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2019 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2019

作者： Li, Juanjuan Yuan, Yong Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781728128535

In the Bitcoin system, transaction fees serve not only as the fundamental economic incentive to stimulate miners, but also as an important tuner for the Bitcoin system to define the priorities in the transaction confirmation process. In this paper, we aim to study the priority rules for queueing transactions based on their associated fees, and in turn users' decision-making in formulating their fees in the transaction confirmation queueing game. Based on the queueing theory, we first analyzed the waiting time of users under non-preemptive limited multi-priority (LMP) rule, which is formulated to adjust users' waiting time over different priorities. We then established a game-theoretical model, and analyze users' equilibrium fee decisions. Towards the end, we conducted computational experiments to validate the theoretical analysis. Our research findings can not only help understand users' fee decisions under the LMP rule, but also offer useful managerial insights in optimizing the queueing rules of Bitcoin transactions. © 2019 IEEE.

关键词： Blockchain

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A Heuristic Algorithm for the Fabric Spreading and Cutting Problem in Apparel Factories

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IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 961-968页

作者： Xiuqin Shang Dayong Shen Fei-Yue Wang Timo R. Nyberg the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of Sciences (CAS)Beijing 100190China the Qingdao Academy of Intelligent Industries Qingdao 266109China IEEE the Beijing Enineering Research Center of Intelligent Systems and Technology Institute of AutomationCASBeijing 100190China the Cloud Computing Center CASDongguan 523808China the School of Science at Aalto University AaltoFinland

We study the fabric spreading and cutting problem in apparel *** the sake of saving the material costs,the cutting requirement should be met exactly without producing additional garment *** reducing the production costs,the number of lays that corresponds to the frequency of using the cutting beds should be *** propose an iterated greedy algorithm for solving the fabric spreading and cutting *** algorithm contains a constructive procedure and an improving *** the constructive procedure creates a set of lays in sequence,and then the improving loop tries to pick each lay from the lay set and rearrange the remaining lays into a smaller lay *** improving loop will run until it cannot obtain any smaller lay set or the time limit is *** experiment results on 500 cases show that the proposed algorithm is effective and efficient.

关键词： Construction and improvement cutting and packing fabric spreading and cutting heuristic algorithm

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An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

An Easy-implemented Optimization Method of Trajectory Planni...

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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

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$H_{\infty }$ PID control for Discrete-Time Fuzzy systems With Infinite-Distributed Delays Under Round-Robin Communication Protocol

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IEEE Transactions on Fuzzy systems 2021年第6期30卷 1875-1888页

作者： Yezheng Wang Zidong Wang Lei Zou Hongli Dong College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Department of Computer Science Brunel University London Uxbridge U.K. Institute of Complex Systems and Advanced Control and the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Daqing China

This article is concerned with the $H_{\infty }$ proportional–integral–derivative (PID) control problem for class of discrete-time Takagi–Sugeno fuzzy systems subject to infinite-distributed time delays and round-robin (RR) protocol scheduling effects. The information exchange between the sensors and the controller is conducted through a shared communication network. For the purpose of alleviating possible data collision, the well-known RR communication protocol is deployed to schedule the data transmissions. To stabilize the target system with guaranteed $H_{\infty }$ performance index, a novel yet easy-to-implement fuzzy PID controller is developed whose integral term is calculated based on the past measurements defined in a limited time window with hope to improve computational efficiency and reduce accumulation error. Based on the Lyapunov stability theory and the convex optimization technique, sufficient conditions are derived to ensure the exponential stability as well as the $H_{\infty }$ disturbance attenuation/rejection capacity of the underlying system. Furthermore, by utilizing the cone complementarity linearization algorithm, the nonconvex controller design problem is transformed into an iterative optimization one that facilitates the controller implementation. Finally, simulation examples are given to show the effectiveness and correctness of the developed control method.

关键词： PD control Protocols PI control control systems Symmetric matrices Communication networks Optimization

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Analyzing the Evolutionary Characteristics of the Cluster of COVID-19 under Anti-contagion Policies 18

Analyzing the Evolutionary Characteristics of the Cluster of...

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18th IEEE International Conference on Intelligence and Security Informatics, ISI 2020

作者： Miao, Pu Tian, Hu Zhang, Xingwei He, Saike Zheng, Xiaolong Dash Wu, Desheng Zeng, Daniel Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China School of Artificial Intelligence Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Stockholm Business School Stockholm University StockholmSE-106 91 Sweden

ISBN: (纸本)9781728188003

With the rampaging of Coronavirus disease 2019 (COVID-19) across the world, analyzing the dynamic characteristics and understanding the evolutionary patterns of clusters are becoming even more crucial for people and policymakers to make timely responses for avoiding injury caused by COVID-19. To solve the scarcity of the fine-grained spatiotemporal data, we construct a novel dataset about the spread of patients during the resurgent period of the COVID-19 epidemic at the Xinfadi Market in Beijing. Leveraging our self-build dataset, we analyze the evolutionary characteristics of the cluster of COVID-19 under anti-contagion policies and obtained some remarkable evolution patterns. These findings can provide significant insights for policymakers and researchers to understand the evolutionary characteristics regarding the cluster of COVID-19 and deploy effective anti-contagion policies. © 2020 IEEE.

