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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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A Stochastic Model for Budget Distribution over Time in Search Advertisements

A Stochastic Model for Budget Distribution over Time in Sear...

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

作者： Rui Qin Yong Yuan Juanjuan Li Yanwu Yang The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of Sciences School of Management Huazhong University of Science and Technology

In search advertisements,advertisers have to seek for an effective allocation strategy to distribute the limited budget over a series of sequential temporal slots(e.g.,days).However,advertisers usually have no sufficient knowledge to determine the optimal budget for each temporal slot,because there exist much uncertainty in search advertising *** this paper,we present a stochastic model for budget distribution over a series of sequential temporal slots under a finite time horizon,assuming that the best budget is a random *** study some properties and feasible solutions for our model,taking the best budget being characterized by either normal distribution or uniform distribution,***,we also make some experiments to evaluate our model and identify strategies with the real-world data collected from practical advertising *** results show that a)our strategies outperform the baseline strategy that is commonly used in practice;b)the optimal budget is more likely to be normally distributed than uniformly distributed.

关键词： search advertisement budget distribution optimal budget stochastic programming budget constraint

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Index Modulated OFDM with Interleaved Grouping for V2X Communications

Index Modulated OFDM with Interleaved Grouping for V2X Commu...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Xiang Cheng Miaowen Wen Liuqing Yang Yuke Li School of Electronics Engineering and Computer Science Peking University National Mobile Communications Research Laboratory Southeast University School of Electronic and Information Engineering South China University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

The rapid penetration of intelligent transportation systems（ITS） into the conventional transportation infrastructure urgently calls for high spectral efficiency high reliability communication technology for vehicle-to-vehicle and vehicle-to-infrastructure（V2X） *** orthogonal frequency division multiplexing（OFDM） is widely considered as a promising candidate for such applications,in this paper we propose a novel variation of OFDM for improved spectral efficiency as well as enhanced reliability in V2 X channels with correlated frequency-selective fading and inevitable Doppler *** proposed scheme is built upon a recently emerging technique termed as index modulated（IM-）***,different from the existing localized subcarrier grouping,we propose interleaved subcarrier *** then carry out analytical and simulated comparisons to demonstrate the merits of this new scheme in terms of both the bit error rate（BER）performance and the maximum achievable rate（MAR） of the overall system,in V2 X channels.

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Modeling interactions between low-level and high-level features for human action recognition

Modeling interactions between low-level and high-level featu...

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作者： Zhou, Wen Wang, Chunheng Xiao, Baihua Zhang, Zhong Shao, Yunxue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

Recognizing human action in complex scenes is a challenging problem in computer vision. Some action-unrelated concepts, such as camera position features, could significantly affect the appearance of local spatio-temporal features, and therefore the performance of low-level features based methods degrades. In this letter, we define the action-unrelated concept: the position of camera as high-level features. We observe that they can serve as a prior to local spatio-temporal features for human action recognition. We encode this prior by modeling interactions between spatio-temporal features and camera position features. We infer camera position features from local spatio-temporal features via these interactions. The parameters of this model are estimated by a new max-margin algorithm. We evaluate the proposed method on KTH, IXMAS and Youtube actions datasets. Experimental results show the effectiveness of the proposed method. © 2013 The Institute of Electronics, Information and Communication Engineers.

关键词： Cameras

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A two-stage fuzzy budget allocation model in search auctions

A two-stage fuzzy budget allocation model in search auctions

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

作者： Rui Qin Yong Yuan Juanjuan Li The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479960590

Budget optimization is an important issue faced by advertisers in search auctions, and has significant impact on the design of various advertising strategies. Given a limited budget on a search market during a certain period, an advertiser has to distribute her budget to a series of sequential temporal slots (i.e., days, weeks, or months), during which advertisers must avoid the budget being used up quickly, so as to keep the budget for potential clicks with better performance in the future. Considering the optimal budgets over these temporal slots as fuzzy variables, we establish a two-stage fuzzy budget allocation model, and use particle swarm optimization (PSO) algorithm to solve it in case when these optimal budgets are characterized by discrete fuzzy variables. We also conduct experiments to validate our model and algorithm. The experimental results show that our model can outperform other five budget allocation strategies in terms of reducing the revenue loss of the advertiser.

