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8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019

作者： Wang, Shoukun Shi, Mingxin Chen, Zhihua Beijing Institute of Technolog Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China Key Laborator Yof Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9781728103112

ISBN: (纸本)9781728103112

High-speed impact simulation test is an important test method to study the fatigue properties or limit parameters of materials. With the advantages of great impact energy, good program control and convenient test operation, hydraulic impact is widely used in high-speed impact field. A hydraulic high speed impact simulation system is designed in this paper, which uses high pressure accumulator to supply oil and converts hydraulic energy into impact energy through servo valve controlled cylinder system. This system can simulate dynamic change process of impact velocity and acceleration of projectile, and has impact angle adjustment and end buffer function. First, the composition and working principle of this hydraulic impact simulation system is introduced, as well as the analysis of the hydraulic impact mechanism. Second, the system dynamics model of servo valve controlled cylinder based on accumulator oil is built, and the simplified model and its basic characteristics are analyzed. Then, the Influences of various parameters in impact dynamic model on impact process are also discussed. Finally, the simulation system and physical prototype system of hydraulic impact is presented, the simulation and actual impact test data and corresponding analysis conclusions are also given. © 2019 IEEE.

关键词： Software testing

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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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Graph-based Selection-Activation Reinforcement Learning for Heterogenous Multi-agent Collaboration 43

Graph-based Selection-Activation Reinforcement Learning for ...

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43rd Chinese control Conference, CCC 2024

作者： Chen, Hao-Xiang Zhang, Xi-Wen Shen, Jun-Nan Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401135 China

ISBN: (纸本)9789887581581

In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning (HMARL), the diversity of agent types and the unbalanced agent number of each type can lead to the curse of dimensionality and non-stationary. Moreover, the increase in the number of heterogeneous agents may result in slow convergence during training. This paper proposes a graph-based selection-activation reinforcement learning (GSARL) method for training heterogenous multi-agent collaboration strategies. It first constructs agents based on their types, then extracts the global adjacency matrices and the ally adjacency matrices from the agents' observations, and calculates the global feature matrices. Afterwards, GSARL utilizes hierarchical graph convolutional network to sequentially convolve the global information and ally information, obtaining action logits based on agent types. By using the neural topology graph and the selection-activation method, the optimal multi-agent collaboration configuration is obtained through combinatorial optimization. Experiments are conducted in an adversarial combat simulation environment involving collaborative Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs). Simulation results show that the proposed method can accelerate convergence while allowing that each type of heterogeneous agents can leverage its unique advantages. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Unmanned aerial vehicles (UAV)

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Optimal switching integrity attacks in cyber-physical systems

Optimal switching integrity attacks in cyber-physical system...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guangyu Wu Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781538629024

In this paper, an optimal switching data integrity attack schedule method is presented. It is assumed that an attacker is able to inject false data to partial actuators of a healthy system at each instant. Optimal switching attack represents a growing class of cyber-physical attacks that aim to damage a target system via a controlled switching of attacked units. A feedback attack law is proposed to maximize a weighted quadratic performance. Two switching conditions are designed to obtain the optimal sequence of the attacked actuators via the Maximum Principle. Finally, numerical results are provided to illustrate the effectiveness of the proposed method.

关键词： Switches Actuators Cyber-physical systems Jamming Optimal control system performance

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Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

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2016 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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Nonuniformity Correction and Calibration Method in the High-precision CCD Measurement and Servo control system

Nonuniformity Correction and Calibration Method in the High-...

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Joint 48th IEEE Conference on decision and control and 28th Chinese control Conference

作者： Jing LI Junzheng WANG Bin ZHOU Wei SHEN Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

The CCD pixels nonuniformity may give a greater margin of error to measurement results in the high-precision CCD measurement and servo control *** paper analyzes the image pixels nonuniformity caused by noises,and establishes the corresponding image *** threshold value segmentation algorithm is used for image *** algorithm using two point linear method for pixel nonuniformity correction,getting center coordinates of facula by calculating the zeroth order moment and first moment of image is put forward,and a new image calibrated method that transforms the image coordinates into the real is *** results show that the algorithm can separate light intensity parts from the image,correct pixel nonuniformity,and stabilize pixel gray value of light intensity *** will make the center coordinates of image light intensity spots stable and decrease the error of the real coordinates after conversion,if the images are acquired under the same *** measurement precision as well as the control precision is improved greatly.

关键词： image Nonuniformity Correction and Calibration Method in the High-precision CCD Measurement and Servo control system CCD

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Fault-tolerant sampled-data synchronization of Markovian jumping complex dynamical networks via looped-functional approach

Fault-tolerant sampled-data synchronization of Markovian jum...

