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Chinese Automation Congress (CAC)

作者： Zhuo Jiang Daiying Tian Qingkai Yang Zhihong Peng School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Peng Cheng Laboratory Shenzhen China

ISBN: (纸本)9781665426480

This paper proposes a self-attention based temporal intrinsic reward model for reinforcement learning (RL), to synthesize the control policy for the agent constrained by the sparse reward in partially observable environments. This approach can solve the problem of temporal credit assignment to some extent and deal with the low efficiency of exploration. We first introduce a sequence-based self-attention mechanism to generate the temporary features, which can effectively capture the temporal property of the task for the agent. During the training process, the temporary features are employed in each sampled episode to elaborate the intrinsic rewards, which is combined with the extrinsic reward to help the agent learn a feasible policy. Then we use the meta-gradient to update this intrinsic reward model in order that the agent can achieve better performance. Experiments are given to demonstrate the superiority of the proposed method.

关键词： Training Automation Reinforcement learning Task analysis

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A Multi-objective Evolutionary Algorithm of Marriage in Honey Bees Optimization Based on the Local Particle Swarm Optimization

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IFAC Proceedings Volumes 2008年第2期41卷 12330-12335页

作者： Chenguang Yang Jie Chen Xuyan Tu Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing China Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Marriage in Honey Bees Optimization (MBO) is a new swarm-intelligence method, but existing researches concentrate more on its application in single-objective optimization. In this paper, we focus on improving the algorithm to solve the multi-objective problem and increasing its convergence speed. The proposed algorithm is named as multi-objective Particle Swarm Marriage in Honey Bees Optimization (MOPSMBO). It uses non-dominated sorting strategy and crowded-comparison approach, utilizes the local Particle Swarm Optimization (PSO) to perform the local characteristic, and simpler the structure of MBO. Based on the Markov chain theory, we prove that MOPSMBO can converge with probability one to the entire set of minimal elements. Simulations are done on several multi-objective test functions and multi-objective Traveling Salesman Problem (TSP). By comparing MOPSMBO with MOGA, NPGA, NSGA and NSGA-II, simulation results show that MOPSMBO has better convergence speed and can better converge near the true Pareto-optimal front.

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Smooth controller design for non-linear systems using multiple fixed models

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IET control Theory & Applications 2017年第9期11卷 1467-1473页

作者： Jie Chen Wei Chen Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing People's Republic of China Science and Technology on Electronic Information Control Laboratory Chengdu People's Republic of China

Multiple model adaptive control (MMAC) with second-level adaptation is a recently proposed methodology for dealing with systems where the parametric uncertainty is large. Compared with the multiple model switching scheme, the new scheme can lead to significant improvements in performance. Some research has been conducted using the new scheme, but all of the results concern linear systems with an adaptive identification model set. In this study, MMAC with second-level adaptation scheme is extended to non-linear systems in strict feedback form, and the fixed identification model set is under consideration. This is motivated by the fact that a smooth controller can lead to smooth performance and the fixed identification model set gains potential advantages over the adaptive identification model set, especially for the case that the parameters of the system change over the time. Design details are presented and the stability of MMAC with second-level adaptation using a fixed identification model set for non-linear systems is given, which has not been discussed before. Finally, two simulations are performed to show that this scheme performs much better than conventional schemes, including adaptive control and multiple-model switching schemes, in terms of convergence speed and transient performance.

关键词： nonlinear control systems control system synthesis adaptive control uncertain systems linear systems identification convergence transient performance convergence speed fixed identification model set second-level adaptation scheme adaptive identification model set linear systems multiple model switching scheme parametric uncertainty MMAC multiple model adaptive control multiple fixed models nonlinear systems smooth controller design

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Real-Time Wide-Field Monitoring system Based on Image Mosaicing Technique and Its Application

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IFAC Proceedings Volumes 2011年第1期44卷 14928-14933页

作者： Li-hui Zou Jie Chen Juan Zhang Jing-hua Lu School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 China

Abstract Common surveillance system is usually limited by the scope of observation, which may increase the probability of missing or misjudging suspicious targets. A wide-field monitoring system based on efficient image mosaicing algorithm is proposed in this paper. It can monitor a wide field for both short and long distance in real time and highlight the detected moving objects simultaneously. The image mosaicing is not only aimed at obtaining the wide field of view, but also utilized in motion detection for forming a wide-field motion mask. A simulation platform is developed to verify the performance of the system. The experiment results show that it satisfies the demands of high resolution and real-time implementation. The system is of high practical value to transportation surveillance or other applications.

