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作者： Lu, Pingli Yang, Ying School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China Department of Mechanics and Engineering Science Peking University Beijing 100871 China

ISBN: (纸本)9787894631046

Chaotic synchronization criteria for a class of dynamical networks with each node being RCL-shunted Josephson junction is proposed in this paper. The proposed algorithms, which are established in terms of linear matrix inequalities (LMIs), guarantee the synchronized states to be global asymptotically stable. In addition, an interesting conclusion is reached that the chaotic synchronization in the coupled whole 3N-dimensional networks can be converted into that of 3-dimensional space.

关键词： Linear matrix inequalities

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Optimal Hierarchical Allocation in Deregulated Electricity Market under PSP Auction Mechanism

Optimal Hierarchical Allocation in Deregulated Electricity M...

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第26届中国控制与决策会议

作者： Zhongjing Ma Yingying Cui School of Automation Beijing Institute of Technology (BIT)and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) School of Automation BIT

ISBN: (纸本)9781479937097

In hierarchical electricity market, the retailers buy electricity from generation provider and then sell it to users. Retailers play an important role in the distribution channel by matching supply and demand, but they also potentially cause inefficiencies in electricity allocation. To induce an efficient allocation of electricity, we propose a novel hierarchical distributed method under PSP auction mechanism. Under this mechanism, each of players, either the generation provider or the retailers, obtains their electricity allocation through the PSP auction method by submitting a multi-dimensional bid profile, instead of telling their private cost or valuation function, then the retailers economically distribute the electricity, acquired in the PSP auction, among users. Moreover, the valuation function of retailers depends on the revenues that they sell the electricity to users. As a main result, in this paper we show that there exists an efficient Nash equilibrium (NE) for the underlying auction games.

关键词： Deregulated electricity market Hierarchical allocation PSP auction mechanism Efficient allocation Nash equilibrium Nash equilibrium Electricity power markets REG1A gene Postsynaptic Potentials BPIFA2 gene RIDA gene cost accounting Hierarchical Consumers

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PSO-based design of PID controller with notch filter for flexible structures 7

PSO-based design of PID controller with notch filter for fle...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

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Autonomous landing of a quadrotor on an UGV

Autonomous landing of a quadrotor on an UGV

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IEEE International Conference on Mechatronics and Automation

作者： Mengyin Fu Kuan Zhang Yang Yi Chao Shi Nanjing University of Science and Technology Nanjing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509023974

This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based navigation method are proposed, and the former method acquires the visual feedback from the camera attached to the quadrotor, while the latter strategy is used when the visual feedback is absent. For achieving more precise and stable performance in visually guided landing process, we design a specific landing marker that can provide different features as the distance between the quadrotor and landing target changes. Meanwhile, the corresponding detection and recognition algorithms are raised. Finally, a simulation experiment is carried out to validate the proposed vision algorithms and control strategies.

关键词： Visualization Cameras Unmanned aerial vehicles Mathematical model Land vehicles Navigation Servosystems

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Consensus for networked multi-agent systems with unknown communication delays

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Journal of the Franklin Institute 2016年第16期353卷 4176-4190页

作者： Xiaoyu Liu Lihua Dou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China School of Automation Beijing Institute of Technology 100081 P.R. China

The problem of consensus for linear discrete-time networked multi-agent systems with directed topologies and communication delays is investigated in this paper. The communication delays are assumed to be constant but unknown. A consensus protocol is designed to compensate for the unknown delays based on the networked predictive control scheme. A sufficient condition for the consensus of multi-agent systems is derived. Finally, a numerical example is given to illustrate that the consensus protocol proposed in this paper is effective.

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3D Multi-Constraint Route Planning for UAV Low-altitude Penetration Based on Multi-Agent Genetic Algorithm

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IFAC Proceedings Volumes 2011年第1期44卷 11821-11826页

作者： Jin-Ping Wu Zhi-Hong Peng Jie Chen School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education P. R. China

Abstract Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method.

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Image mosaicing algorithm for dynamic scenes using multi-scaled PHOG feature and optimal seam

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2012年第4期25卷 624-631页

作者： Zou, Li-Hui Chen, Jie Zhang, Juan Lu, Jing-Hua Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education School of Automation Beijing Institute of Technology Beijing 100081 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China

Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.

关键词： Graphic methods

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A Fast Quantity and Position Detection Method Based on Monocular Vision for a Workpieces Counting and Sorting system

A Fast Quantity and Position Detection Method Based on Monoc...

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第三十八届中国控制会议

作者： Xin Wang Baokui Li Hongbin Ma Man Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

With the rapid development of machine vision, many technologies have been applied to the robots for improving the efficiency in the industrial field. This paper concerns the industrial sorting and counting technology problems in a workpieces counting and sorting system, and puts forward a solution using monocular vision. The main process consists of three parts. The rough positioning is accomplished first by using the pixel intensity comparison-based object detection(PICO). Then, image preprocessing and extracting geometric features are established, composing of binarization, morphological operation, optimizing the foreground,finding inner as well as outer contours, and calculating areas. Finally, the center coordinates and categories of workpieces are obtained. We choose nuts and gears as experimental objects, and complete the fast detection. The results of counting nuts and locating gears illustrate that the proposal solution not only has high speed, but also can ensure a high accuracy.

关键词： Monocular Vision the PICO Detector Workpieces Counting Fast Positioning

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Improving Constraint Handling for Multiobjective Particle Swarm Optimization

Improving Constraint Handling for Multiobjective Particle Sw...

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第三十三届中国控制会议

作者： Erdong Yu Qing Fei Hongbin Ma Qingbo Geng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479947249

In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.

关键词： multiobjective,constraint handling,particle swarm optimization,adaptive grid,voting mechanism

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Multimodal Multilevel Attention for Semi-Supervised Skeleton-Based Gesture Recognition

SSRN

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SSRN 2024年

作者： Liu, Jinting Gan, Ming-Gang He, Yuxuan Guo, Jia Hu, Kang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

Although skeleton-based gesture recognition based on supervised learning has made promising achievements, the reliance on large amounts of annotation for training poses a significant cost. This paper addresses semi-supervised gesture recognition, aiming to learn feature representations effectively from unlabeled data. To resolve this problem, we propose a novel multimodal multilevel attention network to achieve semi-supervised learning. This model uses an attention mechanism to polymerize multimodal and multilevel complementary semantic information of the hand skeleton, designing a multimodal multilevel contrastive loss to measure the similarity of features for semi-supervised learning. Specifically, our method explores the relationships between joint, bone, and motion to learn more discriminative feature representations. Considering the hierarchy of the hand skeleton, the skeleton data is divided into multilevel (i.e., hand-level, finger-level, and joint-level) to capture complementary semantic information. Furthermore, a multimodal contrastive loss measure similarity among multilevel representations. The proposed method outperforms the semi-supervised skeleton-based gesture recognition tasks, according to extensive experimentation on two challenging datasets from SHREC-17 and DHG 14/28 datasets. © 2024, The Authors. All rights reserved.

关键词： Gesture recognition

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