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10th World Congress on Intelligent control and Automation (WCICA)

作者： He, Haibo Ni, Zhen Zhao, Dongbin Univ Rhode Isl Dept Elect Comp & Biomed Engn Kingston RI 02881 USA Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467313988

In this paper, we extend our previous work of a three-network adaptive dynamic programming design [1] to be a multiple critic networks design for online learning and control. The key idea of this approach is to develop a hierarchical internal goal representation to facilitate the online learning with detailed and informative internal value signal representations. We present our learning architecture in detail, and also demonstrate its performance on the popular cart-pole balancing benchmark. Simulation results demonstrate the effectiveness of our approach. We also present discussions of further research directions along this topic.

关键词： adaptive dynamic programming (ADP) multiple critic networks external reinforcement signal internal reinforcement signal goal representation hierarchical structure

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Neural and Fuzzy Dynamic Programming for Under-actuated systems

Neural and Fuzzy Dynamic Programming for Under-actuated Syst...

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International Joint Conference on Neural Networks (IJCNN)

作者： Zhao, Dongbin Zhu, Yuanheng He, Haibo Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Rhode Isl Comp Biomed Engn Dept Elect Kingston RI 02881 USA

ISBN: (纸本)9781467314909

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： adaptive dynamic programming fuzzy control nerual network underactutaed sysmem cart-pole plant pendubot

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Stochastic modelling of tree annual shoot dynamics

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ANNALS OF FOREST SCIENCE 2012年第2期69卷 153-165页

作者： de Reffye, Philippe Kang, MengZhen Hua, Jing Auclair, Daniel Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat LIAMANLPR Beijing 100190 Peoples R China CIRAD UMR AMAP F-34000 Montpellier France INRA UMR AMAP F-34000 Montpellier France

Context Modelling annual shoot development processes is a key step towards functional-structural modelling of trees. Various patterns of meristem activity can be distinguished in tree shoots, with active periods of phytomer production followed by rest periods. This approach has seldom been integrated in functional-structural tree models. Aims This paper presents theoretical research work on modelling and computation of the dynamics of tree annual shoots using stochastic processes with various development patterns: continuous or rhythmic, monocyclic or polycyclic, "seasonal" or "a-seasonal", with preformation or neoformation produced from meristem functioning. Methods The renewal theory is used to compute stochastic aspects of phytomer production, resulting from meristem extension or rest periods and meristem mortality. Results Continuous development can be modelled with a Bernoulli process, while rhythmic development is modelled by alternation between extension and rest periods, the duration of each period following specific distributions. Conclusion The application of such stochastic modelling is the estimation of organ production during tree development as a component of the demand in functional-architectural tree models, used for computing biomass production and partitioning.

关键词： Renewal theory Architectural tree model Meristem functioning Polycyclism Monocyclism Greenlab

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Human Behavior Imitation for a Robot to Play Table Tennis

Human Behavior Imitation for a Robot to Play Table Tennis

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24th Chinese control and Decision Conference (CCDC)

作者： Wang, Qizhi Zhang, Xianqiang Xu, De Beijing Jiaotong Univ Sch Comp & Informat Technol Beijing 100044 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing AH-100190 Peoples R China

ISBN: (纸本)9781457720727

The main purpose of this paper is to make table tennis robots complete the hit table tennis ball action by imitating human's behavior. The main strategy is to record a video of action which people played the table tennis, then analysis the video of the racket trajectory. The racket in the image is extracted by image processing when the each frame is captured in the video. Then three-dimensional coordinates of the center of the racket and racket posture are obtained via PnP positioning approach based on the intrinsic parameters of the camera. The table tennis robot will off-line learn to complete the imitation of basic actions of the racket trajectory and postures. A large number of experimental data is used to establish basic actions of table tennis robot.

关键词： Imitation off-line learning the trajectory of the racket table tennis robot PnP positioning method

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A Heuristic Implementation of Emergency Traffic Evacuation in Urban Areas

A Heuristic Implementation of Emergency Traffic Evacuation i...

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IEEE International Conference on Service Operations and Logistics, and Informatics (SOLI)

作者： Kang, Wenwen Xie, Li Zhu, Fenghua Lv, Yisheng Xiong, Gang Xi, Bin Chinese Acad Sci Cloud Comp Ctr Dongguan Res Inst CASIA Dongguan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Zhejiang Univ Dept Informat Sci & Elect Engn Hangzhou Peoples R China Chinese Acad Sci Inst Automat Beijing Engn Res Ctr Intelligent Syst & Technol Beijing Peoples R China Xiamen Univ Sch Informat Sci & Technol Xiamen Peoples R China

ISBN: (纸本)9781479905300;9781479905294

With the acceleration of China's urbanization, more and more unexpected disasters in big cities make a severe challenge to city emergency traffic management. Under this background, we present a heuristic implementation of urban emergency traffic evacuation in this paper. Firstly, we refer to a popular evacuation demand generation model to generate the evacuation demand. When solving the path selection problem, the heuristic search method is used. We take Dijkstra shortest path and current road condition as two parts of the evaluation function to evaluate different choices and choose the best one. To simulate the dynamic process of evacuation, we developed a position update algorithm to update the positions of traffic participants. The mathematical analysis method and computer simulation are combined to determine the final evacuation route of a traffic participant. This combination is effective since it takes advantages of both methods and avoids the shortcomings at the same time.

关键词： Emergency Traffic Evacuation Heuristic Search Path Selection

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A Simplified Minimum Enclosing Ball based Fast Incremental Support Vector Machine (SVM) Algorithm for Person Detection and Tracking

A Simplified Minimum Enclosing Ball based Fast Incremental S...

