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Forecasting complex group behavior via multiple plan recognition

Frontiers of Computer Science 2012年第1期6卷 102-110页

作者： Xiaochen LI Wenji MAO Daniel ZENG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Group behavior forecasting is an emergent re- search and application field in social computing. Most of the existing group behavior forecasting methods have heavily re- lied on structured data which is usually hard to obtain. To ease the heavy reliance on structured data, in this paper, we pro- pose a computational approach based on the recognition of multiple plans/intentions underlying group behavior. We fur- ther conduct human experiment to empirically evaluate the effectiveness of our proposed approach.

关键词： group behavior forecasting multiple planrecognition graph search

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Variable window stereo matching based on phase congruency

Variable window stereo matching based on phase congruency

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2013 International Conference on Vehicle and Mechanical Engineering and Information Technology, VMEIT 2013

作者： Guo, Long Yuan Sun, Chang Yin Zhang, Guo Yun Wu, Jian Hui College of Information and Communication Hunan Institute of Science and Technology Yueyang 414006 China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Optimization and Control for Complex Systems College of Hunan Province Yueyang 414006 China

ISBN: (纸本)9783037858202

The major challenge in area stereo matching algorithms is to find appropriate window size and shape. Phase congruency is robust to noise and can reflects the gray changes. With these benefits, the paper first detects image and determines pixels characteristics according to phase congruency. Then, different window will be used to matching according to different feature pixels. After using cost function which combined with non-parametric measure and gray value, the final disparity map will be obtained. The result of experiment indicates that the algorithm can generates more accurate disparity map. © (2013) Trans Tech Publications, Switzerland.

关键词： Pixels

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Automatic Road Detection for Highway Surveillance Using Frequency-Domain Information

Automatic Road Detection for Highway Surveillance Using Freq...

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IEEE International Conference on Service Operations and Logistics, and Informatics

作者： Qing-Jie Kong Lucidus Zhou Gang Xiong Fenghua Zhu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences

ISBN: (纸本)9781479905287

Video detection is one of the primary collection means of traffic states in Parallel traffic management systems (PtMS). In order to accurately and automatically obtain road areas in highway surveillance videos, this paper presents an automatic detection algorithm based on the frequency-domain information of video images. This algorithm uses the frequency-domain feature that is produced by the vehicles passing through road areas in videos, to realize automatic segmentation and recognition of the road areas. The experiment comparing with the traditional vehicle-tracking-based method, which uses the information in the time-space domain, illustrates the advantages of the proposed algorithm.

关键词： Road detection Visual surveillance Frequency information

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Setpoints Compensation in Industrial Processes via Multirate Output Feedback control

Setpoints Compensation in Industrial Processes via Multirate...

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9th Asian control Conference (ASCC)

作者： Yin, Shen Liu, Fangzhou Gao, Huijun Qiu, Jianbin Chai, Tianyou Fan, Jialu Karimi, Hamid Reza Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150080 China State Key Laboratory for Synthetical Automation of Process Industries Northeastern University Shenyang 110004 China Department of Engineering University of Agder Grimstad N-4898 Norway

ISBN: (纸本)9781467357692;9781467357678

This paper investigates the setpoints compensation for a class of complex industrial processes. Plants at the device layer are controlled by the local regulation controllers, and a multirate output feedback control approach for setpoint compensation is proposed such that the subsystems can reach the dynamically changed setpoints and the given economic objective can also be tracked via certain economic performance index (EPI). First, a sampled-data multivariable direct output feedback proportional integral (PI) controller is designed to regulate the performance of the subsystems. Second, the outputs and control inputs of the plants at the device layer are sampled at operation layer sampling time to form an EPI. Thus the multirate problem is solved by a lifting method. Third, static setpoints are generated by real time optimization (RTO) and the dynamic setpoints are calculated by the compensator according to the error between the EPI and objective at each operation layer step. Finally, a rougher flotation process model is employed to demonstrate the effectiveness of the proposed method.

关键词： PI control compensation complex networks control system synthesis feedback multivariable control systems optimisation process control sampled data systems

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Underwater target search with robotic fish based on an improved Camshift algorithm

Underwater target search with robotic fish based on an impro...

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Chinese automation Congress (CAC)

作者： Shifeng Chen Junzhi Yu Feihu Sun Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

Biomimetic robotic fish has the distinct advantage of efficient propulsion and high maneuverability over conventional underwater vehicles. This paper addresses the underwater target search issue in a free-swimming robotic fish with embedded vision. In particular, we use the stored original image to acquire the color characteristics of the target and propose an improved Camshift algorithm based on the light intensity distribution to search the target in the captured image. Then the robotic fish is driven towards the identified target smoothly with the aid of bio-inspired Central Pattern Generator (CPG) control. All tracking algorithms are implemented in real time with a hybrid control system combining an embedded microprocessor (TI DM3730) and a microcontroller (ATmega128). Latest aquatic experiments demonstrate that a fairly good tracking effect is resulted and the interference caused by the mirror image effect is largely eliminated. The proposed technical scheme offers an alternative to target search in relatively complex underwater environments.

