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World Congress on intelligent control and Automation (WCICA)

作者： Hongkai Chen Xiaoguang Zhao Tianzheng Wang Min Tan Shiying Sun State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China State Grid Shanxi Electric Power Research Institute Taiyuan China

ISBN: (纸本)9781467384155

Real-time abnormal event detection in practical video surveillance has been a difficult task, because there are a huge amount of continuous arrival video data, where normal events may change and only a small portion of video data contains abnormal events. In this paper, to address this problem, we use the latter arrived data to online update our model in an incremental way. We propose a spatial-temporal context-aware abnormal event detection method based on incremental sparse combination learning (ISCL). To better represent an event, we propose a novel Gradient Local Binary Patterns on Orthogonal Planes (GLBPOP) which is extracted by combining 3D gradient information and spatial-temporal context information together on two orthogonal planes. Then we propose an ISCL framework to update each dictionary in combination set in an incremental way to adapt to the possible varied upcoming normal samples. Experiments on public dataset demonstrate the proposed method is effective and superior.

关键词： Dictionaries Hidden Markov models Context Event detection Three-dimensional displays Data models Feature extraction

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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Adaptive Dynamic Programming for H∞ control of Constrained-Input Nonlinear systems 34

Adaptive Dynamic Programming for H∞ Control of Constrained-...

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第三十四届中国控制会议

作者： YANG Xiong LIU Derong Wei Qinglai WANG Ding The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467374439

This paper presents a novel adaptive/approximate dynamic programming algorithm to solve the H∞ control problem of constrained-input continuous-time nonlinear systems. The developed algorithm employs a single critic neural network(NN)to derive the approximate solution of the Hamilton-Jacobi-Isaacs equation. With two additional terms introduced, namely, the stabilizing term and the robustifying term to update the critic NN, no initial stabilizing control is required. Meanwhile, the developed critic tuning rule not only ensures that the optimal saddle point can be obtained but also guarantees stability of the closed-loop system. In addition, all signals in the closed-loop system are proved to be uniformly ultimately bounded via Lyapunov's direct method. Finally, an illustrate example is provided to verify the effectiveness of the developed approach.

关键词： Adaptive dynamic programming,Constrained input,H∞ control,Nonlinear systems,Optimal control

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An Adaptive Way to Detect the Racket of the Table Tennis Robot Based on HSV and RGB 34

An Adaptive Way to Detect the Racket of the Table Tennis Rob...

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第三十四届中国控制会议

作者： ZHANG Kun FANG ZaoJun LIU JianRan TAN Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467374439

To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detecting the mark on the racket in real-time, the racket pose could be obtained. The experimental results show that the proposed method has a great advantage on the robustness of corner extraction of the rectangle on the racket.

关键词： racket pose,HSV,RGB,self-adaptive method

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Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism 34

Design and Kinematics Analysis of a 4-DOF Articulated Steeri...

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第三十四届中国控制会议

作者： LIN Hao ZHENG Jingyi LI En LIANG Zize State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467374439

Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM, we design a new structure of such mechanisms. The designed 4-DOF ASM can perform yaw and pitch movement actively while roll movement passively. To work efficiently, the ASM is designed to operate in three different modes: "float" mode, "lock" mode, and "active control" mode. Then we deduce the kinematics of articulated vehicle and analyze the workspace of the front vehicle with respect to the rear vehicle to demonstrate the motion performance of the designed ASM. With the elongation and shortening of hydraulic cylinders, the maximum steer angle is beyond 0.4 rad, the range of the rear pitch angle is(-0.22, 0.27) rad, and the range of the front pitch angle is(-0.45, 0.5) rad.

关键词： Articulated steering mechanism,articulated vehicle,kinematics,workspace

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Robust Stabilization of Discrete-Time Uncertain Nonlinear systems Using Neuro-Optimal control Strategy 34

Robust Stabilization of Discrete-Time Uncertain Nonlinear Sy...

