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Engineering 2018年第6期 253-269页

作者：杨越麒王健吴正兴喻俊志 State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of the Chinese Academy of Sciences

容错性能对于自推进仿生机器鱼在实际水下应用中的可操作性和生存能力至关重要。本文探讨了具有多个可活动关节和一个被卡住尾部关节的自由游动机器鱼的容错控制问题。提出的控制系统主要由两个部分组成:反馈控制器和前馈补偿器。具体而... 详细信息

容错性能对于自推进仿生机器鱼在实际水下应用中的可操作性和生存能力至关重要。本文探讨了具有多个可活动关节和一个被卡住尾部关节的自由游动机器鱼的容错控制问题。提出的控制系统主要由两个部分组成:反馈控制器和前馈补偿器。具体而言,一方面,设计了基于生物启发中心模式发生器的反馈控制器用于使机器鱼对外部干扰具有鲁棒性;另一方面,引入了基于动力学模型的前馈补偿器来加速整个控制系统的收敛。在此基础上,开展了仿真实验来完成控制系统分析和故障机器鱼游动性能验证。最后,水下实验表明,所提出的容错控制方法能够有效调整故障机器鱼,使其能够在故障情况下完成所需运动,进而提高实际机器鱼系统的稳定性和寿命。

关键词：容错控制机器鱼运动控制反馈控制器前馈补偿器

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Enhanced biologically inspired model for image recognition based on a novel patch selection method with moment

arXiv

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arXiv 2017年

作者： Lu, Yan-Feng Jia, Li-Hao Qaio, Hong Li, Yi Research Center for Brain-inspired Intelligence Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai China School of Information Engineering Nanchang University Nanchang China

Biologically inspired model (BIM) for image recognition is a robust computational architecture, which has attracted widespread attention. BIM can be described as a four-layer structure based on the mechanisms of the visual cortex. Although the performance of BIM for image recognition is robust, it takes the randomly selected ways for the patch selection, which is sightless, and results in heavy computing burden. To address this issue, we propose a novel patch selection method with oriented Gaussian-Hermite moment (PSGHM), and we enhanced the BIM based on the proposed PSGHM, named as PBIM. In contrast to the conventional BIM which adopts the random method to select patches within the feature representation layers processed by multi-scale Gabor filter banks, the proposed PBIM takes the PSGHM way to extract a small number of representation features while offering promising distinctiveness. To show the effectiveness of the proposed PBIM, experimental studies on object categorization are conducted on the CalTech05, TU Darmstadt (TUD), and GRAZ01 databases. Experimental results demonstrate that the performance of PBIM is a significant improvement on that of the conventional BIM. Copyright © 2017, The Authors. All rights reserved.

关键词： Image enhancement

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Policy iteration optimal tracking control for chaotic systems by using an adaptive dynamic programming approach

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Chinese Physics B 2015年第3期24卷 87-94页

作者：魏庆来刘德荣徐延才 The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

A policy iteration algorithm of adaptive dynamic programming（ADP） is developed to solve the optimal tracking control for a class of discrete-time chaotic systems. By system transformations, the optimal tracking problem is transformed into an optimal regulation one. The policy iteration algorithm for discrete-time chaotic systems is first described. Then,the convergence and admissibility properties of the developed policy iteration algorithm are presented, which show that the transformed chaotic system can be stabilized under an arbitrary iterative control law and the iterative performance index function simultaneously converges to the optimum. By implementing the policy iteration algorithm via neural networks,the developed optimal tracking control scheme for chaotic systems is verified by a simulation.

关键词： adaptive critic designs adaptive dynamic programming approximate dynamic programming neuro-dynamic programming

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12.2: A 3D Display Parallel System: Light Field Re-rendering and Depth Sense Optimization

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SID Symposium Digest of Technical Papers 2018年第S1期49卷

作者： Renjing Pei Kui Ma Feiyue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye's visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer's demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance.

关键词： 3D Display Parallel System Depth Sense Light Field Re-rendering 3D Video Processing One-shot Segmentation

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A TDC-based nano-scale displacement measure method inside scanning electron microscopes

A TDC-based nano-scale displacement measure method inside sc...

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2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

作者： Zhou, Chao Wang, Yu Deng, Lu Wu, Zhengxing Cao, Zhiqiang Wang, Shuo Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Statistics and Mathematics Central University of Finance and Economics Beijing100080 China

ISBN: (纸本)9781509043644

The one of the most important foundations of micro-manipulation is the micro- and nano- displacement's accurate measurement. This paper focused on the end effectors measurement for a nano-manipulation robot, which is working in the scanning electron microscope's vacuum chamber. A standard capacitor are charged and discharged through the strain gauge, and the time are measured by time-digital convertor, which can be used to calculate the displacement. The power consumption are analyzed and compared with traditional Wheatstone bridge. The power consumption is greatly reduced while the error is optimized, so it takes advantages in the environment of vacuum, which is hard to dissipate heat. The drift, resolution and linearity are tested, and demos of closed-loop control and repeated micro unit probing are given to verify the validity of this method. © 2016 IEEE.

