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Trajectory optimisation design of robot based on artificial intelligence algorithm

International Journal of Wireless and Mobile Computing 2019年第1期16卷 35-40页

作者： Huang, Li Zhang, Kai Hu, Wei Li, Chengcheng College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan430081 China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan430081 China

Artificial intelligence has attracted more and more attention and has been widely used in all walks of life, especially in the education industry;artificial intelligence has gradually become the core. Aiming at the problem of robot trajectory planning in artificial intelligence, this paper applies the project teaching method to the course of artificial intelligence, regards trajectory planning as a project, analyses and studies it, uses ant colony algorithm to find the optimal planning path. Through the teaching of the project, the students will understand the ant colony algorithm more deeply. The algorithm is programmed independently to achieve the final trajectory optimisation. Students become the main body of the classroom, give full play to the initiative and enthusiasm of the students, through the operation of the project to train the students' innovative ability and cooperation ability, and improve the overall quality of the college students. Copyright © 2019 Inderscience Enterprises Ltd.

关键词： Students

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Policy iteration based Q-learning for linear nonzero-sum quadratic differential games

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Science China(information Sciences) 2019年第5期62卷 195-213页

作者： Xinxing LI Zhihong PENG Li LIANG Wenzhong ZHA School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Information Science Academy China Electronics Technology Group Corporation

In this paper, a policy iteration-based Q-learning algorithm is proposed to solve infinite horizon linear nonzero-sum quadratic differential games with completely unknown dynamics. The Q-learning algorithm, which employs off-policy reinforcement learning(RL), can learn the Nash equilibrium and the corresponding value functions online, using the data sets generated by behavior policies. First, we prove equivalence between the proposed off-policy Q-learning algorithm and an offline PI algorithm by selecting specific initially admissible polices that can be learned online. Then, the convergence of the off-policy Qlearning algorithm is proved under a mild rank condition that can be easily met by injecting appropriate probing noises into behavior policies. The generated data sets can be repeatedly used during the learning process, which is computationally effective. The simulation results demonstrate the effectiveness of the proposed Q-learning algorithm.

关键词： adaptive dynamic programming ADP Q-learning reinforcement learning RL linear nonzerosum quadratic differential games policy iteration PI off-policy

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Multi-carrier Differential Chaos Shift keying Wireless Communication Based On Chaotic Shape-forming Filter

Multi-carrier Differential Chaos Shift Keying Wireless Commu...

引用

Chinese Automation Congress (CAC)

作者： Hai-Peng Ren Si-Long Guo Chao Bai Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Mechatronic Engineering Xi’an Technological University Xi’an China

In recent years, chaotic communication has shown advantages, such as used the simplest matched filter to make signal-to-noise ratio (SNR) maximization and improve the resistance to multi-path interference. The chaotic shape-forming filter (CSF) has been proposed to generate the chaotic baseband signal in the wireless communication, the additional advantage of the chaotic shape-forming filter is able to generate the chaotic signal as spread sequence in Differential Chaotic Shift key (DCSK), which encodes information in the sequence. In this paper, the chaotic signal generated by CSF is used in DCSK and combined with multi-carrier frequency to improve the bit transmission rate. Because of CSF used, it helps to improve both Bit Error Rate (BER) performance and provide an additional information flow in the spread sequence itself. Simulation results indicate that the proposed method is superior to other methods over the Addition White Gaussian Noise (AWGN) channel and wireless channel.

关键词： Chaotic communication Signal to noise ratio Wireless communication Simulation Demodulation Data communication

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Model analysis and experimental research on hydraulic high-speed impact system 8

Model analysis and experimental research on hydraulic high-s...

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8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019

作者： Wang, Shoukun Shi, Mingxin Chen, Zhihua Beijing Institute of Technolog Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China Key Laborator Yof Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9781728103112

ISBN: (纸本)9781728103112

High-speed impact simulation test is an important test method to study the fatigue properties or limit parameters of materials. With the advantages of great impact energy, good program control and convenient test operation, hydraulic impact is widely used in high-speed impact field. A hydraulic high speed impact simulation system is designed in this paper, which uses high pressure accumulator to supply oil and converts hydraulic energy into impact energy through servo valve controlled cylinder system. This system can simulate dynamic change process of impact velocity and acceleration of projectile, and has impact angle adjustment and end buffer function. First, the composition and working principle of this hydraulic impact simulation system is introduced, as well as the analysis of the hydraulic impact mechanism. Second, the system dynamics model of servo valve controlled cylinder based on accumulator oil is built, and the simplified model and its basic characteristics are analyzed. Then, the Influences of various parameters in impact dynamic model on impact process are also discussed. Finally, the simulation system and physical prototype system of hydraulic impact is presented, the simulation and actual impact test data and corresponding analysis conclusions are also given. © 2019 IEEE.

