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Chinese Automation Congress (CAC)

作者： Nan Zhou Xiaoguang Zhao Min Tan The State Key Lab of Management and Control for Complex System Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences Beijing Beijing CN

Mobile robot navigation in smart environment has always been one of the most critical issues in robot research. Deployment of wireless sensor network (WSN) in new environment can provide the mobile robot with efficient aid of navigation and tracking. In this paper, we present a feasible scheme of WSN-aided mobile robot navigation which includes initial localization of mobile robot, orientation adjustment, network-layer path planning, motion tracking and correction based on RSSI in Grid-pattern WSN. Unlike other methods of robot navigation which might require a complex and intelligent robotic system for mapping and path planning, the aim of our method is to transfer complex environment detection and calculation from the robot to network and to decrease the reliance of intelligence on the robot itself. Experimental result shows that our proposed scheme is well-performed and can effectively navigate the robot equipped only with simply sensors for communication and obstacle avoidance.

关键词： Navigation Wireless sensor networks Robot sensing systems Mobile robots Robot kinematics

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Facility layouts based on differential evolution algorithm

Facility layouts based on differential evolution algorithm

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IEEE International Conference on Robotics and Biomimetics

作者： Jing Tao Peng Wang Hong Qiao Zhipeng Tang Research Center of Precision Sensing and Control Institute of Automation Beijing China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

Facility layout problem (FLP) which deals with the placement of facilities in the plant area is one of the most critical problems in manufacturing systems design. This paper presents a novel facility layout approach based on differential evolution (DE) algorithm. Firstly, mathematical model with constraints for the FLP is established. Then, a new facility layout algorithm based on DE is proposed, which can improve the convergence rate by using the interference checking method. Finally, a simulation platform with three-dimensional visualization is developed. The comparison experiments of the proposed method and genetic algorithm (GA) based on robot work cell layout problem show that the proposed method converges faster and can obtain better optimal layout.

关键词： Layout Optimization Mathematical model Algorithm design and analysis Interference Manipulators

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Self-generation Voting Based Method for Handwritten Chinese Character Recognition

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Acta Automatica Sinica 2013年第4期39卷 450-454页

作者： Yun-Xue SHAO Chun-Heng WANG Bai-Hua XIAO Lin-Bo ZHANG State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China China Academy of Transportation Sciences Beijing 100029 China

Voting strategy is very useful in pattern recognition. Many methods, like Boosting and Bagging, are proposed and are successfully used in some applications using this strategy. However, these methods are infeasible or unsuitable for handwritten Chinese character recognition because of the problem's characteristics. In this paper, a self-generation voting method is proposed for further improving the recognition rate in handwritten Chinese character recognition. This method learns a set of parameters first for generating a set of samples from the test sample, and then classify these generated samples using a base-line classifier. At last, it gives the final recognition result by voting. Experimental results on two databases show that the proposed method is effective and useful in handwritten Chinese character recognition systems.

关键词： Handwritten Chinese character recognition self-generation voting modified quadratic discriminant function line density equalization

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Design and Kinetic Analysis of a Biomimetic Underwater Vehicle with Two Undulating Long-fins

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Acta Automatica Sinica 2013年第8期39卷 1330-1338页

作者： WEI Qing-Ping Shuo WANG Xiang DONG Liu-Ji SHANG Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 China

A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

关键词： Autonomous underwater vehicle biomimetic robot fish kinematic modeling robot control

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A multi-scale model integrating multiple features for vehicle detection

A multi-scale model integrating multiple features for vehicl...

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International Conference on Intelligent Transportation

作者： Ye Li Fei-Yue Wang Bo Li Bin Tian Fenghua Zhu Gang Xiong Kunfeng Wang Institute of Automation State Key Laboratory of Management and Control for Complex Systems Beijing China Chinese Academy of Sciences Cloud Computing Center Dongguan China

In traffic video surveillance systems, vehicles with various distances from the camera have different sizes, resolutions, and angles in traffic images. The common multi-scale method, which scales one vehicle template or the input image for detecting vehicles with different sizes, may fail to detect vehicles with various distances from the camera due to the change of the resolution and angle. To deal with this problem, we have proposed a multi-scale model including multiple templates with different scales and features. Our method includes two steps: constructing the multi-scale model and its probability model, and detecting vehicles from traffic images. In the first step, the multi-scale model is constructed by using three templates T 1 , T 2 , T 3 which represent vehicles with the short, medium, and long distance from the camera respectively. Each template contains one or some combination of sketch, texture, flatness, and color. In the second step, the three templates are applied for vehicle detection by using the template matching with local maximization operations. The main innovation of this paper is that the combination of multi-template and multi-scale method is applied to detect vehicles with various distances from the camera. To test our method, we have done several experiments on various traffic conditions. The experimental results show that our method effectively copes with vehicles with various distances from the camera and provides the detailed vehicle information after vehicle detection. Moreover, our method adapts to various weather conditions, slight pose variance, and slight occlusion.

