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检索条件"机构=The State of Key Laboratory of Management and Control for Complex System"

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Modeling the stroke process in table tennis robot using neural network

Modeling the stroke process in table tennis robot using neur...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Kun Zhang Zaojun Fang Jianran Liu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467396769

To hit incoming balls back to a desired position, it is a key factor for table tennis robot to get racket parameters accurately. For modeling the stroke process, a novel model is built based on multiple neural networks. The input data for neural networks are the ball velocity differences during the stroke, and racket parameters are the output data. To reduce the influences from the invalid data, a neural network based on each empirical data is established. The training data are clustered based on the empirical data. The way of choosing a neural network to compute the racket parameters depends on the comparison between the new coming data and the empirical data. Moreover, a novel way based on a binocular vision system to verify the stroke model is proposed. Experimental results have showed that the stroke model created via the proposed method is applicable and the verification method is effective.

关键词： modeling stroke process binocular

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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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MRF based text binarization in complex images using stroke feature

MRF based text binarization in complex images using stroke f...

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International Conference on Document Analysis and Recognition

作者： Yanna Wang Cunzhao Shi Baihua Xiao Chunheng Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China

ISBN: (纸本)9781479918065

This paper presents a novel binarization technique for text images based on Markov Random Field (MRF) framework. We regard stroke as an obvious feature of text to produce clustering result, which will be optimized by MRF model combining color, texture, context features to get the final binarization. The main innovations of our method are: (1) the integrated image is split into sub-images on which we can automatically acquire seed pixels of foreground and background using stroke feature; and (2) diverse weights are attached to seed pixels according to their location information, then highly confident cluster centers of sub-image can be acquired by gathering weighted seeds. The experimental results show that our method is robust and accurate on both video and scene images.

关键词： Image color analysis Image edge detection Robustness

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Adaptive Dynamic Programming for Infinite Horizon Optimal Robust Guaranteed Cost control of a Class of Uncertain Nonlinear systems

Adaptive Dynamic Programming for Infinite Horizon Optimal Ro...

引用

American control Conference

作者： Ding Wang Derong Liu Hongliang Li Hongwen Ma The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781479917730

In this paper, an infinite horizon optimal robust guaranteed cost control scheme of a class of continuous-time uncertain nonlinear systems is established based on adaptive dynamic programming. The main idea lies in that the optimal robust guaranteed cost control problem can be transformed into an optimal control problem. Actually, the optimal cost function of the nominal system is nothing but the optimal guaranteed cost of the original uncertain system. A critic neural network is constructed to help solving the modified Hamilton-Jacobi-Bellman equation corresponding to the nominal system. Then, an additional stabilizing term is introduced to reinforce the updating process of the weight vector and reduce the requirement of an initial stabilizing control. An example is provided to illustrate the effectiveness of the present control approach.

关键词： Cost function Robustness Nonlinear systems Optimal control Feedback control Biological neural networks

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Analysis and Forecasting of Urban Traffic Condition Based on Categorical Data

Analysis and Forecasting of Urban Traffic Condition Based on...

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第七届全国平行管理会议

作者： Yuan-yuan Chen Yisheng Lv State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190China

Urban traffic prediction is a critical component in intelligent transportation systems for both citizens and traffic management *** is beneficial to know current and future traffic conditions prior a trip or a route for *** it is also very helpful for proactive traffic management for transportation administrative *** this paper,we apply classification techniques to forecast traffic conditions based on categorical data collected from open web *** this end,we first collect traffic condition data from AMAP which is a web map,navigation and location based services provider in *** we primarily analyze AMAP data with trend analysis and power spectrum ***,we employ random walk,na(i)ve Bayes,decision tree and support vector machine methods to forecast traffic conditions in the future based on historical and current *** results demonstrate that it is feasible to make forecast on traffic conditions with reasonable accuracy.

关键词： urban traffic prediction traffic condition intelligent transportation systems route planning

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Online Reinforcement Learning by Bayesian Inference

Online Reinforcement Learning by Bayesian Inference

引用

International Joint Conference on Neural Networks

作者： Zhongpu Xia Dongbin Zhao The State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781479919611

Policy evaluation has long been one of the core issues of the online reinforcement learning, especially in the continuous state domain. In this paper, the issue is addressed by employing Gaussian processes to represent the action value function from the probability perspective. By modeling the return as a stochastic variable, the action value function can sequentially update according to observed variables such as state and reward by Bayesian inference during the policy evaluation. The update rule shows that it is a temporal difference learning method with the learning rate determined by the uncertainty of a collected sample. Incorporating the policy evaluation method with the e-greedy action selection method, we propose an online reinforcement learning algorithm referred as to Bayesian-SARSA. It is tested on some benchmark problems and the empirical results verifies its effectiveness.

关键词： Online Reinforcement Learning Bayesian Inference core issues

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Preliminary Study for Motion Scaling Based control in Minimally Invasive Vascular Interventional Robot

Preliminary Study for Motion Scaling Based Control in Minima...

