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第42届中国控制会议

作者： Tong Wang Yaping Dai Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In sequential recommender systems,the main problems are the long-tailed distribution of data and noise interference.A Contrastive Framework for Sequential Recommendation(CFSeRec) is proposed to solve these two problems *** shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data,so that the long-tailed problem is *** the application of projection head method,the sequence representation becomes more general and robust,rather than just adapted to the task of contrastive ***,the impact of noise on sequence recommender systems is effectively *** on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain,when comparing to the seven previous frameworks.

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Path Tracking control of Tracked Paver Based on Improved Pure Pursuit Algorithm

Path Tracking Control of Tracked Paver Based on Improved Pur...

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第40届中国控制会议

作者： Shuai Wang Shanshan Fu Bin Li Shoukun Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation *** the paver is performing paving operations,it requires high path tracking accuracy and good vehicle ***,considering the influence of road curvature on path tracking accuracy and vehicle stability,and the situation that the vehicle can not move quickly to the expectation path when the lateral position of the vehicle deviates from the expectation path,this paper proposes a lateral path tracking control method based on improved Pure Pursuit *** control method is verified through *** experimental results show that the maximum lateral tracking error of the improved algorithm is 0.04 m,which is 55.56% lower than that of the original algorithm,and the average lateral tracking error is 0.02 m,which is60% lower than that of the original *** purpose of high-precision path tracking of the paver is realized.

关键词： Tracked paver Path tracking Road curvature Pure Pursuit algorithm

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intelligent optimized control: overview and prospect

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Zidonghua Xuebao/Acta Automatica Sinica 2013年第11期39卷 1831-1848页

作者： Xin, Bin Chen, Jie Peng, Zhi-Hong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

A literature review regarding intelligent optimized control (IOC) is provided along the branches including fuzzy optimized control, neural optimized control, fuzzy-neural optimized control, intelligent optimizers based optimized control and so on. Accordingly, concepts which are closely related to IOC are analyzed in depth. Also, a classification of IOC methods is presented. Finally, several important issues about IOC are discussed and the development of IOC in future is predicted. Copyright © 2013 Acta Automatica Sinica. All rights reserved.

关键词： Software engineering

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Motion Planning of Six-DOF Arm Robot Based on Improved DDPG Algorithm

Motion Planning of Six-DOF Arm Robot Based on Improved DDPG ...

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第三十九届中国控制会议

作者： Zhuang Li Hongbin Ma Yazhe Ding Chen Wang Ying Jin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

This paper presents an improved deep deterministic policy gradient algorithm based on a six-DOF(six multi-degree-offreedom) arm robot. First, we build a robot model based on the DH(Denavit-Hartenberg) parameters of the UR5 arm robot. Then,we improved the experience pool of the traditional DDPG(deep deterministic policy gradient) algorithm by adding a success experience pool and a collision experience pool. Next, the reward function is improved to increase the degree of successful reward and the penalty of collision. Finally, the training is divided into segments, the front three axes are trained first, and then the six axes. The simulation results in ROS(Robot Operating System) show that the improved DDPG algorithm can effectively solve the problem that the six-DOF arm robot moves too far in the configuration space. The trained model can reach the target area in five steps. Compared with the traditional DDPG algorithm, the improved DDPG algorithm has fewer training episodes,but achieves better results.

关键词： Motion Planning Improved DDPG Six-DOF Arm Robot ROS

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Two-Phase Hybrid Fuzzy Clustering Approach Using Membership Fusion

Two-Phase Hybrid Fuzzy Clustering Approach Using Membership ...

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第34届中国控制与决策会议

作者： Tian Gao Qinglin Wang Yaping Dai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In order to solve the problem that the clustering number in Fuzzy C-Means(FCM) needs to be set manually in advance,a two-phase hybrid fuzzy clustering approach using membership fusion(TPHFC) is *** the first phase,conventional FCM is used for *** the second phase,the results obtained by pre-clustering are fused according to the relationship between the membership of samples to different clusters and the membership threshold.A density-based clustering validity measurement is established for this *** proposed method obtains better clustering effect with setting fewer *** on synthetic datasets conforming to Gaussian distribution and UCI datasets demonstrate the effectiveness of the proposed clustering *** clustering number and clustering centers can be obtained adaptively.

关键词： Fuzzy Clustering Fuzzy C-Means Two-Stage Clustering Adaptive Parameter Adjustment

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems

Two Degree of Freedom Active Disturbance Rejection Control S...

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第42届中国控制会议

作者： Xiyuan Shan Tao Cai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

This paper is concerned with the controller design and the theoretical analysis for time-delay systems,a two degree of freedom(feedforward and feedback) control method is proposed,which combines advantages of the Smith predictor and the active disturbance rejection control(ADRC).The feedforward part of controller is used to track the set point,the feedback part of controller(ADRC) is used to suppress interferences and the Smith predictor is used to correct time *** proposed control design is easy to tune parameters and has been proved to effectively control systems with large time *** bounded input bounded output(BIBO) stability of closed-loop system is ***,numerical simulations show the effectiveness and practicality of the proposed design.

