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Nearly Optimal control Scheme for Discrete-Time Nonlinear systems With Finite Approximation Errors Using Generalized Value Iteration Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 4134-4139页

作者： Qinglai Wei Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China (Tel: +86-10-82544761 Fax: +86-10-82544799

In this paper, a new generalized value iteration algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The idea is to use iterative adaptive dynamic programming (ADP) to obtain the iterative control law which makes the iterative performance index function reach the optimum. The generalized value iteration algorithm permits an arbitrary positive semi-definite function to initialize it, which overcomes the disadvantage of traditional value iteration algorithms. When the iterative control law and iterative performance index function in each iteration cannot be accurately obtained, a new design method of the convergence criterion for the generalized value iteration algorithm with finite approximation errors is established to make the iterative performance index functions converge to a finite neighborhood of the lowest bound of all performance index functions. Simulation results are given to illustrate the performance of the developed algorithm.

关键词： Adaptive dynamic programming approximate dynamic programming nonlinear system optimal control reinforcement learning

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Closed-loop controlled nanoprobing inside SEM

Closed-loop controlled nanoprobing inside SEM

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IEEE Conference on Nanotechnology

作者： Chao Zhou Zheng Gong Brandon K. Chen Min Tan Yu Sun State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Advanced Micro and Nanosystems Laboratory University of Toronto Toronto ON Canada

Probing nanostructures (e.g., nanoelectronics) requires accurate and precise nanopositioning. Furthermore, since measuring I-V data from DC to GHz typically takes more than a minute, little drift is tolerated during the data collection process. This paper reports a closed-loop controlled nanomanipulation system for operation inside a scanning electron microscope (SEM). The system consists of long range coarse positioners and high precision fine positioners. A new position sensing method was developed to achieve nanometer sensing resolution. Closed-loop controller is introduced to control fine. Experimental results demonstrate that the system is capable of automated probing of nanostructures with accuracy better than 3 nm and a drift rate

关键词： Scanning electron microscopy Nanobioscience Strain Nanostructures Sensor systems Manipulators

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A probabilistic spectral graph matching algorithm for robust correspondence between lunar surface images

A probabilistic spectral graph matching algorithm for robust...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xu Yang Chuan-Kai Liu Zhi-Yong Liu Hong Qiao Bao-Feng Wang Zi-Dong Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing Aerospace Flight Control Center School of Information Science and Technology Donghua University

The correspondence between key points is an important problem in lunar surface image processing, and further lays the foundation for the navigation of a rover and the terrain reconstruction of the lunar surface. However, the problem is still challenging due to the existence of large scale and rotation transformations, reflected view of the same scenery, and different illumination conditions between acquired images as the lunar rover moves forward. Traditional appearance matching algorithms, like SIFT, often fail in handling the above situations. By utilizing the structural cues between points, in this paper we propose a probabilistic spectral graph matching method to tackle the point correspondence problem in lunar surface images acquired by Yutu lunar rover which has been recently transmitted to the moon by China's Chang'e-3 lunar probe. Compared with traditional methods, the proposed method has three advantages. First, the incorporation of the structural information makes the matching more robust with respect to geometric transformations and illumination changes. Second, the assignment between points is interpreted in a probabilistic manner, and thus the best assignments can be easily figured out by ranking the probabilities. Third, the optimization problem can be efficiently approximately solved by spectral decomposition. Simulations on real lunar surface images witness the effectiveness of the proposed method.

关键词： Moon Probabilistic logic Image edge detection Surface treatment Accuracy Optimization Robustness

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A Biologically Inspired Model of Emotional Attention

A Biologically Inspired Model of Emotional Attention

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2013 IEEE 4th International Conference on Software Engineering and Service Science

作者： Dongchun Ren Hong Qiao Jianhua Su State Key Laboratory of Management and Control for Complex System Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467349970

This paper proposes a new biologically inspired emotional attention model to expand existing visual attention models by considering emotional impact on *** our work,we combine color emotion activity and emotional arousal with visual spatial *** the experiments,an affective picture dataset and an eye-tracking dataset are used to test our proposed *** results show that the performance of the emotional attention model is promising.

关键词： visual attention emotional attention affective computing

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DCT representations based appearance model for visual tracking

DCT representations based appearance model for visual tracki...

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IEEE International Conference on Robotics and Biomimetics

作者： Hongkai Chen Weizheng Zhang Xiaoguang Zhao Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China State Grid Henan Electric Power Company Zhengzhou China

ISBN: (纸本)9781479973989

In this paper, we present a simple yet effective visual tracking algorithm with an appearance model based on 2D discrete cosine transform (2D-DCT) representations. The DCT has the properties of decorrelation and energy compaction, and is robust against geometry and illumination changes. Hence, it is suitable for appearance modeling and the features of our appearance model are extracted from an optimized low dimensional subspace. In order to adapt to the appearance change caused by environment change or ego motion, we also propose to update the observation appearance model through a nonlinear weighted method. Numerous experiments on some challenging video sequences demonstrated that our algorithm is effective and it considerably outperforms the other methods.

