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Multi-Objective Cooperative Salvo Attack Against Group Target

Journal of systems Science & complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua XIN Bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

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Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

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第三十二届中国控制会议

作者： HAO Renjian WANG Junzheng ZHAO Jiangbo Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563835

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process.A torque decoupling approach for electric linear actuator is proposed to achieve respective *** improve the speed of time varying parameters estimating,a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust *** adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric *** modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded *** co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Adaptive robust control Electric linear actuator LuGre model Fast estimation

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Deep reinforcement learning for optimal denial-of-service attacks scheduling

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Science China(Information Sciences) 2022年第6期65卷 98-106页

作者： Fangyuan HOU Jian SUN Qiuling YANG Zhonghua PANG State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology

We consider an optimal denial-of-service(DoS) attack scheduling problem of N independent linear time-invariant processes, where sensors have limited computational capability. Sensors transmit measurements to the remote estimator via a communication channel that is exposed to DoS attackers. However,due to limited energy, an attacker can only attack a subset of sensors at each time step. To maximally degrade the estimation performance, a DoS attacker needs to determine which sensors to attack at each time step. In this context, a deep reinforcement learning(DRL) algorithm, which combines Q-learning with a deep neural network, is introduced to solve the Markov decision process(MDP). The DoS attack scheduling optimization problem is formulated as an MDP that is solved by the DRL algorithm. A numerical example is provided to illustrate the efficiency of the optimal DoS attack scheduling scheme using the DRL algorithm.

关键词： optimal denial-of-service attack scheduling optimization limited energy deep reinforcement learning

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Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

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Journal of Beijing Institute of Technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

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New Synchronization Algorithm and Analysis of Its Convergence Rate for Clock Oscillators in Dynamical Network with Time-Delays

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Journal of Beijing Institute of Technology 2010年第1期19卷 58-65页

作者：甘明刚于淼陈杰窦丽华 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

New synchronization algorithm and analysis of its convergence rate for clock oscillators in dynamical network with time-delays are presented.A network of nodes equipped with hardware clock oscillators with bounded drift is ***,a dynamic synchronization algorithm based on consensus control strategy,namely fast averaging synchronization algorithm （FASA）,is presented to find the solutions to the synchronization *** FASA,each node computes the logical clock value based on its value of hardware clock and message *** goal is to synchronize all the nodes＇ logical clocks as closely as ***,the convergence rate of FASA is analyzed that proves it is related to the bound by a nondecreasing function of the uncertainty in message delay and network ***,FASA＇s convergence rate is proven by means of the robust optimal ***,several practical applications for FASA,especially the application to inverse global positioning system （IGPS） base station network are ***,numerical simulation results demonstrate the correctness and efficiency of the proposed *** FASA with traditional clock synchronization algorithms （CSAs）,the convergence rate of the proposed algorithm converges faster than that of the CSAs evidently.

关键词： clock synchronization convergence rate dynamical network robust optimal design

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Joint space compliance control for a hydraulic quadruped robot based on force feedback

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Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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New method of sparse visual saliency feature extraction and application in unmanned vehicle environment sensing

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Information Technology Journal 2013年第20期12卷 5914-5921页

作者： Du, Ming-Fang Wang, Jun-Zheng Li, Jing Cao, Hai-Qing Key Laboratory of Complex System Intelligent Control Decision Beijing Institute of Technology Ministry of Education 100081 Beijing China

A new method based on Hessian matrix threshold of finding local low-level saliency features is proposed in this study after the standard local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is analyzed. In this method, the number of saliency feature points can change with the change of Hessian threshold. The saliency feature points will become sparser when Hessian threshold becomes larger. When a certain extreme threshold which is defined as Hessian Threshold Node is reached, the retained discriminative feature points are remarkable stability characteristics, also make up the best sparse saliency features set. This method is applied in the unmanned vehicle environment sensing system to help extract the before going vehicle's saliency feature and realize object tracking and obstacle detection. Experiment results show that this is an quick and robust method to determine saliency feature points quantitatively and is very suitable for the occasion which has strong demand on real-time. © 2013 Asian Network for Scientific Information.

关键词： Object detection

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A Regional Necessity Based Multi-agent Target Search Strategy for Post-earthquake Rescue 41

A Regional Necessity Based Multi-agent Target Search Strateg...

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第41届中国控制会议

作者： Xi Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The damage caused by the earthquake is *** the purpose of post-earthquake rescue is to reduce *** it is necessary to improve the efficiency of rescue as much as *** paper focuses on multi-agent cooperative target search in the post-earthquake rescue and how to exploit the prior information of post-disaster building to improve the searching efficiency.A regional necessity based searching strategy is proposed which utilizes pre-disaster building information and adapts to dynamic ***,the target probability map is estimated according to the distribution information of pre-disaster ***,the regional necessity map is constructed by integrating the target probability map and the perception of the environment during the search ***,the search strategy is proposed based on the regional necessity map and the particle swarm optimization *** the gradient direction of regional necessity and local optimal velocity,the agent dynamically selects the search *** comparing with other search strategies in simulation experiments,the proposed strategy could shorten the searching time and improve the searching efficiency in the small and medium-scale task ***,the search strategy can adapt to the post-earthquake dynamic environment,which is confirmed by dynamic experiments.

关键词： multi-agent cooperative target search post-earthquake rescue regional necessity particle swarm optimization

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Dynamic Scheduling for Airport Special Vehicles Based on a Multi-strategy Hybrid Algorithm 41

Dynamic Scheduling for Airport Special Vehicles Based on a M...

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第41届中国控制会议

作者： Wei Quan Chen Chen Zhuang Shao Kai Meng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

When arriving at the airport,flight needs to be served by special *** at the dynamic time window scheduling problem of airport refueling vehicles,this paper establishes a vehicle routing problem model with time window to minimize the operating ***,a multi-strategy genetic algorithm is designed to gain the solve time window scheduling problem,which employs the crossover based on particle swarm optimization to accelerate the early search capability,and the local search method based on simulated annealing to increase the local optimization *** aiming at dynamically adjusting vehicle routes on the basis of static scheduling,a local replanning strategy based on a dynamic time window is introduced,which uses the original route matching and rescheduling *** results show that the multi-strategy hybrid algorithm can effectively reduce the number of routes and vehicles the airport *** different scales' dynamic changes of time windows,the algorithm could enable vehicles to still meet time constraints and effectively minimize the change of routes.

关键词： vehicle scheduling multi-strategy genetic algorithm dynamic scheduling local replanning strategy

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Target-Focused Video Stabilization for Human Computer Interaction 29

Target-Focused Video Stabilization for Human Computer Intera...

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第29届中国控制与决策会议

作者： Hao Zhu Qing You Wenjie Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781509046584

As an important task of video enhancement,a lot of video stabilization methods have been *** in many real-world applications,especially the systems with human-computer interactions,existing methods only remove camera motion in stabilized frames,the remaining object motion will also lead to deviations in manual *** this paper,we collect practical hand drawn bounding boxes which have been shown to contain serious *** we propose a target-focused video stabilization method consisting of a proposal-based detection component and a trackingbased motion estimation *** experiments demonstrate our method can remove camera jitter and target motion simultaneously,and also offer users a friendly and effective way to draw accurate target regions.

关键词： Video Stabilization Human-computer Interactive Object Proposal

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