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第三十四届中国控制会议

作者： WANG Ding LIU Derong LI Hongliang YANG Xiong The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467374439

In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an optimal control problem under some proper conditions. Then, in order to deal with the transformed optimal control problem, the discrete-time generalized HamiltonJacobi-Bellman equation is introduced and solved by employing the successive approximation method. The convergence proof of the iterative algorithm and the design procedure of the neural network implementation are developed as well. A numerical simulation is also provided to illustrate the effectiveness of the control strategy.

关键词： Generalized Hamilton-Jacobi-Bellman equation,Neuro-optimal control,Robust control,System uncertainty

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Long short-term memory model for traffic congestion prediction with online open data

Long short-term memory model for traffic congestion predicti...

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International Conference on intelligent Transportation

作者： Yuan-yuan Chen Yisheng Lv Zhenjiang Li Fei-Yue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao Shandong China

ISBN: (纸本)9781509018901

Traffic congestion in metropolitan areas has become more and more serious. Over the past decades, many academic and industrial efforts have been made to alleviate this problem, among which providing accurate, timely and predictive traffic conditions is a promising approach. Nowadays, online open data have rich traffic related information. Typical such resources include official websites of traffic management and operations, web-based map services (like Google map), weather forecasting websites, and local events (sport games, music concerts, etc.) websites. In this paper, online open data are discussed to provide traffic related information. Traffic conditions collected from web based map services are used to demonstrate the feasibility. The stacked long short-term memory model, a kind of deep architecture, is used to learn and predict the patterns of traffic conditions. Experimental results show that the proposed model for traffic condition prediction has superior performance over multilayer perceptron model, decision tree model and support vector machine model.

关键词： Logic gates Predictive models Computer architecture Google Data mining Microprocessors Social network services

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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Optimal Self-Learning control Scheme for Discrete-Time Nonlinear systems Using Local Value Iteration

Optimal Self-Learning Control Scheme for Discrete-Time Nonli...

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International Joint Conference on Neural Networks

作者： Qinglai Wei Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781509006212

In this paper, an optimal self-learning control scheme for discrete-time nonlinear systems is developed using a new local value iteration based adaptive dynamic programming (ADP) algorithm. The developed local value iteration algorithm permits an arbitrary positive semi-definite function to initialize the algorithm. In the developed local value iteration algorithm, the iterative value function and iterative control law are updated by a subset of the state space. A new analysis method of the convergence property is presented to show that the iterative value functions will converge to the optimum. The convergence criterion for the local value iteration algorithm is presented. A simulation example is given to demonstrate the validity of the present optimal control scheme.

关键词： state-space methods convergence discrete time systems dynamic programming iterative methods learning systems nonlinear systems optimal control

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The novel control method for the adit data collection system

The novel control method for the adit data collection system

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IEEE International Conference on Mechatronics and Automation

作者： Lei Yang En Li Zize Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509023974

With the continuous development of modern surveying and mapping technology, robotics has been gradually adopted to achieve the autonomous digital measurements. In this paper, a mobile robot platform is designed and controlled to travel inside the Adit environment to collect data for 3D reconstruction and measurement. In traditional control applications, PID-based methods(PID) are widely used for the motion servo control and present good performance in most cases. However, for some nonlinear systems, especially for the complicated applications in Adit environment, traditional PID-based method cannot get desired results. Meanwhile PID controller with fractional order(FPID) can have better control effect than traditional integer order PID controllers and is addressed in the application for the mobile robot platform inside the Adit. In this paper, a mobile robot platform is designed and the servo control system of the mobile robot platform is designed and analyzed. Meanwhile, a motion controller based on fractional order PID method is designed. With the following simulations, performance of the presented method is compared with that of traditional integer order PID method which shows that the fractional order PID controller is easy to design and has the ability of fast response and robust.

关键词： Mobile robots Tuning Servosystems Cameras Fractional calculus Automation

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