关键词： Vehicles Vehicle detection Image color analysis Cameras Image edge detection Training Image resolution

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An empirical study of information diffusion in micro-blogging systems during emergency events

An empirical study of information diffusion in micro-bloggin...

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14th International Conference on Web-Age Information management, WAIM 2013

作者： Cui, Kainan Zheng, Xiaolong Zeng, Daniel Dajun Zhang, Zhu Luo, Chuan He, Saike School of Electronic and Information Engineering Xi'an Jiaotong University Xi'an China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan 523808 China

ISBN: (纸本)9783642395260

Understanding the rapid information diffusion process in social media is critical for crisis management. Most of existing studies mainly focus on information diffusion patterns under the word-of-mouth spread mechanism. However, to date, the mass-media spread mechanism in social media is still not well studied. In this paper, we take the emergency event of Wenzhou train crash as a case and conduct an empirical analysis, utilizing geospatial correlation analysis and social network analysis, to explore the mass-meida spread mechanism in social media. By using the approach of agent-based modeling, we further make a quantativiely comparison with the information diffusion patterns under the word-of-mouth spread mechanism. Our exprimental results show that the mass-meida spread mechanism plays a more important role than that of the word-of-mouth in the information diffusion process during emergency events. The results of this paper can provide significant potential implications for crisis management. © 2013 Springer-Verlag.

关键词： Information management

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Remembering Dave Waltz (1943-2012) IN MEMORIAM

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IEEE INTELLIGENT systemS 2012年第4期27卷 86-88页

作者： Wang, Fei-Yue State Key Laboratory of Management and Control for Complex Systems

IEEE Intelligent systems remembers Dave Walz, a longtime member of its advisory board and a great friend.

关键词： Obituaries Waltz Dave IEEE Intelligent systems Dave Walz Advisory Board

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Application of vector ordinal optimization to the transportation systems with agent based modelling

Application of vector ordinal optimization to the transporta...

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2013 IEEE International Conference on Automation Science and Engineering, CASE 2013

作者： Shen, Z. Wang, K. Wang, F.-Y. State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 Zhongguancun E. Road Beijing 100190 China Centre for Military Computational Experiments and Parallel Systems Technology College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 Hunan Province China

ISBN: (纸本)9781479915156

As the computing technology develops, micro-simulation becomes more and more important in the Intelligent Transportation systems (ITS) research, because it can provide detailed descriptions of the system. However, for a multi-agent systems (MAS) modelling of an ITS, the computation burden is large, as it involves the computation of the state changing of all the agents. Further, if we consider simulation based optimization, which can be simply understood as an intelligent way of running a number of micro-simulations, the computation burden is huge. Moreover, there are multiple objective optimization problems in the ITS. The Vector Ordinal Optimization (VOO) method is a powerful tool for multi-objective optimization. In this paper, we apply VOO to the problem of optimizing the stop times and delay time of an ITS. We test the method on a 4 intersection lattice road network, and on the 18 intersection road network of the Zhongguancun area of Beijing. Compared with the Non-dominated Sorting Genetic Algorithm-II (NSGA-II) method, the VOO method can achieve a speedup of factor of more than 150, with only a little sacrifice of performance. © 2013 IEEE.

关键词： Multiobjective optimization

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Forecasting complex group behavior via multiple plan recognition

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Frontiers of Computer Science 2012年第1期6卷 102-110页

作者： Xiaochen LI Wenji MAO Daniel ZENG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Group behavior forecasting is an emergent re- search and application field in social computing. Most of the existing group behavior forecasting methods have heavily re- lied on structured data which is usually hard to obtain. To ease the heavy reliance on structured data, in this paper, we pro- pose a computational approach based on the recognition of multiple plans/intentions underlying group behavior. We fur- ther conduct human experiment to empirically evaluate the effectiveness of our proposed approach.

关键词： group behavior forecasting multiple planrecognition graph search

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A New Pruning Method for Resolving Conflicts in Actionable Behavioral Rules

A New Pruning Method for Resolving Conflicts in Actionable B...

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IEEE International Conference on Intelligence and Security Informatics

作者： Peng Su Dan Zhu Daniel Zeng School of Mathematics and Computer Science Dali University College of Business Iowa State University State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467362146

Among the most important and distinctive actionable knowledge are actionable behavioral rules that can directly and explicitly suggest specific actions to take to influence the behavior in the users' best interest. However, in mining such rules, it often occurs that different rules may suggest the same actions with different expected utilities, which we call conflicting rules. To resolve the conflicts, a previous pruning method was proposed. However, inconsistency of the measure for rule pruning may hinder its performance. To overcome this problem, we develop a new pruning method to achieve rule pruning in actionable rule discovery. We conduct several experiments to test our proposed approach and evaluate the sensitivity of the weight parameter. Empirical results based on a benchmark terrorism dataset indicate that our approach outperforms those from previous research.

关键词： Actionable behavioral rules Rule pruning Conflicting rules

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