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arXiv 2022年

作者： Jiang, Xia Zeng, Xianlin Xie, Lihua Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore The School of Electronic and Information Engineering Tongji University Shanghai200082 China

This paper proposes a distributed stochastic projection-free algorithm for large-scale constrained finite-sum optimization whose constraint set is complicated such that the projection onto the constraint set can be expensive. The global cost function is allocated to multiple agents, each of which computes its local stochastic gradients and communicates with its neighbors to solve the global problem. Stochastic gradient methods enable low computational cost, while they are hard and slow to converge due to the variance caused by random sampling. To construct a convergent distributed stochastic projection-free algorithm, this paper incorporates a variance reduction technique and gradient tracking technique in the Frank-Wolfe update. We develop a sampling rule for the variance reduction technique to reduce the variance introduced by stochastic gradients. Complete and rigorous proofs show that the proposed distributed projection-free algorithm converges with a sublinear convergence rate and enjoys superior complexity guarantees for both convex and non-convex objective functions. By comparative simulations, we demonstrate the convergence and computational efficiency of the proposed algorithm. © 2022, CC BY.

关键词： Stochastic systems

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Adaptive fuzzy event-triggered and precision trajectory tracking control for underwater tracked robot

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Ocean Engineering 2025年 334卷

作者： Yao, Xiaolong Feng, Kelin Li, Kewen Li, Yongming Wang, Yu Sun, Wenxing Fan, Yazhou Wang, Zheng Lin, Guohai College of Electrical Engineering Liaoning University of Technology Liaoning Jinzhou121001 China College of Science Liaoning University of Technology Liaoning Jinzhou121001 China Key Laboratory of Man agement and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Electric Power Research Institute Guangdong power grid Corporation Guangdong Guangzhou510080 China

This article investigates the robust adaptive fuzzy event-triggered precision trajectory tracking control issue for an underwater tracked robot (UTR) with modeling uncertainties. Firstly, considering the mechanical characteristics of the robot's underwater trenching and movement process, the UTR model is constructed. Meanwhile, the fuzzy logic systems (FLSs) are adopted to approximate the unknown UTR nonlinearities. The time-varying constraint conditions inserting the predefined performance functions are skillfully constructed to ensure that the UTR evades the possible singularity issue. Moreover, the designed predefined performance functions can achieve trajectory tracking of the UTR with the predefined settling time and accuracy, straightforward. By constructing the disturbance observer, the compacts caused by seabed current disturbance and the fuzzy approximation errors can be estimated. In the control design, to reduce the update frequency of the control signals from the controller to the actuator for the UTR, a novel robust adaptive fuzzy event-triggered trajectory tracking constraint control scheme is developed via designing the logarithmic barrier functions (LBFs), which cannot only minimize communication resource consumption in the tracking process and possess strong robustness against disturbances, but also ensure that all control signals are bounded. Finally, to demonstrate the effectiveness of the proposed control algorithm, the simulation results are provided. © 2025

关键词： control nonlinearities

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TFDPM: Attack detection for cyber-physical systems with diffusion probabilistic models

arXiv

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arXiv 2021年

作者： Yan, Tijin Zhou, Tong Zhan, Yufeng Xiaa, Yuanqing Key Laboratory of Intelligent Control Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

With the development of AIoT, data-driven attack detection methods for cyber-physical systems (CPSs) have attracted lots of attention. However, existing methods usually adopt tractable distributions to approximate data distributions, which are not suitable for complex systems. Besides, the correlation of the data in different channels does not attract sufficient attention. To address these issues, we use energy-based generative models, which are less restrictive on functional forms of the data distribution. In addition, graph neural networks are used to explicitly model the correlation of the data in different channels. In the end, we propose TFDPM, a general framework for attack detection tasks in CPSs. It simultaneously extracts temporal pattern and feature pattern given the historical data. Then extract features are sent to a conditional diffusion probabilistic model. Predicted values can be obtained with the conditional generative network and attacks are detected based on the difference between predicted values and observed values. In addition, to realize real-time detection, a conditional noise scheduling network is proposed to accelerate the prediction process. Experimental results show that TFDPM outperforms existing state-of-the-art attack detection methods. The noise scheduling network increases the detection speed by three times. Copyright © 2021, The Authors. All rights reserved.

