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Development of Learning control in Robots

Development of Learning Control in Robots

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Hu Su De Xu Yanlong Huang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Learning control has been an active topic of research for several decades, and is of theoretical, as well as practical, significance. Current theories and developments in learning control are discussed. Following a brief introduction of the state as well as new progress on learning control, we give a detail review on the models and algorithms of the control policies developed recently which proved to be advantageous over previous approaches through experimental results. The related results and properties are presented. Then, several potentially developmental topics that are valuable to be further investigated are suggested. Finally, the conclusion remark is proposed.

关键词： Learning control dynamic motor primitive learn by imitation locally weighted regress locally weighted projection regress.

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Trajectory prediction of spinning ball for ping-pong player robot

Trajectory prediction of spinning ball for ping-pong player ...

引用

2011 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Yanlong Huang De Xu Min Tan Hu Su State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China

An analytic flying model that can well represent the physical behavior is derived, where the ball's self-rotational velocity changes along with the flying velocity. Based on the least square method, a rebound model that represents the relation between the velocities before and after rebound is established. The initial trajectory is fitted to three second order polynomials of the flying time with the measured positions of the ball. The initial velocities of the ball in the analytic flying model, including the flying velocity and the self-rotational velocity, are computed from the polynomials. The ball's landing position and velocity is predicted with the model. The velocities after rebound are determined with the rebound model. By taking the velocities after rebound as new initial ones, the flying trajectory after rebound is described with the model again. In other words, the ball's trajectory is predicted. Experimental results verify the effectiveness of the proposed method.

关键词： Trajectory Position measurement Robot kinematics Velocity measurement Spinning Predictive models

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Translational Offset Detection Based on Far-Field Intensity for Grating Tiling

Translational Offset Detection Based on Far-Field Intensity ...

引用

2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Zaojun Fang Yanlong Huang Min Tan De Xu Lan Xia State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automatio Laboratory of Shanghai Institute of Laser and Plasma Chinese Academy of Engineering Physics Shanghai

The far-field intensity is detected from far-field image to estimate the piston distance between two gratings. The image processing algorithm includes projections along the horizontal and vertical directions, search for each focal spot's centre, feature extraction and intensity computation. Each focal spot's centre can be found with the projections. A self-growing method is used for feature extraction, where the threshold value depends on the gray value of each focal spot's centre. For each focal spot, the sum of gray values within the relevant domain is taken to be its energy intensity. Furthermore, the energy ratio of left and main focal spots (or main and right focal spots) is computed. A formula that expresses the piston distance between two gratings as the function of the energy ratio is fitted with several measured points. Based on this formula, the piston distance is obtained for a new energy-ratio. Finally, the proposed method is verified with a series of experiments.

关键词： Image processing grating tiling far-field intensity focal spot piston distance

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Improved differential evolution-based particle filter algorithm for target tracking

Improved differential evolution-based particle filter algori...

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作者： Wang, Yanan Chen, Jie Gan, Minggang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education BIT Beijing 100081 China

ISBN: (纸本)9789881725592

This paper presents an improved target tracking algorithm based on the differential evolution particle filter (DEPF) in order to solve the problem of particle degeneracy. In this method, the mutation, crossover and selection steps of the differential evolution are introduced into the particle filter, which optimizes the particle sampling process. Particles are moved towards regions where they are close to the value of the posterior density function through DEPF algorithm, and it improves the estimation precision, inhibits the particle degeneracy and enhances the diversity of the particles. The target observation model based on the color feature is constructed simultaneously in the algorithm, and the method of the target model update in different states is also studied. The experimental results show that the target even in attitude change and occlusion can be tracked accurately and real-timely with the DEPF algorithm. The proposed algorithm has higher tracking accuracy and is robust. © 2011 Chinese Assoc of Automation.

关键词： Target tracking

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Impulsive control method based on improved differential evolution algorithm

Impulsive control method based on improved differential evol...

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作者： Zhao, Juan Cai, Tao Deng, Fang Yang, Hongwei School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Ministry of Education BIT Beijing 100081 China

ISBN: (纸本)9789881725592

In this paper, a new strategy based on impulsive control model of high speed roller is proposed. To make the roller hit the specified target, the strategy is summarized as an optimal control model calculating required number of impulses, the igniting time and phase of each impulse, and also an improved Differential Evolution (DE) Algorithm is adopted to resolve. It is too difficult to solve the orderliness of igniting time by Basic DE, so a Mapping Differential Evolution Algorithm (MDE) is proposed, which maps the sorting time variables to random coefficient range [0,1]. In addition, a DE with self-adapting parameter is used to accelerate the convergence rate. Simulation results show the high accuracy of high speed roller with the method. © 2011 Chinese Assoc of Automati.

关键词： Mapping

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Video processing techniques for traffic flow monitoring: A survey

Video processing techniques for traffic flow monitoring: A s...