关键词： Artificial intelligence

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Regularized Latent Least Square Regression for cross pose face recognition

Regularized Latent Least Square Regression for cross pose fa...

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23rd International Joint Conference on Artificial Intelligence, IJCAI 2013

作者： Cai, Xinyuan Wang, Chunheng Xiao, Baihua Chen, Xue Zhou, Ji State Key Laboratory of Management and Control for Complex Systems Institute of Automations Chinese Academy of Science Beijing China

ISBN: (纸本)9781577356332

Pose variation is one of the challenging factors for face recognition. In this paper, we propose a novel cross-pose face recognition method named as Regularized Latent Least Square Regression (RLLSR). The basic assumption is that the images captured under different poses of one person can be viewed as pose-specific transforms of a single ideal object. We treat the observed images as regressor, the ideal object as response, and then formulate this assumption in the least square regression framework, so as to learn the multiple pose-specific transforms. Specifically, we incorporate some prior knowledge as two regularization terms into the least square approach: 1) the smoothness regularization, as the transforms for nearby poses should not differ too much;2) the local consistency constraint, as the distribution of the latent ideal objects should preserve the geometric structure of the observed image space. We develop an alternating algorithm to simultaneously solve for the ideal objects of the training individuals and a set of pose-specific transforms. The experimental results on the Multi-PIE dataset demonstrate the effectiveness of the proposed method and superiority over the previous methods.

关键词： Face recognition

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Online model-free RLSPI algorithm for nonlinear discrete-time non-affine systems

Online model-free RLSPI algorithm for nonlinear discrete-tim...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Zhu, Yuanheng Zhao, Dongbin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783642420412

Policy iteration, as one kind of reinforcement learning methods is applied here to solve the optimal problem of nonlinear discrete-time non-affine system with continuous-state and continuous-action space. By applying action-value function or Q function, the implementation of policy iteration avoids the dependence on system dynamics. Online model-free recursive least-squares policy iteration (RLSPI) algorithm is proposed with continuous policy approximation. It is the first attempt to develop online LSPI algorithm for nonlinear discrete-time non-affine systems with continuous policy. A nonlinear discrete-time system is simulated to verify the efficiency of our algorithm. © Springer-Verlag 2013.

关键词： Iterative methods

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Nonlinear metric learning with deep independent subspace analysis network for face verification

Nonlinear metric learning with deep independent subspace ana...

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作者： Cai, Xinyuan Wang, Chunheng Xiao, Baihua Shao, Yunxue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Face verification is the task of determining whether two given face images represent the same person or not. It is a very challenging task, as the face images, captured in the uncontrolled environments, may have large variations in illumination, expression, pose, background, etc. The crucial problem is how to compute the similarity of two face images. Metric learning has provided a viable solution to this problem. Until now, many metric learning algorithms have been proposed, but they are usually limited to learning a linear transformation. In this paper, we propose a nonlinear metric learning method, which leams an explicit mapping from the original space to an optimal subspace using deep Independent Subspace Analysis (ISA) network. Compared to the linear or kernel based metric learning methods, the proposed deep ISA network is a deep and local learning architecture, and therefore exhibits more powerful ability to learn the nature of highly variable dataset. We evaluate our method on the Labeled Faces in the Wild dataset, and results show superior performance over some state-of-the-art methods.© 2013 The Institute of Electronics, Information and Communication Engineers.

关键词： Learning algorithms

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Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM ...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Shuangshuang Han Liuqing Yang Xiang Cheng Shichao Chen Fenghua Zhu Zhongdong Yu Haitao Xie Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Electronics Engineering and Computer Science Peking University Guang Zhou Communication Information Construction Investment and Operation Co.Ltd.

Multiple-Input Multiple-Output- Orthogonal Frequency Division Multiplexing(MIMO-OFDM) is adopted to vehicular networks to increase the capacity,reliability and *** this paper,iterative demodulation and decoding algorithms are studied to approach the capacity of MIMOOFDM vehicular *** analysing the drawbacks of the Gaussian approximation on the interference cancellation,NonGaussian approximation is proposed to enhance the performance of interference cancellation based detectors with large *** results demonstrate that the proposed non-Gaussian algorithm can achieve a significant performance gain over existing ones with high order constellations.

关键词： Gaussian Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

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