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A construction strategy for cloud robotic system

Sensor Letters 2014年第2期12卷 255-259页

作者： Liang, Yongquan Zhang, Zhenmei Fan, Jiancong Tang, Leiyu State Key Laboratory of Mining Disaster Prevention and Control Ministry of Science and Technology Shandong University of Science and Technology Qingdao China College of Information Science and Engineering Shandong University of Science and Technology Qingdao China College of Management Science and Engineering Shandong University of Finance and Economics Jinan China College of Mathematics and Systems Science Shandong University of Science and Technology Qingdao China

The technological developments of sensors, actuators, communication devices, and especially cloud computing, enable cloud robotics to be studied and designed. A cloud robot is a robot with lightweight inherent configurations, but connected to the cloud. Cloud robotics can offload computationintensive tasks to be executed in remote cloud. In this paper, we design two types of cloud robotic structures, called homoRobotSys and heteroRobotSys respectively. Different structures are designed to adapt to different task-relevant or configuration-relevant requirements. Simulation is developed to discuss time performances of cloud robotics. Comparisons between cloud robotics and networked robotics are also made. Copyright © 2014 American Scientific Publishers.

关键词： Cloud computing

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Parallel Factorization Machine Recommended Algorithm Based on MapReduce

Parallel Factorization Machine Recommended Algorithm Based o...

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International Conference on Semantics, Knowledge and Grid (SKG)

作者： Hanxiao Sun Wenjie Wang Zhongzhi Shi School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479967162

Factorization Machines [1, 2] is a new factorization model that can combine the merits of SVM model with matrix factorization models. It can model all the interactive actions using factorized parameters. So it could mimic most other matrix factorization models by feature engineering. Due to the superior flexible, Factorization Machines has already been widely used in many recommended algorithm competitions and practical online recommended system. But, because of the prevalence of large dataset, there is a need to improve the scalability of computation in factorization machines model. In this paper, we propose a parallel algorithm can be used on Factorization Machines model. The experimental results show that the proposed algorithm has good speed-up and scalability on big dataset.

关键词： Frequency modulation Computational modeling Data models Computers Parallel algorithms Stochastic processes Algorithm design and analysis

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Boid-Inspired Harmony Search approach to aircraft parameter estimation

Boid-Inspired Harmony Search approach to aircraft parameter ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Junnan Li Haibin Duan Science and Technology on Aircraft Control Laboratory Beihang University (BUAA) Beijing China Science and Technology on Aircraft Control Laboratory Beihang University (BUAA) Bejing China Provincial Key Laboratory for Information Processing Technology Soochow University Suzhou China

Aircraft parameter estimation is a vital technology in aeronautical industry. It is the fundamental of control law design and aircraft performance evaluation. Harmony Search (HS) is proposed in 2001, which mimics music players composing fantastic music. Its performance has been verified by many benchmark problems. In 1986, Reynolds proposed a mathematical model describing animals' group behavior, and he generally named the flocking creature “boids”, which can be interpreted as “bird like objects”. We modify the pitch adjustment step of HS inspired by the boid model. Our new method is named Boid-Inspired Harmony Search (BIHS). This paper investigates the application of BIHS to aircraft parameter estimation problem. In this work, the longitudinal state-space model of F-18 jet is used. It is shown that the BIHS approach is efficient, and in some ways, has an advantage over the classical Maximum Likelihood (ML) method.

关键词： Parameter estimation Mathematical model Vectors Aircraft Educational institutions Equations Pollution measurement

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Joint Maximum Lifetime and Robust Routing for Wireless Sensor Networks

Joint Maximum Lifetime and Robust Routing for Wireless Senso...

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第三十三届中国控制会议

作者： Liang Xue Yanlong Wang Jijun Zhao Xinping Guan School of Information and Electrical Engineering Hebei University of Engineering System Control and Information Processing Key Laboratory of Ministry of Education Shanghai Jiao Tong University Institute of Electrical Engineering Yanshan University

Since the energy constraint is a fundamental issue for wireless sensor networks(WSNs),the expectation of network lifetime has become a critical performance *** actual applications,due to the data traffics may fluctuate randomly,there is a compelling need for a routing strategy that is robust to the variation amplitude of time varied data *** this paper,we jointly consider the lifetime maximization and a routing strategy with robustness,both of which are in compliance with the framework of cross-layer *** two correlated subproblems can be further modeled as a nonlinear optimization *** using the risk measures defined in the financial mathematics,the proposed optimization problem can be relaxed while the non-convex constraint can be transformed into a solvable *** Simulation results are further provided to validate our robust routing proposal.