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

作者： Zhen-Qiu Feng Gui-Bin Bian Xiao-Liang Xie Jian-Long Hao Zhan-Jie Gao Zeng-Guang Hou 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

Robot-assisted vascular interventions present promising trend for reducing the X-ray radiation to the surgeon during the operation. However, the control methods in the current vascular interventional robots only repeat the manipulation of the surgeon. While under certain circumstances, it is necessary to scale the manipulation of the surgeon to obtain a higher precision or a shorter manipulation time. A novel control method based on motion scaling for vascular interventional robot is proposed in this paper. The main idea of the method is to change the motion speed ratios between the master and the slave side. The motion scaling based control method is implemented in the vascular interventional robot we've developed before, so the operator can deliver the interventional devices under different motion scaling factors. Experiment studies verify the effectiveness of the motion scaling based control.

关键词： Preliminary Study Motion Scaling Based control surgeon Surgeons control Methods Robot Scale formation Dental Scaling Scaling based

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Two Intersections Traffic Signal control Method Based on ADHDP

Two Intersections Traffic Signal Control Method Based on ADH...

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2016年IEEE汽车电子与安全国际会议

作者： Lin Cao Bin Hu Xisong Dong Gang Xiong Fenghua Zhu Zhen Shen Dong Shen Yuliang Liu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Information Science and Technology Beijing University of Chemical Technology Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Dongguan Research Institute of CASIA Cloud Computing CenterChinese Academy of Sciences Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of Sciences

With the rapid development of Chinese economy and automotive industry,urban traffic congestion has become increasingly ***,how to effectively alleviate the traffic congestion and improve the efficiency of vehicles has become the main *** signal control is one of the effective ways to solve urban traffic *** this paper,a traffic signal control method based on Action-Dependent Heuristic Dynamic Programming(ADHDP) is *** control algorithm is simulated on two intersections,both of which have two phases with four entrance *** computer simulation results show that the control method has the better ability of on-line learning compared with traditional Fix-Time control,and can effectively improve the average speed of vehicles,and reduce travel time and alleviate the traffic pressure.

关键词： ADHDP Traffic Signal control Adaptive control Intelligent Transportation systems

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A process simulation-based quantitative HAZOP analysis method

A process simulation-based quantitative HAZOP analysis metho...

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

作者： Jianlong Chen Xiwei Liu Sifeng Jing Gang Xiong Xiuqin Shang Changjian Cheng The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Chemical Engineering and the Environment Beijing Institute of Technology Beijing China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center for Intelligent Systems and Technology Chinese Academy of Science Beijing China

ISBN: (纸本)9781509029280

Hazard and operability (HAZOP) methodology is an important Process Hazard Analysis (PHA) technique for ensuring safety production in chemical industry. Due to the lacks of accuracy and reliability in manual HAZOP analysis, the quantitative HAZOP analysis has gained more and more attention. In this work, a process simulation-based HAZOP analysis method and its flow chart are proposed. And the proposed method is applied to a steam generation subsystem in an ethylene pyrolysis unit on a dynamic process simulation platform. All deviation parameters of system can be calculated and described quantitatively. The case study shows the proposed method is useful for the effective risk prevention and control measures in a chemical process.

关键词： Analytical models Hazards Manuals Process control Boilers

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Scanning the Issue and Beyond: Transportation and Mobility Transformation for Smart Cities

Scanning the Issue and Beyond: Transportation and Mobility T...

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作者： Wang, Fie-Yue State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China Qingdao Academy of Intelligent Industries Qingdao266109 China

The first issue of IEEE Intelligent Transportation systems Society (ITSS) starts with survey papers on technology and security for intelligent vehicles. The first paper titled 'Intra-Vehicle Networks: A Review' by S. Tuohy, M. Glavin, C. Hughes, E. Jones, M. Trivedi, and L. Kilmartin presents a comprehensive overview of current research on advanced intra-vehicle networks and identifies outstanding research questions for the future. J. Petit and S. E. Shladover's paper, 'Potential Cyberattacks on Automated Vehicles' analyzes the threats on autonomous automated vehicle and cooperative automated vehicle. 'A Video-Analysis-Based Railway-Road system for Detecting Hazard Situations at Level Crossings' by H. Salmane, L. Khoudour, and Y. Ruichek explores the possibility of implementing a smart video surveillance security system that is tuned toward detecting and evaluating abnormal situations induced by users in level crossing. 'Traffic Flow Prediction for Road Transportation Networks with Limited Traffic Data' by A. Abadi, T. Rajabioun, and P. A. Ioannou, uses a dynamic traffic simulator to generate flows in all links using available traffic information, estimated demand, and historical traffic data available from links equipped with sensors. The paper titled 'GNSS Multipath and Jamming Mitigation Using High-Mask-Angle Antennas and Multiple Constellations' studies the optimal antenna mask angle that maximizes the suppression of interference but still maintains the performance of a single constellation with a low-mask-angle antenna.

关键词： Antennas

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