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International Symposium on Autonomous systems (ISAS)

作者： Wang Xin Sun Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728112992

In this paper, the issue of sampled-data synchronization of Markovian jumping complex dynamical networks with sensor fault is investigated. Here, we utilize looped-functional approach to constructed Lyapunov functional with more information about r(t k ) and r(t k+1 ), which has contribution to decrease the conservatism of stability condition. Then, we design a sampled-data controller for Markovian jumping complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.

关键词： complex networks control system synthesis fault tolerant control Lyapunov methods Markov processes network theory (graphs) sampled data systems stability synchronisation sampled data system fault-tolerant control control system synthesis Lyapunov methods Markov chain complex networks data synchronization Jumping Data sampling

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Single image haze removal algorithm using pixel-based airlight constraints

Single image haze removal algorithm using pixel-based airlig...

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International Conference on Automation and Computing (ICAC)

作者： Zhenwei Gao Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. The existing image dehazing algorithms cannot achieve a trade-off between the dehazing performance and the computational complexity. The proposed approach first applies the mean filter twice to estimate airlight, which include pixel-based dark channel and bright channel constraints. And then the relationship between channel values of the restored image and atmospheric light is qualitatively analyzed to give the optimum estimate of atmospheric light. Using the airlight and atmospheric light, we can easily restore the scene radiance via the atmospheric scattering model. Compared with others, the main advantage of the proposed approach is its high speed and significant visibility improvement even in the sky and white areas. This speed allows the enhanced haze image to be applied in real-time processing applications. A comparative study and quantitative evaluation are proposed with a few other state of the art algorithms which demonstrates that similar or better quality results are obtained.

关键词： Atmospheric modeling Image restoration Real-time systems Channel estimation Scattering Filtering Computational modeling

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Decentralized control for Arbitrarily Interconnected systems over Lossy Network

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自动化学报 2010年第9期36卷 1321-1327页

作者： LI Hui School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing 100081P.R.China

This paper deals with the control of arbitrarily topological interconnected systems where information communicated between subsystems may be lost due to unreliable links. First, the stochastic variable that is responsible for the communication status of lossy network is regarded as a source of model uncertainty. The system is modeled in the framework of linear fractional transformation with a deterministic nominal system and a stochastic model uncertainty. Then, the robust control theory is employed for system analysis. The largest probability of communication failure, tolerated by the interconnected systems keeping mean square stable, can be obtained by solving a μ synthesis optimization problem. Decentralized state feedback controllers are designed to ensure that the whole system is mean square stable for a given communication failure rate, based on the technique of linear matrix inequalities. An illustrative example is presented finally to verify the effectiveness of the proposed model and method

关键词：拓扑子系统通信故障率随机变量

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Large Receptive Field Boundary Matching Networks for Generating Better Proposals

Large Receptive Field Boundary Matching Networks for Generat...

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第40届中国控制会议

作者： Lei Xu Jiexi Liu Bo Chen Beijing Institute of Technology School of Automation Key Laboratory of Complex System Intelligent Control and Decision

Temporal Action Detection is a research hotspot in Video *** is necessary not only to give the specific moments of the beginning and end of each action instance in the video,but also to give the category of the action *** present,most of the methods in temporal action detection are divided into two steps:The video is divided into a series of video clips to determine whether each clip is an action instance,and the fragments that are not an action instance are deleted;Segments that may be action instances are then classified to get the final *** present,the difficulties in action detection research mainly include the following two points:1) The boundary is not *** from action recognition,action detection requires precise positioning,but an action in life is often not very *** is also the reason why the mean average precision(mAP) of action detection is low at present.2) The time span is *** life,an action often spans a very long *** movements such as waving can last for a few seconds,while long movements such as rock climbing or cycling can last for tens of minutes,which makes it extremely difficult for us to extract *** view of the above difficulties,this paper proposes a large receptive field boundary matching network(LRFBMN) model which takes advantage of the relationship between proposals to improve the accuracy of proposal *** model is mainly divided into two parts:1) Clipping feature map is processed by large kernel convolution,and then proposal feature is generated by ROI-pooling;2) The proposals are arranged in a certain order to form a fixed graph,and the information exchange between graph nodes is realized by using convolution with *** experiments,this model is 2.35% higher than baseline and 1.06% higher than state-of-the-art in THUMOS14 data set.

关键词： Temporal Action Detection Video Understanding Proposal Large Receptive Field

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