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IEEE International Conference on Robotics and Biomimetics

作者： Prasarn Kiddee Zaojun Fang Min Tan The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.

关键词： Cameras Calibration Transmission line matrix methods Mathematical model Robot vision systems

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Leader-Following Consensus of Discrete-Time Linear Multi-Agent systems with Communication Noises

Leader-Following Consensus of Discrete-Time Linear Multi-Age...

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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Hongming Wang Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China North Vehicle Research Institute Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.

关键词： Multi-Agent system,Leader-following consensus,Mean square,Communication noise.

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Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

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Journal of Central South University 2014年第8期21卷 3079-3091页

作者：张兴陈杰辛斌 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is *** take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of *** on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole ***,in view of the impact of wind on UAVs' paths,the notion of virtual target is *** application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental ***,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of ***,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational *** results exhibit that the proposed algorithm can produce high quality solutions to the problem.

关键词： unmanned aerial vehicle path planning in wind field Dubins traveling salesman problem terminal heading relaxation differential evolution

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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第六届全国语言动力系统研讨会

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chine Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries Qingdao China

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system,especially the similar cases *** can not only save the patients' waiting time,but also make use of the historical resources,for many cases with the same purpose have been solved ***,because of the diversity and non-standard of the patients' descriptions,the inquiry platform cannot find the cases with similar semantic *** traditional retrieval methods require the overlap of two sentences,and this is not suitable with the diversity and non-standard *** this paper,we try to utilize the sentences' semantic representation in a continuous space to understand the cases,and then recommend the similar *** also incorporate it into query likelihood language models,trying to get better *** experimental data are all collected from a real internet inquiry platform,and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： internet inquiry similar cases recommendation distributed representation data mining

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Personality based public sentiment classification in microblog

Personality based public sentiment classification in microbl...

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IEEE International Conference on Intelligence and Security Informatics, ISI

作者： Junjie Lin Wenji Mao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479998906

In recent years, microblog has become one of the most widely used social media for people to exchange ideas and express emotions. As information propagates fast in social network, it's crucial for governments and public agencies to effectively monitor public sentiment implied in user-generated content. Most previous work of public sentiment analysis takes tweets of different users as a whole without considering the diverse word use of people. Thus, some sentiment words may be neglected in the process of analysis because they are only used by people of specific groups. Inspired by previous psychological findings that personality influences the ways people write and talk, we propose a personality based sentiment classification method. In order to capture more useful but not widely used sentiment words, our approach extracts textual features for people of different personality traits based on the Big Five model. Moreover, we adopt an ensemble learning strategy to utilize both personality related and commonly used textual features. Experimental study shows the effectiveness of our method.

关键词： Feature extraction Psychology Computational modeling Learning systems Media Predictive models Pragmatics

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Swimming performance of a robotic fish in both straight swimming and making a turn

Swimming performance of a robotic fish in both straight swim...

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IEEE International Conference on Mechatronics and Automation

作者： Cheng Zhang Junzhi Yu Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479970995

In this paper, we present a novel robotic fish capable of maneuverability and yet with less joints. The maneuverability of the robotic fish is researched on two aspects: straight swimming and performing a turn before which, the mechanical structure, dynamic formula and posture of robotic fish are respectively designed and analyzed. Besides, the CPG-based control and the analysis of variation regulation in the oscillation amplitude of the fish tail are combined to determine the posture of the robotic fish. Next, underwater tests are performed on the robotic fish for collecting the data which provides the information to draw many conclusions.

关键词： Marine animals Robot kinematics Joints Oscillators Force Turning

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Neural-network-based finite horizon optimal control for partially unknown linear continuous-time systems

Neural-network-based finite horizon optimal control for part...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Chao Li Hongliang Li Derong Liu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In this paper, we establish a neural-network-based online learning algorithm to solve the finite horizon linear quadratic regulator (FHLQR) problem for partially unknown continuous-time systems. To solve the FHLQR problem with partially unknown system dynamics, we develop a time-varying Riccati equation. A critic neural network is used to approximate the value function and the online learning algorithm is established using the policy iteration technique to solve the time-varying Riccati equation. An integral policy iteration method and a tuning law are used when the algorithm is implemented without the knowledge of the system drift dynamics. We give a simulation example to show the effectiveness of this algorithm.

关键词： Integrated optics control theory Optimal control Artificial neural networks

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EMood: Modeling emotion for social media analytics on ebola disease outbreak

EMood: Modeling emotion for social media analytics on ebola ...

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2015 International Conference on Information systems: Exploring the Information Frontier, ICIS 2015

作者： Chung, Wingyan He, Saike Zeng, Daniel Institute for Simulation and Training University of Central Florida OrlandoFL United States State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Eller College of Management University of Arizona TucsonAZ United States Chinese Academy of Sciences Beijing China

ISBN: (纸本)9780996683111

Social media enable users to express their emotion promptly, helping health policy makers to gauge public sentiment of disease outbreak. In this research, we developed an approach to social-media-based public health informatics and built a proof-of-concept system named eMood that helps to collect, analyze, and visualize Ebola outbreak discussions on Twitter. Our approach uses a comprehensive lexicon to identify emotion categories and present analysis findings of users' network relationship and influence patterns. We compared two methods of identifying user influence, user centrality and emotion entrainment, by using 255,118 tweets posted by 210,900 users in January 2015. Experimental results show that both methods identified highly influential users. Regression analysis of user influence rank and emotion scores demonstrates significant relationship between user influence and each emotion category. These results should provide strong implication for understanding social actions and for collecting social intelligence for public health informatics.

关键词： Sentiment analysis

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A Dynamic EMG-torque Model of Elbow Based on Neural Networks

A Dynamic EMG-torque Model of Elbow Based on Neural Networks

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Liang Peng Zeng-Guang Hou Weiqun Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781424492695

In this paper, a dynamic EMG-torque model of the elbow joint is developed based on ANN, and two novel test methods are proposed to validate its generalization performance. A time-delay neural network (TDNN) model is built and proved to have less risk of overfitting than the most-used multilayer feedfoward neural network (MFNN) model for dynamic EMG-torque modeling. Both EMG and kinematic features are included in the input of ANN, but the zero-EMG test shows that the trained ANN is part of the inverse joint dynamics rather than the EMG-torque model, and some random samples for ANN training are added to overcome this problem. The single-muscle test shows that an inappropriate choice of the motion type may cause the model to estimate wrong torque directions. After tuning and testing, the root mean square error (RMSE) across all subjects is 0.60±0.20 N.m.

关键词： EMG-torque Model Neural Networks RMSE Neural network ROOT-MEAN-SQUARE ERRORS Artificial neural networks Elbow Elbow Joint random sample Test Method

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Link Flow Estimation for Parallel Transportation management

Link Flow Estimation for Parallel Transportation Management

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第七届全国平行管理会议

作者： Peijun Ye The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Link flow is critical to investigate the traffic state in parallel transportation management and thus has been object of growing interest in the past few ***,tradition estimation methods mostly use partial link counts only and convert this problem into observability *** paper proposed a new mathematical model based on both partial link counts and the Automatic Vehicle Identification *** approach is tested using the actual traffic data from the city of Chengdu,*** results indicate it is feasible to combine these two data sources to estimate the total link flows.

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