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10th World Congress on Intelligent control and Automation (WCICA)

作者： Zheng, Suiwu Qiao, Hong Jia, Lihao Fukuda, Toshio Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst ZhongGuanCunDong Rd Beijing Peoples R China Nagoya Univ Dept Micronano Syst Engn Chikusa Ku Furo Cho Nagoya Aichi Japan

ISBN: (纸本)9781467313988

In order to meet the requirements of stable person detection and tracking techniques in dynamic visual system, we propose a simplified minimum enclosing ball based fast incremental support vector machine (SVM) algorithm for person detection and tracking. Based on the simplified minimum enclosing ball (MEB) method, we propose a simplified and fast incremental algorithm to compute the MEB. By utilizing the equivalence between MEB and the dual problem in SVM, we achieve the online and incremental adjustment of the SVM classifier coefficients. The proposed method do not need to solve the quadratic programming problem. It is fast for training. Moreover, it can achieve the online update of classifiers for object tracking with small sample size. Finally, the efficiency of the proposed incremental SVM is validated by detection experiments on dynamic pedestrians tracking system.

关键词： Person Detection Incremental Support Vector Machine

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Design and Development of Material management system for Power Enterprise Group

Design and Development of Material Management System for Pow...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Xiong, Gang Hou, Jiachen Fan, Dong Dong, Xisong Yao, Yanjie Shang, Xiuqin Chinese Acad Sci Cloud Comp Ctr Dongguan Res Inst CASIA Dongguan 523808 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

ISBN: (纸本)9781467303644

With the fast development of the market economy in China, the material management of the Power Enterprise Group has changed and met many challenges. On the other hand, with the fast increase of Internet and data scale, some problems of enterprise material management can be solved by using IT technologies, such as database. For examples, it can help enterprises to develop the suitable management systems, so as to improve the management level and the enterprise's competitiveness. In the paper, compared with the traditional material flow management, a new flow model management was proposed for the complex management system of Power Enterprise Group, and material management system are designed and developed to realize the unified management on three tiers, i.e. Headquarter, Distribution management centers and Local power plants.

关键词： Material management system Procedure management Procedure modeling Power enterprise group

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The key supporting technology and applications of smart cameras

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Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 2012年第SUPPL. 1期46卷 171-173+176页

作者： Zhang, Qi Chen, Guo-Dong Xu, De State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing 100190 China Graduate University of the Chinese Academy of Sciences Beijing 100049 China

With the development of image sensors and embedded technology, smart cameras become one of the most important developing directions because of its advantages in small size, low power consumption, low cost and high reliability. In this paper, we present the development and current situation of smart cameras. Then the system structure and key technology of smart cameras are described in detail. In the end, we introduce the applications of smart cameras, and the development trend of smart cameras.

关键词： Cameras

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Design of distributed H_∞ fuzzy controllers with constraint for nonlinear hyperbolic PDE systems

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AUTOMATICA 2012年第10期48卷 2535-2543页

作者： Wu, Huai-Ning Wang, Jun-Wei Li, Han-Xiong Beijing Univ Aeronaut & Astronaut Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China City Univ Hong Kong Dept Syst Engn & Engn Management Kowloon Hong Kong Peoples R China Cent S Univ State Key Lab High Performance Complex Mfg Changsha Hunan Peoples R China

This paper investigates the problem of designing a distributed H-infinity fuzzy controller with constraint for a class of nonlinear spatially distributed processes modeled by first-order hyperbolic partial differential equations (PDEs). The purpose of this paper is to design a distributed fuzzy state feedback controller such that the closed-loop PDE system is exponentially stable with a prescribed H-infinity performance of disturbance attenuation, while the control constraint is respected. Initially, a Takagi-Sugeno (T-S) hyperbolic PDE model is proposed to accurately represent the nonlinear PDE system. Then, based on the T-S fuzzy PDE model, a distributed H-infinity fuzzy controller design with constraint is developed in terms of a set of coupled differential/algebraic linear matrix inequalities (D/ALMIs) in space. Furthermore, a suboptimal distributed H-infinity fuzzy controller with constraint is proposed to minimize the level of attenuation. The finite difference method in space and the existing linear matrix inequality (LMI) optimization techniques are employed to approximately solve the suboptimal fuzzy control design problem. Finally, the proposed design method is applied to the distributed control of a nonlinear system described by two coupled first-order hyperbolic PDEs to illustrate its effectiveness. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： H-infinity control Takagi-Sugeno (T-S) models Spatially distributed processes control constraint Exponential stability Linear matrix inequalities (LMIs)

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A Weight Regularized Relaxation Based Graph Matching Algorithm

A Weight Regularized Relaxation Based Graph Matching Algorit...

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2nd Sino-Foreign-Interchange Workshop on Intelligence Science and Intelligent Data Engineering (IScIDE)

作者： Liu, Zhi-Yong Qiao, Hong Xu, Lei Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Univ Hong Kong Dept Comp Sci & Engn Sha Tin Hong Kong Peoples R China

ISBN: (纸本)9783642319181;9783642319198

In this paper we propose a regularized relaxation based graph matching algorithm. The graph matching problem is formulated as a constrained convex quadratic program, by relaxing the permutation matrix to a doubly stochastic one. To gradually push the doubly stochastic matrix back to a permutation one, a simple weighted concave regular term is added to the convex objective function. The concave regular function is not a concave relaxation of the original matching problem. However, it is shown that such a simple concave regular term has a comparative performance as the concave relaxation of the PATH following algorithm, which works only on undirected graphs. A concave-convex procedure (CCCP) together with the Frank-Wolfe algorithm is adopted to solve the matching problem, and some experimental results witness the state-of-art performance of the proposed algorithm.

关键词： graph matching CCCP Frank-Wolfe algorithm convex relaxation

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