounds. These guarantees highlight a key difference (at least in the worst case) between reliably learning a ReLU network as well as a leaky ReLU network in terms of sample complexity. Numerical tests using both synthetic data and real images validate the effectiveness of the algorithm and the practical merits of the theory. Copyright © 2018, The Authors. All rights reserved.

关键词： Stochastic systems

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