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arXiv 2017年

作者： Zhang, Liang Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

The problem of reconstructing a sparse signal vector from magnitude-only measurements (a.k.a., compressive phase retrieval), emerges naturally in diverse applications, but it is NP-hard in general. Building on recent advances in nonconvex optimization, this paper puts forth a new algorithm that is termed compressive reweighted amplitude flow and abbreviated as CRAF, for compressive phase retrieval. Specifically, CRAF operates in two stages. The first stage seeks a sparse initial guess via a new spectral procedure. In the second stage, CRAF implements a few hard thresholding based iterations using reweighted gradients. When there are sufficient measurements, CRAF provably recovers the underlying signal vector exactly with high probability under suitable conditions. Moreover, its sample complexity coincides with that of the state-of-the-art procedures. Finally, substantial simulated tests showcase remarkable performance of the new spectral initialization, as well as improved exact recovery relative to competing alternatives. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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Heterogeneous Network Integration Based on Protocol Conversion 35

Heterogeneous Network Integration Based on Protocol Conversi...

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第35届中国控制会议

作者： CHEN Huijuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

It is a tendency for Internet of Things to research Zigbee-WiFi hybrid *** paper introduces a heterogeneous network integration module based on protocol conversion which can integrate 802.15.4 network with 802.11 b *** heterogeneous network integration module resolves mismatch problems on physical layer,MAC layer and address mapping,meanwhile it makes a contrast with existing Zigbee-WiFi gateway and found to be advanced and effective in three performance indexes:network connection speed,SINR(signal interference noise ratio) and network *** design and realization of heterogeneous network integration are based on QualNet simulation software.

关键词： 802154,80211b heterogeneous network integration protocol conversion

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Energy Consumption Analysis in Multi-legged Robots Based on Gait Planning 35

Energy Consumption Analysis in Multi-legged Robots Based on ...

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第35届中国控制会议

作者： DU Xiaolong WANG Shoukun ZONG Xiaoyan WANG Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Currently,the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of *** at the problem of energy consumption for mobile robots,this paper provides the analysis in terms of the gait ***,two kinds of gait curves respectively,cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction(SLR).The length of step(S),the height of step(H) and the duty ratio of gait cycle(P) are set as the primary research points about the gait of mobile *** this work,we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait ***,the results provide some recommendations for the gait planning of the quadruped robot,that is,the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Energy consumption Multi-legged robot Gait planning SLR Gait parameters

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Kalman and Smooth Variable Structure Filters for Pose Estimation in Robotic Visual Servoing

Kalman and Smooth Variable Structure Filters for Pose Estima...

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2017 3rd International Conference on Artificial Intelligence and Industrial Engineering (AIIE2017)

作者： Xi-yuan LU Liang DU Xiao-lin REN Bo DONG Yuan-chun LI Department of Control Science and Engineering Changchun University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

Pose estimation problem of an object in real time is an important issue for robotic visual servoing(RVS). Many pose estimation schemes in RVS rely on an extended Kalman filter(EKF) that provides good accurate estimation. However, it may cause the estimation to become unstable because of nonlinear modeling uncertainties. While, smooth variable structure filter(SVSF) is a new method that is more robust to disturbances and uncertainties. In this paper, a novel pose estimate method is developed based on the EKF and SVSF. It is combined the accuracy of the EKF and the robustness provided by the SVSF that will lead to more accurate state estimates and improve robustness to modeling errors and uncertainties. The resulting algorithms are called the EKF-SVSF. The simulation results are provided to demonstrate the robustness and accuracy.

关键词： Pose estimation Robotic visual servoing(RVS) Kalman filter(KF) Smooth variable structure filter

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Switching control System Based on Robust Model Reference Adaptive control

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Journal of systems Science & complexity 2016年第4期29卷 897-932页

作者： HU Qiong FEI Qing MA Hongbin WU Qinghe GENG Qingbo School of Automation Beijing Institute of Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

For conventional adaptive control, time-varying parametric uncertainty and unmodeled dynamics are ticklish problems, which will lead to undesirable performance or even instability and nonrobust behavior, respectively. In this study, a class of discrete-time switched systems with unmodeled dynamics is taken into consideration. Moreover, nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper, and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance. For robustness against unmodeled dynamics and uncertainty, robust model reference adaptive control(RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems. Meanwhile, two different switching laws are presented for switched systems and nonlinear systems, respectively. Thereby, the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems. Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes. Furthermore, as to the proposed scheme for nonlinear systems, its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

关键词： Longitudinal control of F-16 aircraft switching control switching law. nonlinear systems RMRAC switched systems

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Maximum power point tracking control of direct-drive permanent magnet wind turbine based on adaptive neuro-fuzzy inference system 5

Maximum power point tracking control of direct-drive permane...

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5th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Ding, Min Ou, Yingxiong Hu, Bo She, Jinhua Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China State Grid Energy Research Institute Beijing102200 China School of Engineering Tokyo University of Technology Tokyo192-0982 Japan

The power from wind varies depending on the environmental factors. Because of the randomness and intermittent of wind, it is difficult for the wind energy conversion system to locate and track the maximum power point (MPP) with fast speed and high accuracy under the condition of variable wind speed. In this paper, a variable-speed wind-generator maximum power point tracking (MPPT) control method based on adaptative neuro-fuzzy inference system (ANFIS) is presented. It is designed as a combination of the Sugeno fuzzy model and neural network. The ANFIS based controller predicts the optimum speed with the inputs as the speed change and power change, and controls the speed with PI controllers. The performance of the proposed controller is tested for direct-drive permanent magnet wind turbine based wind energy conversion system under fast wind speed variation in MATLAB/Simulink. The simulation results show that the designed control method has good dynamic characteristics and steady-state accuracy in wind power MPPT and improves the working efficiency.