关键词： Embedded systems

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Image Captioning on Fine Art Paintings via Virtual Paintings

Image Captioning on Fine Art Paintings via Virtual Paintings

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Yue Lu Chao Guo Xingyuan Dai Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

Machine learning in fine art paintings is attracting increasing attention recently. Image captioning of paintings is of great importance for painting analysis, but it is rarely studied. The paintings have abstract expressions and lack annotated datasets, leading to the data-hungry problem in painting captioning. Thus, painting captioning has more significant challenges than photographic image captioning. This paper makes a novel attempt at generating content descriptions of paintings. We generate virtual paintings using the style transfer technique to deal with the data-hungry problem, then train the painting captioning model via a two-step manner. We evaluate our method on an annotated small-scale painting captioning dataset and demonstrate our improvements.

关键词： Art Digital twin Conferences Machine learning Task analysis Painting

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Benchmarking lane-changing decision-making for deep reinforcement learning

arXiv

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arXiv 2021年

作者： Wang, Junjie Zhang, Qichao Zhao, Dongbin The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China College of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

The development of autonomous driving has attracted extensive attention in recent years, and it is essential to evaluate the performance of autonomous driving. However, testing on the road is expensive and inefficient. Virtual testing is the primary way to validate and verify self-driving cars, and the basis of virtual testing is to build simulation scenarios. In this paper, we propose a training, testing, and evaluation pipeline for the lane-changing task from the perspective of deep reinforcement learning. First, we design lane change scenarios for training and testing, where the test scenarios include stochastic and deterministic parts. Then, we deploy a set of benchmarks consisting of learning and non-learning approaches. We train several state-of-the-art deep reinforcement learning methods in the designed training scenarios and provide the benchmark metrics evaluation results of the trained models in the test scenarios. The designed lane-changing scenarios and benchmarks are both opened to provide a consistent experimental environment for the lane-changing task. Copyright © 2021, The Authors. All rights reserved.

关键词： Deep learning

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Adaptive Takagi-Sugeno Fuzzy Model for Pneumatic Artificial Muscles

Adaptive Takagi-Sugeno Fuzzy Model for Pneumatic Artificial ...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Xiuze Xia Long Cheng School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Pneumatic artificial muscle (PAM) usually exhibits strong hysteresis nonlinearity and time-varying features that bring PAM modeling and control difficulties. In this paper, an adaptive Takagi-Sugeno (T-S) fuzzy model is established based on nonlinear auto-regression moving average with exogenous input (NARMAX) structure to describe PAM's characteristics. Experiments show that compared with other phenomenology-based models, the presented model has lower predictive error and better adaptability. Finally, a model predictive controller is designed and validated to verify the adaptive T-S fuzzy model's practicability.

关键词： Adaptation models Computational modeling Force Predictive models Muscles Jitter Takagi-Sugeno model

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Exploring Painting Synthesis with Diffusion Models

Exploring Painting Synthesis with Diffusion Models

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Da Yi Chao Guo Tianxiang Bai The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

As a significant composition of art, fine art painting is becoming a research hotspot in machine learning community. With unique aesthetic value, paintings have quite different representations from natural images, making them irreplaceable. Meanwhile, the lack of training data is common in painting-related machine learning tasks. Therefore, the synthesis of fine art painting is meaningful and challenging work. There are two main types of generative models for image synthesis: generative adversarial networks (GANs) and likelihood-based models. GAN-based models can obtain high-quality samples but usually sacrifice diversity and training stability. Diffusion models are a class of likelihood-based models and have recently been shown to achieve state-of-the-art quality on the image synthesis tasks. In this paper, we explore generating fine art paintings by using diffusion models. We carried out the experiments on the partial impression paintings from the Wikiart dataset. The results demonstrate that the diffusion model can generate high-quality samples, and it is easy to train to cover more target distribution than the GAN-based methods.

