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2012 12th International Conference on control, Automation, Robotics and Vision, ICARCV 2012

作者： Wang, Zhengjie Zhao, Xiaoguang Qian, Xu College of Information and Electrical Engineering Shandong University of Science and Technology Qingdao China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Beijing China

ISBN: (纸本)9781467318716

We consider a realistic wireless sensor deployment strategy by which mobile robot deploys sensor nodes when it moves along the linear backbone network with some branches. Because of its finite load capacity, the robot has to repeatedly move back to the position where all sensors are temporarily stored and reload sensor nodes, which leads to the robot has to travel the path many times and consumes more energy. We present a Shortest Traveling Path for Robot (STPR) algorithm by which the robot can reduce the traveling path and achieve the required coverage. All nodes are stored at the temporary starting point and mobile robot continuously loads sensors and moves to the destination, dropping some sensor to meet the basic coverage and connectivity requirements. The mobile robot arrives at the far intersection and deploys sensors along the branches in accordance with the algorithm rules, and then returns the recent branch when having enough sensors. Otherwise the robot moves back and deploys sensors on the back path. The robot reloads sensors and repeats the deployment process until all the branches and backbone is finished. The paper proves that the algorithm is effective compared with the common methods. Simulation results show that the algorithm effectively reduces the moving distance at the randomly generated network. © 2012 IEEE.

关键词： Mobile robots

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Development of the control system and Communication Network for Intelligent SF6 High Voltage Circuit-Breaker

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Procedia Engineering 2012年 29卷 1690-1696页

作者： Qingchang Hao Guodong Yang Degang Yang En Li Zize Liang Dezheng Zhao State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences BeiJing 100190 China

This paper analyses the cause of the major faults of the SF6 high voltage circuit breaker, and then introduces a solution using an embedded control system. The control system consists of the controller for every breaker and a supervisor control system in the control center. Then a double-annular fiber field-bus communication network for the control system is introduced, of which the data link layer is implemented by the CAN controller. According to the operation state of every node and the fiber, the fiber communication module of every node can be configured to several different transmission modes. Due to the influence of temperature, the empirical formula of Beattie-Bridgman is used to calculate the pressure of SF6.

关键词： circuit breaker fiber communication CAN SF6 Beattie-Bridgman

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A target-reaching controller for mobile robots using spiking neural networks

A target-reaching controller for mobile robots using spiking...

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19th International Conference on Neural Information Processing, ICONIP 2012

作者： Wang, Xiuqing Hou, Zeng-Guang Lv, Feng Tan, Min Wang, Yongji Vocational and Technical Institute Hebei Normal University Shijiazhuang Hebei 050031 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100090 China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642344770

Autonomous navigation plays important role in mobile robots. In this paper, a navigation controller based on spiking neural networks (SNNs) for mobile robots is presented. The proposed target-reaching navigation controller, in which the reactive architecture is used, is composed of three sub-controllers: the obstacle-avoidance controller and the wall-following controller using spiking neural networks (SNNs), and the goal-reaching controller. The experimental results show that the navigation controller can control the mobile robot to reach the target successfully while avoiding the obstacle and following the wall to get rid of the deadlock caused by local minimum. The proposed navigation controller does not require accurate mathematical models of the environment, and is suitable to unknown and unstructured environment. © 2012 Springer-Verlag.

关键词： Mobile robots

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Dynamic Modeling and Vibration Mode Analysis for an Industrial Robot with Rigid Links and Flexible Joints

Dynamic Modeling and Vibration Mode Analysis for an Industri...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Yanhui Qiang Fengshui Jing Junfang Zeng Zengguang Hou State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Beijing Sciample Technology CO.LTDBeijing 100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese

Nowadays, most industrial robots have been designed to be mechanically stiff with rigid link. When a robot with heavy payload is running in fast motions, the residual vibrations of the end-effector are primary caused by joint flexibility. Therefore, the flexibility of joint cannot be neglected. This paper presents a systematic approach to dynamic modeling and residual vibration mode analysis for an industrial robot with rigid links and flexible joints (RLFJ). First, the flexibility of the joint is modeled as a torsional spring and the dynamic equations for this robot are derived by using Lagrange’s method. Then, to examine residual vibration properties of the system, numerical simulation is carried out. The following important conclusions are drawn from simulation results: (1) the proposed dynamic model can represent joint flexibility of industrial robot and the joint flexibility causes the residual vibration of the end-effector;(2) for a given RLFJ model, the residual vibration is mainly affected by the payload mass, path of the task and joint stiffness.

关键词： Dynamic Model Flexible Joint Residual Vibration Industrial Robot

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Adaptive Dynamic Programming with Stable Value Iteration Algorithm for Discrete-Time Nonlinear systems

Adaptive Dynamic Programming with Stable Value Iteration Alg...