关键词： safety analysis image processing transportation

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Deployment optimization for point air defense based on Memetic algorithm

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Zidonghua Xuebao/ Acta Automatica Sinica 2010年第2期36卷 242-248页

作者： Chen, Jie Chen, Chen Zhang, Juan Xin, Bin School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Department of Automation Tsinghua University Beijing 100084 China

Firepower units deployment optimization is a key problem of networked air defense fire control system. As a combinatorial optimization problem, research on the point air defense deployment problem is performed. The optimization objective is to maximize the protective contribution to the protected place in the scheme of firepower deployment, and the constrains include geographical conditions and resources of the firepower units. Firstly, the protected area is divided into many grids to make continuous protected area be selected location points. Secondly, descriptions of the deployment scheme, firepower overlay capability, location restrictions, and firepower overlay requirements are given. Based on the quantitive descriptions, a mathematical model is established. An optimization method based on Memetic algorithm is constructed by genetic algorithm and neighborhood search. Generation of feasible solution and selection operation are employed to solve the constraint satisfaction problem. In the end, experiments show that the method is feasible and effective. Copyright © 2010 Acta Automatica Sinica. All rights reserved.

关键词： Fire control systems

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Malaria cell counting diagnosis within large field of view

Malaria cell counting diagnosis within large field of view

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International Conference on Digital Image Computing: Techniques and Applications, DICTA 2010

作者： Zou, Li-Hui Chen, Jie Zhang, Juan García, Narciso Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Grupo de Tratamiento de Imágenes E.T.S.I. Telecomunicación Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9780769542713

Malaria is one of the most serious parasitic infections of human. The accurate and timely diagnosis of malaria infection is essential to control and cure the disease. Some image processing algorithms to automate the diagnosis of malaria on thin blood smears are developed, but the percentage of parasitaemia is often not as precise as manual count. One reason resulting in this error is ignoring the cells at the borders of images. In order to solve this problem, a kind of diagnosis scheme within large field of view (FOV) is proposed. It includes three steps. The first step is image mosaicing to obtain large FOV based on space-time manifolds. The second step is the segmentation of erythrocytes where an improved Hough Transform is used. The third step is the detection of nucleated components. At last, it is concluded that the counting accuracy of malaria infection within large FOV is finer than several regular FOVs. © 2010 IEEE.

关键词： Diagnosis

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Design of a High Speed 360-degree Panoramic Video Acquisition system Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Stability control for biped walking based on phase modification during double support period

Stability control for biped walking based on phase modificat...

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IEEE International Conference on Robotics and Biomimetics

作者： Tongtong Li Zhangguo Yu Juan Chen Yan Liu Maoxing Zheng Libo Meng Gan Ma Wen Zhang Weimin Zhang Qiang Huang Ministry of Education The Key Laboratory of Intelligent Control and Decision of Complex System Beijing China North Navigation Control Technology Co. Ltd. China

ISBN: (纸本)9781479973989

This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position, the related parameters are solved. Series of experiments are taken, and the effectiveness of the method is validated repeatedly.

关键词： Legged locomotion Foot Stability analysis Planning Humanoid robots Robot kinematics

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Adaptive fuzzy H control for friction compensation and disturbance rejection

Adaptive fuzzy H control for friction compensation and distu...

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27th Chinese control Conference, CCC

作者： Li, Zhiping Chen, Jie Zhang, Guozhu Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9787900719706

An adaptive fuzzy H control scheme which possesses the strongpoint of adaptive fuzzy control and H control was proposed in this paper. The adaptive fuzzy control can compensate the nonlinear dynamic friction with its universal approximation function and strong robustness, while the H control can suppress the disturbance efficaciously. Finally, the closed-loop system stability and asymptotic position tracking performance were guaranteed by the Lyapunov function and the system tracking accuracy improved, which was verified by the simulation results.

关键词： Disturbance rejection

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Security of Networked control systems with Incomplete Information Based on Game Theory

Security of Networked Control Systems with Incomplete Inform...

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Chinese control Conference (CCC)

作者： Lei Gao Jian Sun Jun Li Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China China Industrial Control Systems Cyber Emergency Response Team

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

The security problem of networked control systems (NCSs) suffering denial of service(DoS) attacks with incomplete information is investigated in this paper. Data transmission among different components in NCSs may be blocked due to DoS attacks. We use the concept of security level to describe the degree of security of different components in an NCS. Intrusion detection system (IDS) is used to monitor the invalid data generated by DoS attacks. At each time slot, the defender considers which component to monitor while the attacker considers which place for invasion. A one-shot game between attacker and defender is built and both the complete information case and the incomplete information case are considered. Furthermore, a repeated game model with updating beliefs is also established based on the Bayes' rule. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Security Games Energy consumption Monitoring Packet loss Bayes methods

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