关键词： Discrete cosine transforms Target tracking Visualization Adaptation models Lighting Robustness Feature extraction

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Research on multi-dimensional data visualization analysis of large enterprise's purchasing fund

Research on multi-dimensional data visualization analysis of...

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

作者： Minhui Lv Hongxia Zhao Department of Equipment Economics and Management Naval University of Engineering Wuhan China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479960590

With the continuous development of data storage technology, the complexity, category and size of data increase sharply; on the other hand, the wide expansion of its application domain brings great challenges on the traditional data processing and analysis technology. In this paper, the data analysis and processing technology and its development status are introduced and by multi-dimensional data visualization analysis method and combining the knowledge of domain experts, the equipment purchasing fund data of a large enterprise is analyzed to provide reliable management decision to the investment and investment volume of business fund.

关键词： Investment Visualization Data mining

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The design of a mother robot for marsupial robotic system

The design of a mother robot for marsupial robotic system

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IEEE International Conference on Mechatronics and Automation

作者： Peng Zhao Zhiqiang Cao Lingyi Xu Chao Zhou De Xu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China The Research Center of Precision Sensing and Control Chinese Academy of Sciences Beijing China

A mother or transporting robot is designed in this paper, which is dedicated to retrieve, transport and deploy the children or smaller robots to configure a robotic team called the marsupial robotic system. In order to manage children robots flexibly, a multi-floor docking station is mounted on the mother robot with a lifting platform which is dragged via lead-screw driving. Touch switches are utilized to initialize the lifting height and identify whether a child robot arrives at the parking position. Also, a dock camera is set on the top of the station to recognize different children robots for the purpose of deploying or retrieving. The locomotion ability is enhanced by combining the advantages of the wheeled-mobile platform and tracked-mobile platform with the concept of wheel-track combo, which barely increases the complexity of mechanism. Finally, a prototype of mother robot is developed and implemented.

关键词： Mobile robots Robot kinematics Robot sensing systems Computer interfaces Wheels Cameras

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A secure distributed consensus scheme for wireless sensor networks against data falsification

A secure distributed consensus scheme for wireless sensor ne...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shichao Mi Hui Han Shanying Zhu Cailian Chen Bo Yang Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China The State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System(CEMEE) Luoyang P. R. China

This paper focuses on the problem of secure distributed consensus to defend covert misbehavior in wireless sensor networks (WSNs). Distributed consensus is a promising method to improve the efficiency and precision of consensus results in WSNs, but it introduces new security issues that malicious nodes may manipulate false sensing data to degrade the sensing result of the whole network. A data falsification attack, i.e., the attacker injects random values into its neighboring nodes at each time-step of consensus process, is considered. This kind of attack cannot be defended against by most of existing detection mechanisms. We present a distributed detection mechanism with adaptive local threshold to isolate the abnormal nodes. A Weighted Averaging-based Consensus Scheme (WACS) is proposed to decrease the negative impact of the attack and make the network converge to a consensus value. It is proved that convergence property can be guaranteed by the relationship between weighted average of the noise and stochastic approximation. Simulation results are presented to show the effectiveness of the proposed secure scheme.

关键词： Sensors Wireless sensor networks Detection algorithms Distributed databases Convergence Vectors Approximation methods

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Computational Experiments Based on Competitive Influence Diffusion Model

Computational Experiments Based on Competitive Influence Dif...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Kainan Cui Xiaolong Zheng The School of Electronic and Information Engineering Xi'an Jiaotong University The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

Understanding the strategies to optimize/suppress information spreads under intense competition could provide important insights in a broad range of settings including viral marketing,emergency response and information system ***,most of existing studies about competitive influence diffusion mainly focus on two-information competition *** date,the competitive influence maximization problem considering the mechanism of multi-information competition is still not well *** this paper,we conducted computational experiments to study the competitive influence maximization with multi-information competition *** applying an information diffusion model called limited attention model(LAM),we carried on two computational experiments to validate the model and investigate the relation between seed selection methods and the properties of information *** experimental results show that 1)the LAM model could reproduce the features of empirical distribution in Chinese social media;2)the eigenvector centrality-based heuristic is a reasonable seed selection method for competitive influence maximization *** results of this paper can provide significant potential implications for information system design and management.

关键词： computational experiments information diffusion competitive influence maximization social media

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An object recognition approach based on structural feature for cluttered indoor scene

An object recognition approach based on structural feature f...

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IEEE International Conference on Networking, Sensing and control

作者： Wenbo Yuan Zhiqiang Cao Peng Zhao Min Tan Yuequan Yang State Key Laboratory of Management and Control for Complex Systems Institute of Automation CAS Beijing China College of Information Engineering Yangzhou University Yangzhou China

In this paper, aiming at the indoor scene under monitoring by visual sensor network (VSN), an object recognition approach based on structural feature is presented. Firstly, we regard the output of existing line segment detector LSD with proper parameters as the preliminary extraction result and it still will be further restored and split. Then, we give an inference model based on structural features of object including line segment ontology characteristics and relative relationship between the line segments. Finally, the objects are recognized with position information through inference. The effectiveness of the approach is verified, and the results show that our approach does not rely on segmentation and has robustness on partial defect and structural deformation to some extent.

关键词： Image segmentation Robot sensing systems Monitoring Image recognition

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