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International Joint Conference on Neural Networks

作者： Qinglai Wei Derong Liu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467314886

In this paper, a new stable value iteration adaptive dynamic programming (ADP) algorithm, named "θ-ADP" algorithm, is proposed for solving the optimal control problems of infinite horizon discrete-time nonlinear systems. By introducing a parameter θ in the iterative ADP algorithm, it is proved that any of iterative control obtained in the proposed algorithm can stabilize the nonlinear system which overcomes the disadvantage of traditional value iteration algorithms. Neural networks are used to approximate the performance index function and compute the optimal control policy, respectively, for facilitating the implementation of the iterative θ-ADP algorithm. Finally, a simulation example is given to illustrate the performance of the proposed method.

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H_∞ control of Unknown Discrete-Time Nonlinear systems with control Constraints Using Adaptive Dynamic Programming

H_∞ Control of Unknown Discrete-Time Nonlinear Systems with...

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International Joint Conference on Neural Networks

作者： Derong Liu Hongliang Li Ding Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467314886

In this paper, we solve the H_∞ robust optimal control problem for discrete-time nonlinear systems with control saturation constraints using the iterative adaptive dynamic programming algorithm. First, a heuristic dynamic programming algorithm is derived to solve the Hamilton-Jacobi-Isaacs equation associated with the H_∞ control problem, and a convergence analysis is provided. Then, a dual heuristic dynamic programming algorithm with nonquadratic performance functional is developed to overcome the control saturation constraints. Finally, to facilitate the implementation of the algorithm, four neural networks are used to approximate the unknown nonlinear system, the control policy, the disturbance policy, and the value function.

关键词： Standing Orders dynamic programming dynamic programming algorithm Nonlinear systems discrete-time control strategy Unknown Robust optimal control Self tuning

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Traffic signal controller based on mobile agent

Traffic signal controller based on mobile agent

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Chen, Cheng Li, Zhenjiang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China

ISBN: (纸本)9781467324007

With mobile agent technology, multi-agent traffic management system is one effective approach to realize the demand-based control. Traffic signal controller is the base of traffic management system. Hence, the realization of traffic signal controller based on mobile agent is indispensable. In this paper, we detailed the traffic signal controller based on Mobile agent in CASIA. Meanwhile, test data about its performance is given. © 2012 IEEE.

关键词： controllers

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Learning weighted features for human action recognition

Learning weighted features for human action recognition

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International Conference on Pattern Recognition

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

ISBN: (纸本)9781467322164

In traditional bag-of-words method, each local feature is treated evenly for representation. One disadvantage of this method is that it is not robust to noise, which makes the performance impaired. In this paper, a novel human action recognition approach which learns weights for features is proposed, where each feature is assigned a weight for human action representation. These weights are learned jointly with discriminative model. There are two advantages of our model. First, small weights are assigned to noise, which can help to reduce the effect of noise on representation of human action. Second, discriminative features, which are critical for human action recognition, are assigned large weights. Experimental results demonstrate the advantages of the proposed method.

关键词： Humans Noise Support vector machines Accuracy Kernel Feature extraction Noise measurement

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A dynamic user adaptive combination strategy for hybrid movie recommendation

A dynamic user adaptive combination strategy for hybrid movi...

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

作者： Cai Chen Daniel Zeng State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

Movie recommendation is a very popular service in internet based movie related websites such as NetFlix, MovieLens. The performance of the recommendation plays the key role in the user experience. Existing works have shown that combining content based and collaborative filtering based algorithms is the best way for movie recommendation. Nevertheless, the performance of this hybrid algorithm is strongly depended on the strategy how to combine the basic pure algorithms. Existing works usually use a static combination strategy which may generate even worse performance for some users. To solve this problems, in this paper we propose a new item based hybrid algorithm that uses a dynamic user adaptive combination strategy. Besides, we also exploit the external open resources IMDB as the movie content data. Experiments on real datasets show that the dynamic user adaptive combination strategy can significantly enhance the performance of the recommendation and the external open resource IMDB is a very good information resource for recommendation.

关键词： Measurement History Algorithm design and analysis DH-HEMTs Filtering algorithms

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A survey of urban traffic coordination controls in intelligent transportation systems

A survey of urban traffic coordination controls in intellige...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Li, Shuangshuang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan 523808 China

ISBN: (纸本)9781467324007

The urban traffic coordination controls (UTCCs) can make full use of the mutual advantages of intersections, which makes it can improve the traffic access capacity and decrease the possibility of traffic congestion in intersections. This paper gives an overview of UTCCs. After reviewing the concept of UTCCs, we survey the several main hot topics in UTCCs: the correlation degree analysis of intersections, the division approach of traffic control subareas and the objects of coordination. This paper provides a survey of urban traffic coordination controls with the goal of promoting research in this area and concludes with some comments on future research directions. © 2012 IEEE.

关键词： Surveys

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