关键词： Software testing

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Optimization of Missile Path Planning Based on APMO-HV Algorithm

Optimization of Missile Path Planning Based on APMO-HV Algor...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhang, Hu Wang, Shuai Liu, Tonglin Zhou, Aimin Zhang, Yi Beijing Electro-mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Changzhou University School of Mechanical Engineering Changzhou China East China Normal University Shanghai Key Laboratory of Multidimensional Information Processing School of Computer Science and Technology Shanghai China

ISBN: (纸本)9781728137926

In this paper, with considerations of low efficiency of missile path planning (MPP) by traditional aggregation technology, it uses affinity propagation based multi-objective evolutionary algorithm with hypervolume environment selection (APMO-HV) to solve the problem of MPP after establishing the MPP model. The experimental part compares and analyzes APMO-HV with six state-of-the-art algorithms, and applies it to address the MPP problem. The experimental results show that compared with the other six algorithms, APMO-HV has achieved the best solution performance in both the GLT test suite and MPP problem. This not only validates the effect of the proposed algorithm, but also enriches and improves the research results of MPP. © 2019 IEEE.

关键词： Evolutionary algorithms

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Hyperchaos synchronization using univariate impulse control

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Physical Review E 2019年第5期100卷 052215-052215页

作者： Kun Tian Chao Bai Hai-Peng Ren Celso Grebogi Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an 710048 China School of Mechatronics Engineering Xi'an Technological University Xi'an 710048 China Institute for Complex System and Mathematical Biology SUPA University of Aberdeen AB24 3UE United Kingdom

Rössler and Chen systems with time delay are shown to be hyperchaotic, which exhibits a more complex dynamics, including multiple positive Lyapunov exponents and infinite dimension. The hyperchaos has better application potential where hyperchaos synchronization is concerned. Univariate impulse control requires smaller perturbation to the response system, thus promising better performance. However, synchronization of two hyperchaotic systems using this control method is a challenging task due to the difficulty to guarantee synchronization stability using a minimum number of manipulated variables. In this paper, a univariate impulse control method is proposed for the synchronization of two hyperchaotic dynamics generated by time delay. A theorem is developed and proved to provide the sufficient conditions for the synchronization of time delay systems using the univariate impulse control. The upper bound of the impulse interval is proved to guarantee the asymptotic synchronization. Simulation and circuit experiment show the correctness of the analysis and the feasibility of the proposed method.

关键词： control & applications of chaos Synchronization

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NiuEM: A Nested-iterative Unsupervised Learning Model for Single-particle Cryo-EM Image processing

NiuEM: A Nested-iterative Unsupervised Learning Model for Si...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Rui Hu Jiaming Cai Wangjie Zheng Yang Yang Hong-Bin Shen Shanghai Jiao Tong University and Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728162157

ISBN: (纸本)9781728162164

Cryo-electron microscopy (cryo-EM) has become a mainstream technology for solving spatial structures of biomacromolecules, while the processing of cryo-EM images is a very challenging task. One of the great challenges is the high noise in the images. A common method is to cluster the images with close projecting angles to get mean images, which are used for 3D reconstruction. However, due to the extremely low signal-to-noise-ratio, common clustering methods often fail to obtain high-quality mean images, leading to poorly reconstructed structures. In this study, we present a new unsupervised learning framework, called NiuEM, to discriminate images captured from different angles and yield cluster-mean images. NiuEM first generates pseudo-labels and then exploits both contrastive loss and cross-entropy loss for training convolutional layers to learn feature representations. Moreover, the pseudo-labels are updated iteratively to enhance the reliability of labels. We assess the performance of NiuEM on four data sets via both visualized and quantitative experiments. Especially, two kinds of metrics are adopted to measure the performance, regarding the clustering quality and the resolution of reconstructed 3D models, respectively. The experimental results show that NiuEM achieves very competitive clustering accuracy in the comparison with the state-of-the-art image clustering methods. Moreover, the cluster mean images yielded by NiuEM lead to better initial 3D models compared with the mainstream reconstruction tools.

