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arXiv 2018年

作者： Santos, V. Szezech, J.D. Batista, A.M. Iarosz, K.C. Baptista, M.S. Ren, H.P. Grebogi, C. Viana, R.L. Caldas, I.L. Maistrenko, Y.L. Kurths, J. Graduate in Science Program State University of Ponta Grossa Ponta Grossa Paraná84030-900 Brazil Department of Mathematics and Statistics State University of Ponta Grossa Ponta Grossa Paraná84030-900 Brazil Potsdam Institute for Climate Impact Research Potsdam Brandenburg14473 Germany Institute of Physics University of São Paulo São Paulo05508-900 Brazil Department of Physics Humboldt University Berlin Brandenburg12489 Germany Institute for Complex Systems and Mathematical Biology SUPA University of Aberdeen Aberdeen ScotlandAB24 3UE United Kingdom Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian University of Technology Xi'an710048 China Xian Technological University Xi'an710021 China Department of Physics Federal University of Paraná Curitiba Paraná80060-000 Brazil Institute of Mathematics Centre for Medical and Biotechnical Research National Academy of Sciences of Ukraine Tereshchenkivska St. 3 Kyiv01030 Ukraine

We investigate the basin of attraction properties and its boundaries for chimera states in a circulant network of Hénon maps. It is known that coexisting basins of attraction lead to a hysteretic behaviour in the diagrams of the density of states as a function of a varying parameter. Chimera states, for which coherent and incoherent domains occur simultaneously, emerge as a consequence of the coexistence of basin of attractions for each state. Consequently, the distribution of chimera states can remain invariant by a parameter change, as well as it can suffer subtle changes when one of the basins ceases to exist. A similar phenomenon is observed when perturbations are applied in the initial conditions. By means of the uncertainty exponent, we characterise the basin boundaries between the coherent and chimera states, and between the incoherent and chimera states, respectively. This way, we show that the density of chimera states can be not only moderately sensitive but also highly sensitive to initial conditions. This chimera's dilemma is a consequence of the fractal and riddled nature of the basins boundaries. Coupled dynamical systems have been used to describe the behaviour of real complex systems, such as power grids, neuronal networks, economics, and chemical reactions. Furthermore, these systems can exhibit various kinds of interesting nonlinear dynamics, e.g. synchronisation, chaotic oscillations, and chimera states. The chimera state is a spatio-temporal pattern characterised by the coexistence of coherent and incoherent dynamics. It has been observed in a great variety of systems, ranging from theoretical and experimental arrays of oscillators, to in phenomena such as the unihemispheric sleep of cetaceans. We study the chimera state in a circulant network of Hénon maps, seeking to determine how the density of states in the network depends on the system parameters and the initial conditions. We have found that, as expected, the density of states might be inva

关键词： Neurons

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Framework Based Universal Simulation For Satellite Project

Framework Based Universal Simulation For Satellite Project

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第35届中国控制会议

作者： Xing Xin Zhen LI Xiangyuan Zeng Xiangdong Liu Zhi Yang Song Xie School of Automation Beijing Institute of Technology Chinese National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology DFH Satellite co. Ltd

ISBN: (纸本)9781509009107

An integrated simulation system is proposed in the paper,which considers the universal runtime platform environment,the resource management mechanism,and the aerospace oriented model software *** platform is compatible with the HLA protocol and support both synchronous and asynchronous modes for data *** simulation execution is established on the specifically formulated scenarios,which provides flexibilities in customizing the organization of the simulation *** resource framework is designed by combining the characteristics of both aerospace engineering and software engineering,and the modeling objects are expanded from the entities of satellites,sub-systems and equipments,to the non-entity relationships of the system *** the developed model database and management software,the simulation can be applied either in the visible and non-programming way,or in a secondary development way with ***,the proposed system is user-friendly to engineers with various disciplinary backgrounds.

关键词： Universal Simulation simulation platform framework small Satellite model Software

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Multi-platform Maneuvering Target Tracking based on BLUE- AIMM- CI Algorithm 34

Multi-platform Maneuvering Target Tracking based on BLUE- AI...

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第三十四届中国控制会议

作者： Wang Mao-zhang BAI Yong-qiang Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467374439

With the battlefield environment becomes more complicated nowadays, it's difficult to achieve high precision target tracking only using single platform of target tracking system. Especially for maneuvering targets, the application of interactive multiple model(IMM) algorithm based on a variety model becomes necessary and feasible. At the same time, the best linear unbiased estimate(BLUE) filter is much more appropriate and useful than Kalman filter when it comes to deal with nonlinear system. Most of the time, we are blind to the correlation degree of our target during the merge process of tracking. We can track our target with multi-platform with introduction of Cross-Correlation(CI) fusion algorithm which is based on distributed data and proves its effectiveness by simulation.

关键词： Multi-platform,Maneuvering target tracking,BLUE filter,AIMM,CI fusion

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A Novel Fast Haze Removal Technique for Single Image Using Image Pyramid 34

A Novel Fast Haze Removal Technique for Single Image Using I...