关键词： Wind turbines

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Hydrodynamic Analysis of a Gliding Robotic Dolphin Based on Computational Fluid Dynamics 35

Hydrodynamic Analysis of a Gliding Robotic Dolphin Based on ...

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第35届中国控制会议

作者： LI Kang YU Junzhi WU Zhengxing TAN Min State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781509009107

This paper presents a concrete and practical hydrodynamic analysis for a hybrid gliding robotic *** order to obtain the accurate hydrodynamic performance of both dolphin-like swimming and gliding motion,a Computational Fluid Dynamics(CFD) method is ***,based on the F1 UENT dynamic mesh interface,a novel dynamic mesh and user-defined function(UDF) are developed to describe the dorsoventral oscillations of the ***,the corresponding turbulent model and SIMPLE algorithm suited to dolphin-like swimming are also meticulously selected for great accuracy and high ***,the FLUENT simulation results reveal the pressure distribution and velocity field distribution around the robotic ***,some important hydrodynamic coefficients including lift coefficients and drag coefficients at different frequencies are also *** simulation results illustrate an expected hydrodynamic performance of the gliding robotic dolphin.

关键词： Gliding Robotic Dolphin Computational Fluid Dynamics(CFD) Dynamic Mesh Hydrodynamic Analysis

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Design of a Camera Stabilizer System for Robotic Fish Based on Feedback-Feedforward control 35

Design of a Camera Stabilizer System for Robotic Fish Based ...

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第35届中国控制会议

作者： YANG Xiang Wu Zhengxing Liu Jincun YU Junzhi State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781509009107

This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish *** order to acquire the stable image from the camera located inside of the fish head,a camera stabilizer for the visual system is ***,an Inertial Measurement Unit(IMU) with nine degrees-of-freedom(DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial *** accurately describe the stabilizer system characteristics,a simple and effective system model is ***,a feedbackfeedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is ***,the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizer and the corresponding feedback-feedforward control approach for enhancing the stability of images.

关键词： Robotic fish camera stabilizer feedback-feedforward controller underwater vision underwater robot

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Way-point Tracking control for a Biomimetic Underwater Vehicle Based on Backstepping 35

Way-point Tracking Control for a Biomimetic Underwater Vehic...

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第35届中国控制会议

作者： WANG Rui WANG Shuo WANG Yu WEI Qingping State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781509009107

In this paper,a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle(BUV)propelled by undulatory ***,the system design and the model of the BUV are *** with traditional autonomous underwater vehicles(AUVs) propelled by screw propellers,the concept design enhances the maneuverability and stability of AUVs at low *** the way-point tracking problem of the BUV is ***,a way-point tracking control scheme combining a guidance system of low complexity with backstepping technique is proposed to achieve fast and effective convergence to the desired path composed of a series of given way-points for this *** the end,simulations demonstrate the performance of the proposed way-point tracking controller.

关键词： Biomimetic underwater vehicle Undulatory fin Way-point tracking control Backstepping Guidance system

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Hybrid-augmented intelligence： collaboration and cognition

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Frontiers of Information Technology & Electronic Engineering 2017年第2期18卷 153-179页

作者： Nan-ning ZHENG Zi-yi LIU Peng-ju REN Yong-qiang MA Shi-tao CHEN Si-yu YU Jian-ru XUE Ba-dong CHEN Fei-yue WANG Institute of Artificial Intelligence and Robotics Xi ' an Jiaotong University Xi ' an 710049 China National Engineering Laboratory of Visual Information Processing Applications Xi 'an Jiaotong University Xi'an 710049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The long-term goal of artificial intelligence （AI） is to make machines learn and think like human beings. Due to the high levels of uncertainty and vulnerability in human life and the open-ended nature of problems that humans are facing, no matter how intelligent machines are, they are unable to completely replace humans. Therefore, it is necessary to introduce human cognitive capabilities or human-like cognitive models into AI systems to develop a new form of AI, that is, hybrid-augmented intelligence. This form of AI or machine intelligence is a feasible and important developing model. Hybrid-augmented intelligence can be divided into two basic models： one is human-in-the-loop augmented intelligence with human-computer collaboration, and the other is cognitive computing based augmented intelligence, in which a cognitive model is embedded in the machine learning system. This survey describes a basic framework for human-computer collaborative hybrid-augmented intelligence, and the basic elements of hybrid-augmented intelligence based on cognitive computing. These elements include intuitive reasoning, causal models, evolution of memory and knowledge, especially the role and basic principles of intuitive reasoning for complex problem solving, and the cognitive learning framework for visual scene understanding based on memory and reasoning. Several typical applications of hybrid-augmented intelligence in related fields are given.

关键词： Human-machine collaboration Hybrid-augmented intelligence Cognitive computing Intuitivereasoning Causal model Cognitive mapping Visual scene understanding Self-driving cars

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