关键词： Marine animals Mirrors Robot kinematics Target tracking Image color analysis Microprocessors

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An enhanced dual-finger robotic Hand for Catheter manipulating in vascular intervention: A preliminary study

An enhanced dual-finger robotic Hand for Catheter manipulati...

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International Conference on Information and automation (ICIA)

作者： Gui-Bin Bian Xiao-Liang Xie Zhen-Qiu Feng Zeng-Guang Hou Peng Wei Long Cheng Min Tan The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

Cardiovascular disease is a class of diseases that involve the heart and blood vessels, which is the leading cause of deaths globally. Vascular interventional surgery is an effective treatment. As belongs to minimally invasive surgery (MIS), it is more popular due to the advantages of smaller injury, faster recovery and higher accuracy rate. However, it needs up to 10 years to train a skilled surgeon for minimally invasive cardiovascular surgeries. The surgeon cannot avoid receiving the excessive dose of X-ray due to long time operation in daily work. A dual-finger robotic hand (DRH) was introduced to assist the surgeon in manipulating the catheter/guide wire. As a surgical device, DRH is aiming at simple mechanism, ease to use and convenient sterilization. It was carefully investigated how the surgeon manipulates the catheter/guide wire. The bionic thumb and forefinger were designed to imitate human's. Compared to human's, the two bionic fingers are enhanced due to that they can advance the catheter/guide wire without moving the whole hand. The DRH mechanism was carefully designed. A console was also designed for the surgeon to manipulate DRH. After the DRH control was done, the minimum robotic cardiovascular interventional system was formed. Experimental results have validated the feasibility of DRH and the robotic system. Future work regarding DRH is also discussed.

关键词： Catheters Rubber Connectors Surgery Robots Couplers Transducers

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Time-Varying Sliding Mode Guidance with Impact Angle Constraints Against Nonmaneuvering Targets

Time-Varying Sliding Mode Guidance with Impact Angle Constra...

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第三十二届中国控制会议

作者： Yao Zhao Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

In this paper,a time-varying sliding model control(TVSMC) based guidance law against nonmaneuvering targets is proposed with impact angle *** algorithm is first designed for constant-speed interceptors to attack stationary and constant-velocity targets,and the global robustness of the system is ***,an adaptation strategy,adaptive time-varying sliding model control(ATVSMC),is adopted to deal with unknown but bounded disturbances by adjusting the switching gain *** analysis of the closed loop system is obtained through Lyapunov ***,numerical simulation results are presented to verify the effectiveness and robustness of the proposed guidance law.

关键词： Guidance Impact angle Time-varying sliding model control Robustness Adaptive

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A New Pruning Method for Resolving Conflicts in Actionable Behavioral Rules

A New Pruning Method for Resolving Conflicts in Actionable B...

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IEEE International Conference on Intelligence and Security Informatics

作者： Peng Su Dan Zhu Daniel Zeng School of Mathematics and Computer Science Dali University College of Business Iowa State University State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467362146

Among the most important and distinctive actionable knowledge are actionable behavioral rules that can directly and explicitly suggest specific actions to take to influence the behavior in the users' best interest. However, in mining such rules, it often occurs that different rules may suggest the same actions with different expected utilities, which we call conflicting rules. To resolve the conflicts, a previous pruning method was proposed. However, inconsistency of the measure for rule pruning may hinder its performance. To overcome this problem, we develop a new pruning method to achieve rule pruning in actionable rule discovery. We conduct several experiments to test our proposed approach and evaluate the sensitivity of the weight parameter. Empirical results based on a benchmark terrorism dataset indicate that our approach outperforms those from previous research.

关键词： Actionable behavioral rules Rule pruning Conflicting rules

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Stability analysis of networked control systems with aperiodic sampling

Stability analysis of networked control systems with aperiod...

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第三十二届中国控制会议

作者： Jian Sun Jie Chen Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of Technology School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

This paper is concerned with stability analysis of networked control systems with aperiodic sampling and time-varying delay. The sampling times are assumed to vary within a known interval. The network-induced delay is assumed to belong to a given interval. The closed-loop system is modeled as a system with two time-delays and normbounded uncertainties coming from variations of sampling intervals. Using common Lyapunov function approach, a sufficient stability condition for the closed-loop system is derived and presented in terms of linear matrix inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Networked control system, Sampled-data system, Aperiodic sampling, Stability

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Space alignment of camera and Millimeter Wave(MMW) radar

Space alignment of camera and Millimeter Wave(MMW) radar

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Chinese control Conference (CCC)

作者： Lu Jin Meng Yin Fu Yi Yang Hao Zhu Key Laboratory of Intelligent Control and Decision of Complex Systems of School of Automation Beijing Institute of Technology 100081 China

The information fusion of vision sensor and Millimeter Wave(MMW) radar can enhance the adaptability of the Unmanned Ground Vehicle(UGV) to the complex environment. Space alignment is the basic step of information fusion. Based on the alignment problems camera and MMW radar has existed, firstly, according to the max velocity of UGV and the different attention on the close and far object, the calibration distance is determined and divided; then, a space alignment method is presented through the corresponding space point sets in image pixel coordinate of camera and polar coordinate of MMW radar. the results are verified through the experiment and the error is also analyzed.

关键词： Spaceborne radar Millimeter wave radar Radar imaging Cameras Electronic mail

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