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第三十四届中国控制会议

作者： ZHAO Dong BAI Yong-qiang Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467374439

Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. Recently, many dehazing algorithms have been proposed based on the dark channel prior(DCP). However, these algorithms aim to improve the refinement of the raw transmission map, while ignore the computational complexity of DCP ***, this paper proposes a new technique for fast single image haze removal, which achieves a good tradeoff between the dehazing performance and the computational complexity. We first decompose the observed haze image into a coarse image and a detail image using Gaussian-Laplacian pyramid. Then, the coarse image is dehazed by Dark Channel Prior and Guided filter(GDCP). For the size of the coarse image is 1/4 of the original image, the computational complexity is reduced ***, the recomposed image is blurred, since the detail image is still haze. So, we employ an unsharp filter to sharpen the blurred recomposed image. Experimental results show that the proposed dehazing technique effectively removes haze, and significantly reduces the computational complexity by 69.59% on average, compared with traditional GDCP algorithm.

关键词： single image dehazing,image restoration,dark channel prior,image pyramid,unsharp masking

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Learning to Win in Evolutionary Two-person Boolean Game with Fixed Strategy Updating Rule

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IFAC-PapersOnLine 2015年第28期48卷 520-525页

作者： WANG, Dong Hongbin, M.A. Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Canada

This paper introduces an algorithm to learn the strategy updating rule for a two- person Boolean game using the records of the history strategies and game results. The two-person game in this paper is introduced as a zero-sum game along with a Boolean strategy set, and the strategies are governed by fixed Boolean functions whose arguments are the history strategies and game results with additive binary noise, which can be modeled as a stochastic Boolean dynamic system. However, for this easy-to-play game, there is no effective convenient methods to win more often. To achieve this goal, a learning algorithm based on Boolean regression and maximum-likelihood estimation is put forward to learn the strategy updating rule and the noise property using the records of the history strategies and game results. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed learning algorithm. © 2015

关键词： Learning algorithms Identification (control systems) Maximum likelihood estimation Parameter estimation Stochastic systems Boolean dynamics Boolean games Extensive simulations Fixed strategy Learning Noise properties Strategy updating Two person game

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Real-time terrain estimation based on multi-scale radial basis function for unmanned ground vehicle

Real-time terrain estimation based on multi-scale radial bas...

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International Conference on Information and Automation (ICIA)

作者： Yi Yang Zhili Wang Xinghe Li Mengyin Fu Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509041039

Accurate terrain estimation is essential for unmanned ground vehicle (UGV) to achieve autonomous navigation. However, some existing approaches are difficult to reconstruct the 3D surface in real-time because of serious amount of computation. A method of environmental terrain estimation based on multi-scale radial basis function with a 3D lidar mounted on a moving vehicle was proposed in this paper. By combining kernel template with terrain grid map, the approach is applicable to the non-uniform density distribution of laser point cloud with the increasing detection range and improves the efficiency of calculation. What's more, the estimation of culverts and trees will be more accurate if treat the point cloud in separate layers for suspended obstacles problem. All terrain estimation approaches were verified with good performance in an interactive system, which is set up with Virtual Robot Experimentation Platform (VREP) and actual vehicle.

关键词： Three-dimensional displays Estimation Laser radar Kernel Lasers Surface reconstruction Real-time systems

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Exploiting human walking speed transitions using a dynamic bipedal walking robot with controllable stiffness and limb coordination

Exploiting human walking speed transitions using a dynamic b...

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IEEE-RAS International Conference on Humanoid Robots

作者： Yan Huang Baojun Chen Libo Meng Zhangguo Yu Xuechao Chen Qiang Huang Qining Wang Ministry of Education Beijing Institute of Technology Beijing China Robotics Research Group Peking University Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781509047192

In this paper, we employ a two-dimensional dynamic bipedal walking robot to investigate the effects of controllable stiffness and limb coordination on speed transition of bipedal walking. The robot is equipped with a variable stiffness actuator at each joint. We proposed a central pattern generatorbased control method to implement limb coordination and realize independent control of torque and stiffness for the robot. Then we carry out human motion experiments on speed transitions. The comparison of hip joint kinematics and ground reaction forces between human and the robot during speed transitions shows that variable stiffness and limb coordination are important for adaptive human walking and can improve the performance of bipedal walking robot. The results may be used to exploit possible principles of complex human gaits.

关键词： Legged locomotion Robot kinematics Hip Oscillators Robot sensing systems Servomotors

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The Energy Consumption Analysis of Hydraulic Quadruped Robot based on Gait Parameters 34

The Energy Consumption Analysis of Hydraulic Quadruped Robot...

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第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Design, modeling and control of a novel amphibious robot wit...

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IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2015

作者： Yi, Yang Geng, Zhou Zhang, Jianqing Cheng, Siyuan Fu, Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479999941

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm. © 2015 IEEE.

关键词： Propulsion

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