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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Rui Qin Yong Yuan Juanjuan Li Yanwu Yang The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of Sciences School of Management Huazhong University of Science and Technology

In search advertisements,advertisers have to seek for an effective allocation strategy to distribute the limited budget over a series of sequential temporal slots(e.g.,days).However,advertisers usually have no sufficient knowledge to determine the optimal budget for each temporal slot,because there exist much uncertainty in search advertising *** this paper,we present a stochastic model for budget distribution over a series of sequential temporal slots under a finite time horizon,assuming that the best budget is a random *** study some properties and feasible solutions for our model,taking the best budget being characterized by either normal distribution or uniform distribution,***,we also make some experiments to evaluate our model and identify strategies with the real-world data collected from practical advertising *** results show that a)our strategies outperform the baseline strategy that is commonly used in practice;b)the optimal budget is more likely to be normally distributed than uniformly distributed.

关键词： search advertisement budget distribution optimal budget stochastic programming budget constraint

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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An optimized modeling method based on BPEL4WS

An optimized modeling method based on BPEL4WS

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

作者： Sheng Liu Gang Xiong Dong Fan Jianshi Yao State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Science Beijing 100190 China Unit 61541 The Chinese People's Liberation Army Beijing 100094 China

As an efficient business process execution language which supports web services, BPEL4WS is widely supported by the academic and the industrial circles. According to the shortcomings such as number of computer terms, abstract model definition and the complex description of people activity, this paper presents easy-to-use BPEL4WS modeling method and tool which encapsulates computer terms and convert business models to BPEL4WS models directly. In comparison to the other modeling methods, our method cut down the number of modeling elements by more than 85 percent and save the modeling time by 80 percent and accelerate model running by more than 40 percent. Thus it is more appropriate for popularization.

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Hybrid protocol for distributed non-differentiable extended monotropic optimization

Hybrid protocol for distributed non-differentiable extended ...

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International Conference on control and Automation (ICCA)

作者： Xia Jiang Xianlin Zeng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China Beijing Advanced Innovation Center for Intelligent Robots and Systems (Beijing Institute of Technology) Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China School of Electronic and Information Engineering Tongji University Shanghai China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper presents a hybrid protocol design for distributed non-differentiable extended monotropic optimization problems, which have various applications in large-scale optimization and evolutionary computation. The considered objective function is the sum of local non-differentiable objective functions, which are assigned to different agents in multi-agent networks, with local set constraints and affine equality constraints. Each agent can only access to its local non-differentiable objective function, local set constraint and equality constraint, and exchange information with its neighbors to obtain the global optimal solution. For this type of optimization problems, we propose a distributed state-dependent hybrid method over multi-agent networks. In addition, we properly design the jump map and jump set to improve the transient performance and accelerate the consensus process of existing distributed continuous-time methods. With invariance principle of hybrid dynamical systems, we prove that the proposed hybrid protocol converges to the global optimal solution. We verify that the proposed hybrid method has a good convergence property and transient performance through numerical experiments.

关键词： Optimization Protocols Linear programming Dynamical systems Heuristic algorithms Convergence Transient analysis

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Modeling and analyzing transportation systems based on ACP approach

Modeling and analyzing transportation systems based on ACP a...

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International Conference on intelligent Transportation

作者： Fenghua Zhu Fei-Yue Wang Runmei Li Yisheng Lv Songhang Chen State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences (CAS) Beijing China School of Electronics and Information Engineering Beijing Jiaotong University BJTU Beijing China

The ACP (Artificial societies, Computational experiments and Parallel execution) approach has provided us an opportunity to look into new methods in addressing transportation problems from new perspectives. In this paper, we present our works and results of applying ACP approach in modeling and analyzing transportation system, especially carrying out computational experiments based on artificial transportation systems. Two aspects in the modeling process are analyzed. The first is growing artificial transportation system from bottom up using agent-based technologies. The second is modeling environment impacts in simple-is-consistent principle. Finally, two computational experiments are carried out on one specific ATS, Jinan ATS, and numerical results are presented to illustrate the applications of our method.