关键词： Time-delay Active Disturbance Rejection control(ADRC) Smith Predictor(SP)

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Towards Pose Estimation for Large UAV in Close Range

Towards Pose Estimation for Large UAV in Close Range

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

作者： Ni Ou Junzheng Wang Shangfei Liu Jiehao Li State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665465373

This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a novel pose estimation method based on vision fusion and point cloud registration is proposed. Our approach works on one-shot mode and only requires 10 samples with real poses for template construction. Through V-rep simulation environment, we generate two 200-sample datasets of different difficulty for evaluation. Error quantiles, 5cm5deg and 10cml0deg are three evaluation metrics used in our ablation experiments. It is illustrated that our method outperforms in robustness and precision due to proposed dimension extension modification and fusion of vision sensors.

关键词： Point cloud compression Measurement Cloud computing Pose estimation Vision sensors Autonomous aerial vehicles Laser modes

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Integrated Inspection of QoM, QoP, and QoS for AOI Industries in Metaverses

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2071-2078页

作者： Yutong Wang Yonglin Tian Jiangong Wang Yansong Cao Shixing Li Bin Tian IEEE The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China North Automatic Control Technology Institute in Taiyuan ShanxiChina Qingdao Academy of Intelligent Industries Shandong 266109China

With the rapid development of information technologies such as digital twin, extended reality, and blockchain,the hype around "metaverse" is increasing at astronomical speed. However, much attention has been paid to its entertainment and social functions. Considering the openness and interoperability of metaverses, the market of quality inspection promises explosive growth. In this paper, taking advantage of metaverses, we first propose the concept of Automated Quality Inspection(Auto QI), which performs integrated inspection covering the entire manufacturing process, including Quality of Materials, Quality of Manufacturing(Qo M), Quality of Products, Quality of Processes(Qo P), Quality of systems, and Quality of Services(Qo S). Based on the scenarios engineering theory, we discuss how to perform interactions between metaverses and the physical world for virtual design instruction and physical validation feedback. Then we introduce a bottomup inspection device development workflow with productivity tools offered by metaverses, making development more effective and efficient than ever. As the core of quality inspection,we propose Quality Transformers to complete detection task,while federated learning is integrated to regulate data *** summary, we point out the development directions of quality inspection under metaverse tide.

关键词： Automated Optical Inspection Metaverses Quality Inspection Transformers

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Prior area searching for energy-based sound source localization

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Science China(Information Sciences) 2022年第12期65卷 220-231页

作者： Feng GAO Yeyun CAI Fang DENG Chengpu YU Jie CHEN Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Guohao Academy Tongji University

Traditional energy-based sound source localization methods have the problems of the large solution space and time-consuming calculation. Accordingly, this paper proposes to use the data collected by each acoustic sensor and their corresponding weights to adaptively initialize the prior area of a target. In this way, the potential existence range of the target is reduced and the location estimate can be determined in a small area. Specifically, we first determine the initial search point based on the current sound data and the set rules. Then, the prior location of the target is iteratively searched according to different sound energy circles' weights. Next, the prior area of the target is determined around the prior location. Finally, the precise location of the target is further traversed to minimize the objective function, which is constructed by the weighted nonlinear least squares location(WNLS) algorithm. A series of indoor experiments are *** results show that our method can effectively improve the positioning accuracy by approximately 13%and greatly reduce the calculation time.

关键词： prior area searching sound source localization adaptively initialization iterative search indoor environment

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Forecasting Approach in Fuzzy Time Series Based on Information Granules

Forecasting Approach in Fuzzy Time Series Based on Informati...

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第40届中国控制会议

作者： Kaixin Zhao Yaping Dai Ye Ji Jiayi Sun School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at a large number of ambiguous,imprecise and incomplete data in the real world,fuzzy time series has come into being and developed into an effective forecasting *** the process of modeling and forecasting of fuzzy time series,the prediction performance of fuzzy time series can be effectively improved by partitioning the universe of discourse into different *** this paper,a forecasting approach for fuzzy time series,which introduces the granularity mechanism into interval division and employs differential data for incremental forecasting,is proposed to solve the problem of time series forecasting with high forecasting *** the proposed approach,in order to describe the fuzzy logic relationship and fuzzy trend of historical data,we first do differential processing on the historical ***,Fuzzy C-means(FCM) clustering algorithm is used to generate several partition intervals *** the sequel,we use the principle of justifiable granularity to constantly adjust the width of all the intervals,so that these information granules associated with corresponding intervals become the most"informative" information ***,the boundary of information granules is used as the basis of interval division to complete the forecasting *** illustrative example is provided to demonstrate the essence of the proposed *** comparative experiment with other representative approaches shows that the proposed approach can significantly improve the prediction accuracy of time series.

关键词： Fuzzy Time Series Information Granules Unequal-sized Intervals Forecasting

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