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International Conference on intelligent Transportation

作者： Bin Tian Qingming Yao Yuan Gu Kunfeng Wang Ye Li State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China Jiangsu China Sciences Intelligent Engineering Co. Ltd. Suzhou 215000 China Institute of Automation Chinese Academy of Sciences (CAS) Beijing China State Key Laboratory of Intelligent Control and Management Institute of Automation Chinese Academy of Sciences (CAS) Beijing China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China

Video-based traffic flow monitoring is a fast emerging field based on the continuous development of computer vision. A survey of the state-of-the-art video processing techniques in traffic flow monitoring is presented in this paper. Firstly, vehicle detection is the first step of video processing and detection methods are classified into background modeling based methods and non-background modeling based methods. In particular, nighttime detection is more challenging due to bad illumination and sensitivity to light. Then tracking techniques, including 3D model-based, region-based, active contour-based and feature-based tracking, are presented. A variety of algorithms including MeanShift algorithm, Kalman Filter and Particle Filter are applied in tracking process. In addition, shadow detection and vehicles occlusion bring much trouble into vehicle detection, tracking and so on. Based on the aforementioned video processing techniques, discussion on behavior understanding including traffic incident detection is carried out. Finally, key challenges in traffic flow monitoring are discussed.

关键词： Vehicles Monitoring Tracking Vehicle detection Image edge detection Trajectory Computational modeling

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Polarity Shifting: Corpus Construction and Analysis

Polarity Shifting: Corpus Construction and Analysis

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International Conference on Asian Language Processing (IALP)

作者： Xiaoqian Zhang Shoushan Li Guodong Zhou Hongxia Zhao Natural Language Processing Laboratory Soochow University Suzhou China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Polarity shifting has been a challenge to automatic sentiment classification. In this paper, we create a corpus which consists of polarity-shifted sentences in various kinds of product reviews. In the corpus, both the sentimental words and shifting trigger words are annotated. Furthermore, we analyze all the polarity shifted sentences and categorize them into five categories: opinion-itself, holder, target, time and hypothesis. Experimental study shows the agreement of annotation and the distribution of the five categories of polarity shifting.

关键词： Machine learning Dictionaries Computational linguistics Manuals Noise Data mining Vectors

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The strategies of avoiding energy holes in wireless sensor networks

The strategies of avoiding energy holes in wireless sensor n...

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2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)

作者： Xu QIAN Zhengjie WANG Xiaoguang ZHAO School of Mechanical Electronic & Info. Engineering China University of Mining & Technology (Beijing State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automati

Wireless sensor networks are characterized by multihop network. Some nodes in network are required to forward a disproportionately high amount of traffic and die early, leaving the unmonitored areas in network and leading to the problem of energy hole. This paper investigates a variety of strategies to avoid the energy hole, such as communication power control, data aggregation, nonuniform energy distribution, mobile node auxiliary and clustering. The analysis and comparison of different strategies are given and the advantages and disadvantage of them are discussed in this paper.

关键词： wireless sensor networks energy balance energy hole network lifetime

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Vulnerability analysis of power grid based on multi-agent complex systems

Vulnerability analysis of power grid based on multi-agent co...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Xisong Dong Gang Xiong Jiachen Hou Fan Dong Timo R. Nyberg State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China BIT Research Centre Aalto University Aalto Finland

Modern power grid is a typical multi-level complex giant system. The conventional analytical methods based on reductionism can't provide sufficient guidance for its operation and management. complex system theory, based on holism, has its specific advantages in power grid's research. But, it has some limitations. In this article, we improve complex grid by introducing new parameters which can describe the grid's characters better and using multi-agent theory. As an application, the complex power grid constructed with actual data from North China grid is constructed and its vulnerability has been simulated and analyzed under different attacks.

关键词： Knowledge engineering Databases

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Fast double-parallel image processing based on FPGA

Fast double-parallel image processing based on FPGA

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Ye Li Qingming Yao Bin Tian Wencong Xu State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China School of Mechanical Electrical and Information Engineering Shandong University Weihai China

Due to FPGA's flexibility and parallelism, it is popular for accelerating image processing. In this paper, a double-parallel architecture based on FPGA has been exploited to speed up median filter and edge detection tasks, which are essential steps during image processing. The double-parallel scheme includes an image-level parallel and an operation-level parallel. The image-level parallel is a high-level parallel which divides one image into different parts and processes them concurrently. The operation-level parallel, which is embedded in each image-level parallel thread, fully explores every parallel part inside the concrete algorithms. The corresponding design is based on a DE2 Development Board which contains a CYCLONE II FPGA device. Meanwhile, the same task has also been implemented on PC and DSP for performance comparison. Despite the fact that operating frequencies of used PC and DSP are much higher than FPGA's, FPGA costs less time per computed image than both of them. By taking advantage of the double-parallel technique, the speed/frequency ratio of FPGA is 202 times faster than PC and 147 times faster than DSP. Finally, a detailed discussion about different platforms is conducted, which analyzes advantages and disadvantages of used computing platforms. This paper reveals that the proposed double-parallel scheme can dramatically speed up image processing methods even on a low-cost FPGA platform with low frequency and limited resources, which is very meaningful for practical applications.

关键词： Image edge detection Field programmable gate arrays Digital signal processing Hardware Kernel Detectors

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