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2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

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An observation-weighting method for mining actionable behavioral rules

An observation-weighting method for mining actionable behavi...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Peng Su Lei Wang Daniel Zeng Yuan Liu School of Mathematics and Computer Science Dali University Dali China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Dali University Dali Yunnan CN

One of the critical challenges faced by the mainstream data mining community is to make the mined patterns or knowledge actionable. Knowledge is considered actionable if users can take direct actions based on such knowledge to their advantage. Among the most important and distinctive actionable knowledge are actionable behavioral rules that can directly and explicitly suggest specific actions to take to influence (restrain or encourage) the behavior in the users' best interest. The problem of mining such rules is a search problem in a framework of support and expected utility. The previous definition of a rule's support assumes that each instance which supports a rule has the uniform contribution to the support. However, this assumption is usually violated in practice to some extent, and thus will hinder the performance of algorithms for mining such rules. In this paper, to handle this problem, an observation-weighting model for support and corresponding mining algorithm are proposed. The experimental results strongly suggest the validity and the superiority of our approach.

关键词： Electronic mail Training

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Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish

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Journal of Bionic Engineering 2014年第2期11卷 199-212页

作者： Zhengxing Wu Junzhi Yu Min Tan Jianwei Zhang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China Department of Informatics University of Hamburg Hamburg Germany

We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangifbrm swimming as the primary propulsor. An improved Central Pattern Generator （CPG） model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.

关键词： robotic fish backward swimming Central Pattern Generator （CPG） swimming locomotion control

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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International Conference on Information and Automation (ICIA)

作者： Jianlong Hao Xiaoliang Xie Guibin Bian Zhenqiu Feng Zhanjie Gao Zengguang Hou Hongnian Yu Luige Vladareanu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Faculty of Science and Technology Bournemouth University Poole Dorset UK Robotics and Mechatronics Department Romanian Academy Romian

ISBN: (纸本)9781467391054

关键词： Manipulator dynamics Joints Mathematical model Computational modeling Prototypes Trajectory

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Clique-based Cooperative Multiagent Reinforcement Learning Using Factor Graphs

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IEEE/CAA Journal of Automatica Sinica 2014年第3期1卷 248-256页

作者： Zhen Zhang Dongbin Zhao the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Department of Electric Engineering College of Automation EngineeringQingdao University

In this paper,we propose a clique-based sparse reinforcement learning(RL) algorithm for solving cooperative *** aim is to accelerate the learning speed of the original sparse RL algorithm and to make it applicable for tasks decomposed in a more general ***,a transition function is estimated and used to update the Q-value function,which greatly reduces the learning ***,it is more reasonable to divide agents into cliques,each of which is only responsible for a specific *** this way,the global Q-value function is decomposed into the sum of several simpler local Q-value *** decomposition is expressed by a factor graph and exploited by the general maxplus algorithm to obtain the greedy joint *** results show that the proposed approach outperforms others with better performance.

关键词： Sensors Games Learning (artificial intelligence) Approximation algorithms Algorithm design and analysis Heuristic algorithms Sparse matrices

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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Differential Spatial Modulation for Dual-hop Amplify-and-Forward Relaying

Differential Spatial Modulation for Dual-hop Amplify-and-For...

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IEEE International Conference on Communications

作者： Meng Zhang Miaowen Wen Xiang Cheng Liu-Qing Yang School of Electronics Engineering and Computer Science Peking University School of Electronic and Information Engineering South China University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467364300

Differential spatial modulation (DSM) is a newly proposed differential modulation technique tailored to spatial modulation (SM), which requires no channel state information (CSI) at the receiver. DSM can offer flexible tradeoff between the reception reliability and the system complexity. In this paper, we are the first to study the adoption of DSM in a dual-hop amplify-and-forward (AF) relaying system, which consists of a two-antenna source, a single-antenna relay, and a single-antenna destination, so as to reduce the burden of channel tracking on both the relay and the destination. We derive a general upper bound on the average bit error probability (ABEP) achieved by the system. Moreover, an exact closed-form ABEP expression and the asymptotic result are provided for BPSK signaling in Rayleigh fading environment. The same system setup with the adoption of SM at the source is chosen as a benchmark for performance comparisons. Simulation results validate the analysis and reveal a 3dB signal-to-noise power ratio (SNR) penalty of the considered system compared with the benchmark.

关键词： Relays Upper bound Binary phase shift keying Signal to noise ratio Transmitting antennas Wireless communication

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Learning associate appearance manifolds for cross-pose face recognition

Learning associate appearance manifolds for cross-pose face ...

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作者： Chen, Xue Wang, Chunheng Xiao, Baihua Cai, Xinyuan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781479957514

Pose variation is a major challenge in face recognition. In this paper, we propose a novel cross-pose face recognition method by learning associate appearance manifolds to model the connection of faces under different poses. The associate manifolds are built on an auxiliary set, in which each identity contains cross-pose face images. The basic assumption is that cross-pose face images from two similar identities can be projected onto similar appearance manifolds by pose-specific transforms. We first associate the input faces with alike identities from the auxiliary set. Then the manifolds of cross-pose faces in the training set are confined close to that of the associate identities in the auxiliary set. Thus, the connection of cross-pose faces is well modeled by the associate appearance manifolds on the auxiliary set. Formally, we formulate the assumption as a manifold-based distance minimization problem, so as to learn the optimal transforms. Experiments on the Multi-PIE dataset demonstrate the effectiveness of the proposed method. © 2014 IEEE.

关键词： Face recognition

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Learning co-occurrence strokes for scene character recognition based on spatiality embedded dictionary

Learning co-occurrence strokes for scene character recogniti...

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作者： Gao, Song Wang, Chunheng Xiao, Baihua Shi, Cunzhao Zhou, Wen Zhang, Zhong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781479957514

Robust scene-text-extraction system can be used in lots of areas. In this work, we propose to learn co-occurrence of local strokes for robust character recognition by using a spatiality embedded dictionary (SED). Different from spatial pyramid partitioning images into grids to incorporate spatial information, our SED associates every codeword with a particular response region and introduces more precise spatial information for character recognition. After localized soft coding and max pooling of the first layer, a sparse dictionary is learned to model co-occurrence of several local strokes, which further improves classification performance. Experiment on benchmark datasets demonstrates the effectiveness of our method and the results outperform state-of-the-art algorithms. © 2014 IEEE.

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Scenario oriented discriminant analysis for still-to-video face recognition

Scenario oriented discriminant analysis for still-to-video f...

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作者： Chen, Xue Wang, Chunheng Xiao, Baihua Cai, Xinyuan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781479957514

In the Still-to-Video (S2V) face recognition, each subject is enrolled with only few high resolution images, while the probe is video clips of complex variations. As faces present distinct characteristics under different scenarios, recognition in the original space is obviously inefficient. Therefore, in this paper, we propose a novel discriminant analysis method to learn separate mappings for different scenario patterns (still, video), and further pursue a common discriminant space for the cross-scenario samples. To maximize the intra-individual correlation of samples in the mapping space, we formulate the learning objective by incorporating the intra-class compactness and the inter-class dispersion. The gradient descend algorithm is used to get the optimal solution. Experimental results on the COX-S2V dataset demonstrate the effectiveness of the proposed method and remarkable superiority over state-of-art methods. © 2014 IEEE.

关键词： Discriminant analysis

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