关键词： Electric power utilization

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The paralleleye dataset: Constructing large-scale artificial scenes for traffic vision research

arXiv

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arXiv 2017年

作者： Li, Xuan Wang, Kunfeng Tian, Yonglin Yan, Lan Wang, Fei-Yue School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China Department of Automation University of Science and Technology of China Hefei230027 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Video image datasets are playing an essential role in design and evaluation of traffic vision algorithms. Nevertheless, a longstanding inconvenience concerning image datasets is that manually collecting and annotating large-scale diversified datasets from real scenes is time-consuming and prone to error. For that virtual datasets have begun to function as a proxy of real datasets. In this paper, we propose to construct large-scale artificial scenes for traffic vision research and generate a new virtual dataset called "ParallelEye". First of all, the street map data is used to build 3D scene model of Zhongguancun Area, Beijing. Then, the computer graphics, virtual reality, and rule modeling technologies are utilized to synthesize large-scale, realistic virtual urban traffic scenes, in which the fidelity and geography match the real world well. Furthermore, the Unity3D platform is used to render the artificial scenes and generate accurate ground-truth labels, e.g., semantic/instance segmentation, object bounding box, object tracking, optical flow, and depth. The environmental conditions in artificial scenes can be controlled completely. As a result, we present a viable implementation pipeline for constructing large-scale artificial scenes for traffic vision research. The experimental results demonstrate that this pipeline is able to generate photorealistic virtual datasets with low modeling time and high accuracy labeling. Copyright © 2017, The Authors. All rights reserved.

关键词： Pipelines

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Sa1221 ENDOSCOPIC MOLECULAR IMAGING OF EARLY GASTRIC CANCER USING HUMAN HEAVY-CHAIN FERRITIN NANOPROBE UNDER CONFOCAL LASER ENDOMICROSCOPY

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Gastrointestinal Endoscopy 2018年第6期87卷 AB169-AB170页

作者： Yang Du Kelong Fan Hejun Zhang Shigang Ding Xiyun Yan Jie Tian Institute of Automation Chinese Academy of Sciences Beijing China Key Laboratory of Molecular Imaging of Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Beijing China Institute of Biophysics Chinese Academy of Sciences Beijing China Key Laboratory of Protein and Peptide Pharmaceutical Beijing China Gastroenterology Peking University Third Hospital Beijing China Beijing Key Laboratory for Helicobacter pylori Infection and Upper Gastrointestinal Diseases Beijing China

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Feature Selection and Feature Learning for High-dimensional Batch Reinforcement Learning: A Survey

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International Journal of automation and computing 2015年第3期12卷 229-242页

作者： De-Rong Liu Hong-Liang Li Ding Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

Tremendous amount of data are being generated and saved in many complex engineering and social systems every *** is significant and feasible to utilize the big data to make better decisions by machine learning techniques. In this paper, we focus on batch reinforcement learning(RL) algorithms for discounted Markov decision processes(MDPs) with large discrete or continuous state spaces, aiming to learn the best possible policy given a fixed amount of training data. The batch RL algorithms with handcrafted feature representations work well for low-dimensional MDPs. However, for many real-world RL tasks which often involve high-dimensional state spaces, it is difficult and even infeasible to use feature engineering methods to design features for value function approximation. To cope with high-dimensional RL problems, the desire to obtain data-driven features has led to a lot of works in incorporating feature selection and feature learning into traditional batch RL algorithms. In this paper, we provide a comprehensive survey on automatic feature selection and unsupervised feature learning for high-dimensional batch RL. Moreover, we present recent theoretical developments on applying statistical learning to establish finite-sample error bounds for batch RL algorithms based on weighted Lpnorms. Finally, we derive some future directions in the research of RL algorithms, theories and applications.

关键词： Intelligent control reinforcement learning adaptive dynamic programming feature selection feature learning big data.

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Positional Accuracy Analysis of Welding Robot under Mechanism Clearance and Elastic Deformation

Positional Accuracy Analysis of Welding Robot under Mechanis...

引用

World Congress on Intelligent control and automation

作者： Yijian Mao Fengshui Jing Zize Liang Zaojun Fang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467384155

Aiming at the special environment of aluminum plant, a dual-arm robot composed of carrying arm, welding arm and sliding rail is developed. It is able to accomplish automatic welding a certain amount of steel sheets between the two ends of the cathode bus in aluminum electrolytic cells. Designed welding robot can be abstracted as a planar mechanism with three revolute joints. Position accuracy, one of the most significant performance evaluations of an industrial robot, is analyzed under joint clearance, drive backlash and elastic deformation. Normally joint clearances and drive backlash are identified as two contributors for positional errors in serial chain manipulator. In our model, elastic deformation is taken into consideration for higher precision. Deformation differs with different position, causing highly coupling degree and computation complexity. Experiments about the effects of the three influence factors are well conducted. Maximum errors influenced by clearance, backlash and deformation are estimated at all possible manipulator positions.

关键词： Manipulators Welding Mathematical model Kinematics Gravity Computational modeling

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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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2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

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

Urban traffic prediction is a critical component in intelligent transportation systems for both citizens and traffic management agencies. It is beneficial to know current and future traffic conditions prior a trip or a route for travelers. And it is also very helpful for proactive traffic management for transportation administrative sectors. In this paper, we apply classification techniques to forecast traffic conditions based on categorical data collected from open web maps. To this end, we first collect traffic condition data from AMAP which is a web map, navigation and location based services provider in China. Then we primarily analyze AMAP data with trend analysis and power spectrum analysis. Finally, we employ random walk, na?ve Bayes, decision tree and support vector machine methods to forecast traffic conditions in the future based on historical and current conditions. Experimental 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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