关键词： lifetime,robust routing,WSNs

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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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Apply signum-activated WASD neuronet to learning XOR logic via noisy input and output data

Apply signum-activated WASD neuronet to learning XOR logic v...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Chengxu Ye Weixiang Ding Jianhao Deng Binghuang Cai Yunong Zhang School of Computer Science Qinghai Normal University Xining China School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou China School of Software Sun Yat-sen University Guangzhou China School of Medicine University of Pittsburgh Pitts-burgh PA USA Sun Yat-Sen University Guangzhou Guangdong CN

In this paper, a novel signum-activated weights-and-structure-determination neuronet (SAWASDN) is proposed, investigated and tested. Being different from the past WASD neuronet, the proposed SAWASDN employs discontinuous functions as its activation functions. In addition, we can determine the optimal weights directly and the optimal neuronet structure automatically by the WASD method. Finally, numerical experiments of learning and testing XOR logic via noisy input and output data are conducted, with Gaussian noise and with uniform noise added. Numerical results substantiate the feasibility, efficacy and robustness of the SAWASDN.

关键词： Robustness Noise

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Incorporating biological inspired optimization into modeling of district heating networks

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Energy Education Science and Technology Part A: Energy Science and Research 2014年第2期32卷 1347-1354页

作者： Shang, Leiming Zhao, Xiaomin Qu, Hongchun Huaibei Normal University School of Computer Science and Technology Huaibei Anhui China China University of Mining and Technology School of Resource and Earth Science XuzhouJiangsu China Huaibei Normal University School of Physics and Electronic Information Huaibei Anhui China Chongqing University of Posts and Telecommunications Key laboratory of industrial IoT and networked control of the Ministry of Education Division of theoretical research for complex systems Chongqing China

In this paper, we proposed a biologically inspired model to solve the optimization problem of building district heating networks. The optimization strategy of the model was inspired from physiological observations of the food foraging procedure of the true slime mold Physarum polycephalum (plasmodium) which was found and proved to be able to find optimal path in complex networks such as mazes and road maps. We developed a simulation model to mimic the food foraging procedure of the plasmodium to help to generate heating distribution networks. Simulation results were compared to a well-tuned ant colony algorithm and a genetic algorithm which were used to build the same heating network. The results indicated that although there was not large-scale efficiency savings had been made, the biologically inspired simulation model is capable of finding optimal heating distribution network which is of equal or better optimality than the compared ant colony algorithm and genetic algorithm and, to achieve network robustness, stability and reliability. © Sila Science.

关键词： Complex networks

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Obtaining a W State from a Greenberger-Horne-Zeilinger State via Stochastic Local Operations and Classical Communication with a Rate Approaching Unity

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Physical Review Letters 2014年第16期112卷 160401-160401页

作者： Nengkun Yu Cheng Guo Runyao Duan State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing 100084 China Centre for Quantum Computation and Intelligent Systems (QCIS) Faculty of Engineering and Information Technology University of Technology Sydney (UTS) New South Wales 2007 Australia UTS-AMSS Joint Research Laboratory for Quantum Computation and Quantum Information Processing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China

We introduce a notion of the entanglement transformation rate to characterize the asymptotic comparability of two multipartite pure entangled states under stochastic local operations and classical communication (SLOCC). For two well known SLOCC inequivalent three-qubit states |GHZ⟩=(1/2)(|000⟩+|111⟩) and |W⟩=(1/3)(|100⟩+|010⟩+|001⟩), we show that the entanglement transformation rate from |GHZ⟩ to |W⟩ is exactly 1. That means that we can obtain one copy of the W state from one copy of the Greenberg-Horne-Zeilinger (GHZ) state by SLOCC, asymptotically. We then apply similar techniques to obtain a lower bound on the entanglement transformation rates from an N-partite GHZ state to a class of Dicke states, and prove the tightness of this bound for some special cases which naturally generalize the |W⟩ state. A new lower bound on the tensor rank of the matrix permanent is also obtained by evaluating the tensor rank of Dicke states.

关键词： STOCHASTIC analysis TENSOR algebra TRANSFORMATION rate SCALAR field theory QUANTUM information theory

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Vessel segmentation in retinal images with a multiple kernel learning based method

Vessel segmentation in retinal images with a multiple kernel...

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International Joint Conference on Neural Networks (IJCNN)

作者： Xiaoming Liu Zhigang Zeng Xiaoping Wang College of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education Wuhan China

Blood vessel segmentation is an important problem for quantitative structure analysis of retinal images, and many diseases are related to the structure changes. Manual segmentation is time consuming and computer aided segmentation is required to deal with large amount images. This paper presents a new supervised method for segmentation of blood vessels in retinal photographs. Multiple kernel learning (MKL) is introduced to deal with the problem, utilizing features from Hessian matrix based vesselness measure, response of multiscale Gabor filter, and multiple scale line strength features. The method is evaluated on the publicly available DRIVE and STARE databases. The performance of the MKL method is evaluated and experimental results show the high accuracy of the proposed method.

关键词： Image segmentation Retina Biomedical imaging Kernel Blood vessels Accuracy Support vector machines

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