关键词： Three-dimensional displays Feature extraction Image reconstruction Task analysis Solid modeling Electron microscopy Convolutional neural networks

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Wireless communication using chaotic baseband waveform

arXiv

引用

arXiv 2019年

作者： Yao, Jun-Liang Sun, Yu-Zhe Ren, Hai-Peng Grebogi, Celso Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China Institute for Complex System and Mathematical Biology University of Aberdeen AB24 3UE United Kingdom

Some new properties of the chaotic signal have been implemented in communication system applications recently. They include: (i) chaos is proven to be the optimal communication waveform in the sense of very simple matched filter being used to achieve maximum signal to noise ratio;(ii) the amount of information contained in a chaotic signal is unaltered by a wireless multipath channel;and (iii) chaos property can be used to resist multipath effect. All these support the application of chaos in a practical communication system. However, due to the broadband property of the chaotic signal, it is very difficult for a practical transducer or antenna to convert such a broadband signal into a signal that would be suitable for practical band-limited wireless channel. Thus, the use of chaos property to improve the performance of conventional communication system without changing the system configuration becomes a critical issue in communication with chaos. In this paper, chaotic baseband waveform generated by a chaotic shaping filter is used to show that this difficulty can be overcome. The generated continuous-time chaotic waveform is proven to be topologically conjugate to a symbolic sequence, allowing the encoding of arbitrary information sequence into the chaotic waveform. A finite impulse response filter is used to replace the impulse control in order to encode information into the chaotic signal, simplifying the algorithm for high speed communication. A wireless communication system is being proposed using the chaotic signal as the baseband waveform, which is compatible with the general wireless communication platform. The matched filter and decoding method, using chaos properties, enhance the communication system performance. The Bit Error Rate (BER) and computational complexity performances of the proposed wireless communication system are analyzed and compared with the conventional wireless systems. The results show that the proposed chaotic baseband waveform of our

关键词： Bit error rate

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Synchronization stability and circuit experiment of hyperchaos with time delay using impulse control

arXiv

引用

arXiv 2019年

作者： Ren, Hai-Peng Tian, Kun Bai, Chao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian University of Technology Xian710048 China School of Mechatronics Engineering Xi’an Technological University Xian710048 China

Secure communication using hyperchaos has a better potential performance, but hyperchaotic impulse circuits synchronization is a challenging task. In this paper, an impulse control method is proposed for the synchronization of two hyperchaotic Chen circuits. The sufficient conditions for the synchronization of hyperchaotic systems using the impulse control are given. The upper bound of the impulse interval is derived to assure the synchronization error system to be asymptotically stable. Simulation and circuit experiment show the correctness of the analysis and feasibility of the proposed method. Copyright © 2019, The Authors. All rights reserved.

关键词： Synchronization

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An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG Sensors

An MR Safe Rotary Encoder Based on Eccentric Sheave and FBG ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shaoping Huang Anzhu Gao Zicong Wu Chuqian Lou Yanjun Wang Guang-Zhong Yang The Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology

MRI-guided robotic systems are emerging platforms for minimally invasive intervention because of high positioning accuracy and excellent tissue contrast. MR safe encoders are critical components for closed-loop robotic control. This paper develops an MR safe absolute rotary encoder based on eccentric sheave and FBG sensors. The eccentric sheave transforms the rotational motion of the shaft to the bending deflection of the beam on which FBG sensors are integrated. A model is built by establishing the relationship of the kinematics of the sheave, the mechanical properties of the beam with unknown length, and the strain model of two Fiber Bragg Grating (FBG) sensors. A Pseudo-Rigid Body (PRB) 3R model is used to solve a set of constrained equations for accurate rotary encoding. A prototype is built to calibrate the parameters and validate the accuracy of the encoder and its MR compatibility. Results show that the maximum angular error is 1.6°, and the RMS error is 0.46°. MRI shows that no noticeable artifacts are observed, and the Signal to Noise Ratio (SNR) is not affected. The results demonstrate the potential of the proposed method for it to be integrated with MR safe robots with easy fabrication, compact structures, and continuous measurement.

关键词： Mechanical sensors Shafts Analytical models Kinematics Transforms Fiber gratings Robot sensing systems

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