关键词： Analytical models Rain Computational modeling Vehicles Object oriented modeling

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Design and optimization of a high-bandwidth low-speed high-torque permanent magnetic synchronous motor

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Diangong Jishu Xuebao/Transactions of China Electrotechnical Society 2014年 29卷 108-114页

作者： Chen, Hao Liu, Xiangdong Zhao, Jing Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100081 China

In order to get a better dynamic response for actuator in condition of low-speed, a permanent magnet synchronous motor (PMSM) in direct-drive application with the characteristics of high-bandwidth, low-speed and high-torque was designed in this paper. Based on the requirement of high-bandwidth, the motor's inertia should be kept low to acquire a large acceleration. The limitation of space size makes motor work in non-linear region, which will increase the electrical capacity. This paper took the relationship between inertia, physical size and electrical capacity into consideration and an optimal result was selected by the method of cyclic iteration. According to the characteristics of large-torque motors, the reason of low power factor was further analyzed. In order to improve the motor performance, optimal design was taken on modified Taguchi method based on time-stepping Finite Element Method (FEM) in this paper. First, five structural parameters (pole-arc coefficient, etc.) were taken as optimization variables and four motor performance indexes (power factor, etc.) as optimization objectives. Then, the multi-objective multivariable optimization was adopted. Finally, The results of FEM and prototype experiment verified the advantage and effectiveness of the modified Taguchi method. ©, 2014, Diangong Jishu Xuebao/Transactions of China Electrotechnical Society. All right reserved.

关键词： Finite element method

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Marker or Markerless? Mode-Switchable Optical Tactile Sensing for Diverse Robot Tasks

arXiv

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arXiv 2024年

作者： Ou, Ni Chen, Zhuo Luo, Shan The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China The Robot Perception Lab. Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are available at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors

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Isochronous Temporal Metric for Neighbourhood Analysis in Classification Tasks

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SN Computer Science 2023年第6期4卷 1-12页

作者： Kumar, Amit Krishan Mai, Nguyễn Ngọc Tian, Ke Xia, Yuanqing Institute of Research and Development Duy Tan University Da Nang Vietnam Faculty of Electrical-Electronic Engineering Duy Tan University Da Nang Vietnam Faculty of Chinese Language School of Foreign Language Duy Tan University Da Nang Vietnam State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Machine learning, classification, and clustering techniques use the distance functions to evaluate the proximity between data entries and deduce the best neighbouring element and the closest matching entry. The best neighbour is not only the closest neighbour but a neighbour that is quick to respond. In view of that, a time-based isochronous metric is introduced to evaluate the best neighbours and form linkages by grouping similar entities. The proposed method uses parametric equations of the fastest descent and solves the time variables for attributes localised in curved space–time. The time metric is compared with commonly used distance metrics for accuracy in classification and clustering using benchmark and commonly used datasets. The nearest-neighbour technique is used for evaluating classification accuracy, and an adjusted random index (ARI) is used to evaluate clustering. The proposed method shows better accuracy and ARI in comparison to distance functions. It also assigns better weights to attributes of the dataset and easily identifies repeated patterns in noisy time series data.

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Urban trip generation forecasting based on gradient boosting algorithm 1

Urban trip generation forecasting based on gradient boosting...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Li, Zhishuai Xiong, Gang Zhang, Yu Zheng, Meng Dong, Xisong Lv, Yisheng Institute of Automation Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Municipal Institute of City Planning and Design Traffic Planning Department Beijing China

ISBN: (纸本)9781665433372

The four-step transportation model plays an important role in urban planning. The quality of the first phase, i.e. trip generation, determines the performance of the global course. The majority of trip generation forecasting models highly rely on mathematical derivation and have many predictor variables during the prediction, which leads to low accuracy of results and requires laboriously hand-crafted design of input vectors. This paper is the first to introduce the gradient boosting decision tree (GBDT) algorithm for trip generation prediction, and harmonizes such a powerful machine learning method with traditional urban planning requirements to achieve better prediction performance. Unlike the commonly used linear regression method, GBDT can automatically perform feature selection and model the non-linear relationships between input and output variables. Experimental results on real-world residential travel census in Beijing prove that the GBDT model significantly outperforms the baseline and can forecast the trip generation more accurately. © 2021 IEEE.

关键词： decision trees

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