关键词： Training Art Image synthesis Digital twin Training data Machine learning Generative adversarial networks

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Accident Prediction in Mesoscopic View: A CPSS-Based Social Transportation Approach

Accident Prediction in Mesoscopic View: A CPSS-Based Social ...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Chen Sun Ruichen Tan Jie Deng Rui Zhou Long Chen Fei-Yue Wang Dongpu Cao University of Waterloo Waterloo Canada Waytous Inc. Qingdao China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In modern society, traffic accidents are becoming an essential social safety issue that cannot be ignored. Along with the convenience of the high-speed development of modernization, the prosperity of vehicles has also led to severe traffic accidents, which cause massive loss of lives and properties every year. Accident analysis and prediction based on big data have become increasingly important in social transportation. However, the traditional data analysis and prediction methods only focused on either macroscope(transportation) or microscope(vehicle), and the relationships between the two layers are missing. This paper proposes a novel analysis framework by introducing the mesoscopic factors to bridge the transportation and vehicle operation domain under the parallel driving setting. The feature aggregation and mesoscopic factors extraction are included in the proposed prediction strategy to improve the performance of various commonly used decision tree-based classifiers. Methods are compared under the most recent 5-year accident database, which stores over three million records. Insights are discussed based on the future application of connected autonomous vehicles and intelligent road infrastructures.

关键词： Databases Roads Microscopy Digital twin Transportation Prediction methods Feature extraction

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Differential evolution algorithm based on entropy weight method to determine the weight to optimize the configuration of wind, solar, and diesel microgrid 6

Differential evolution algorithm based on entropy weight met...

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2021 6th International Symposium on Advances in Electrical, Electronics and Computer Engineering, ISAEECE 2021

作者： Xing, Yongchen Duan, Qing Zhang, Guobao Ma, Chunyan Liu, Wen Long Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Nanjing210096 China China Electric Power Research Institute Co. Ltd. Beijing100192 China State Grid Shanghai Energy Interconnection Research Institute Co. Ltd. Shanghai201203 China

In order to enhance the stable operation of the multi-energy complementary microgrid for wind, solar, and diesel storage, reduce operating costs, and solve the problems of large randomness, low accuracy, and slow convergence of traditional microgrid optimization multi-objective decision-making, a differential evolution based on the entropy weight method to determine the weight is proposed. Firstly, we establish a microgrid integrated energy model from the perspectives of system operation stability, economy and environmental protection;combined with the Pareto optimal solution set, multi-objectives are weighted according to the entropy weight method, and the multi-objective optimization problem is transformed into single-objective optimization The problem is to avoid artificial setting of weight factors;the calculation example shows that this method is more economical and reasonable in optimization results, and provides an economic, reliable and environmentally friendly microgrid configuration strategy for users to increase power capacity. © Published under licence by IOP Publishing Ltd.

关键词： Pareto principle

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A New Constrained Cost Value Iteration for Optimal control of Discrete-Time Nonlinear systems

A New Constrained Cost Value Iteration for Optimal Control o...

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Chinese automation Congress (CAC)

作者： Tao Li Qinglai Wei The 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

ISBN: (纸本)9781665426480

In this paper, a new constrained cost value iteration (CCVI) adaptive dynamic programming (ADP) algorithm is developed to solve optimal control problems with constrained cost function. The CCVI algorithm is initialized by a feasible control law, and the cost function of this initial feasible control constitutes the constraint condition in the policy update step. The convergence and optimality of the CCVI are analyzed. Furthermore, the feasibility of any iterative control law and the on-line evolving control law are proven. It is emphasized that the feasibility of any iterative control law and the on-line evolving control law guarantee that the CCVI algorithm can be used in situations where the cost function constraint is extremely important. Finally, a simulation example is given to verify the effect of the developed algorithm.

关键词： Costs automation Heuristic algorithms Simulation Optimal control Cost function Iterative algorithms

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