关键词： COVID-19

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A Real-Time Multi-Task Framework for Guidewire Segmentation and Endpoint Localization in Endovascular Interventions

A Real-Time Multi-Task Framework for Guidewire Segmentation ...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Yan-Jie Zhou Shi-Qi Liu Xiao-Liang Xie Xiao-Hu Zhou Guan-An Wang Zeng-Guang Hou Rui-Qi Li Zhen-Liang Ni Chen-Chen Fan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology Beijing China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology China

Real-time guidewire segmentation and endpoint localization play a pivotal role in robot-assisted minimally invasive surgery, which is helpful to reduce radiation dose and procedure time. Nevertheless, the tasks often come with the challenge of limited computational resources. For this purpose, a real-time multi-task framework with two stages is developed. In the first stage, a Fast Attention-fused Network (FAD-Net) is proposed to obtain accurate guidewire segmentation masks. In the second stage, a lightweight localization network and a post-processing algorithm are designed to robustly predict the guidewire endpoint position. Quantitative and qualitative evaluations on intraoperative X-ray sequences from 30 patients demonstrate that the developed framework outperforms the previously-published results for the tasks, achieving state-of-the-art performance. Moreover, the inference rate of the developed framework is approximately 10.6 FPS, which meets the real-time requirement of X-ray fluoroscopy. These results indicate the proposed approach has the potential to be integrated into the robotic navigation framework for endovascular interventions, enabling robotic-assisted minimally invasive surgery.

关键词： Location awareness Minimally invasive surgery Navigation Prediction algorithms Real-time systems Robustness Inference algorithms

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Local Map Construction Based on 3D-LiDAR and Camera

Local Map Construction Based on 3D-LiDAR and Camera

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Chinese control Conference (CCC)

作者： Hui Qin Jing Li Junzheng Wang Qingbin Wu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

The local map can update the local environment information in real time, which provides the environment information for the local dynamic planning of the robot. In this paper, a local cost map construction method based on 3D-LIDAR and camera is proposed. We use camera to detect lane lines in structured road and 3D-LIDAR to detect road boundaries in unstructured environment, and then use DS evidence reasoning to determine the current local road information. Dynamic obstacle information in the environment is obtained through 3D point cloud data segmentation, which is fused with the road information to get 3D point cloud information in the local range and generate local cost map according to it. Experiments show that the method in this paper can accurately extract the current road information whether in structured roads or unstructured roads. The fused local cost map can enable the robot to perform reasonable local planning and complete navigation on the current road.

关键词： Roads Three-dimensional displays Robots Planning Cameras Real-time systems Navigation

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A Novel Fractional Order Impedance control and Its Performance Analysis

A Novel Fractional Order Impedance Control and Its Performan...

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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detection

Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detecti...

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第40届中国控制会议

作者： Manjun Tian Xiali Li Shihan Kong Licheng wu Junzhi Yu School of Information Engineering Minzu University of China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Dept.Adv.Manuf.Robot. BIC-ESAT College of Engineering Peking University

To tackle the problem of aquatic environment pollution, a vision-based autonomous underwater garbage cleaning robot has been developed in our laboratory. This paper proposes a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object detection. More specifically, the YOLOv4 algorithm is chosen as a basic neural network framework to perform object detection. With the purpose of further improvement on the detection speed, the channel pruning and layer pruning are implemented on the trained YOLOv4 model, while the fine-tuned mechanism assists the pruned model to restore accuracy. In virtue of the improved detection methods, the robot has the ability to collect garbage *** experimental results indicate that the pruned YOLOv4 detection method can still maintain the high performance even though the parameter amount is 7.062% of the original model.

关键词： Object detection aquatic environment garbage cleaning robot modified YOLOv4

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Deep Rank-Consistent Pyramid Model for Enhanced Crowd Counting

arXiv

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arXiv 2022年

作者： Gao, Jiaqi Huang, Zhizhong Lei, Yiming Shan, Hongming Wang, James Z. Wang, Fei-Yue Zhang, Junping The Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China The Institute of Science and Technology for Brain-inspired Intelligence MOE Frontiers Center for Brain Science Fudan University Shanghai200433 China The Shanghai Center for Brain Science and Brain-Inspired Technology Shanghai201210 China The College of Information Sciences and Technology The Pennsylvania State University University ParkPA16802 United States The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Institute of Systems Engineering Macau University of Science and Technology China Qingdao Academy of Intelligent Industries Qingdao266109 China

Most conventional crowd counting methods utilize a fully-supervised learning framework to establish a mapping between scene images and crowd density maps. They usually rely on a large quantity of costly and time-intensive pixel-level annotations for training supervision. One way to mitigate the intensive labeling effort and improve counting accuracy is to leverage large amounts of unlabeled images. This is attributed to the inherent self-structural information and rank consistency within a single image, offering additional qualitative relation supervision during training. Contrary to earlier methods that utilized the rank relations at the original image level, we explore such rank-consistency relation within the latent feature spaces. This approach enables the incorporation of numerous pyramid partial orders, strengthening the model representation capability. A notable advantage is that it can also increase the utilization ratio of unlabeled samples. Specifically, we propose a Deep Rank-consistEnt pyrAmid Model (DREAM), which makes full use of rank consistency across coarse-to-fine pyramid features in latent spaces for enhanced crowd counting with massive unlabeled images. In addition, we have collected a new unlabeled crowd counting dataset, FUDAN-UCC, comprising 4,000 images for training purposes. Extensive experiments on four benchmark datasets, namely UCF-QNRF, ShanghaiTech PartA and PartB, and UCF-CC-50, show the effectiveness of our method compared with previous semi-supervised methods. The codes are available at https://***/bridgeqiqi/DREAM. Copyright © 2022, The Authors. All rights reserved.

关键词： Image enhancement

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