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International Conference on Intelligent Transportation

作者： Yuan-yuan Chen Yisheng Lv Zhenjiang Li Fei-Yue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao Shandong China

ISBN: (纸本)9781509018901

Traffic congestion in metropolitan areas has become more and more serious. Over the past decades, many academic and industrial efforts have been made to alleviate this problem, among which providing accurate, timely and predictive traffic conditions is a promising approach. Nowadays, online open data have rich traffic related information. Typical such resources include official websites of traffic management and operations, web-based map services (like Google map), weather forecasting websites, and local events (sport games, music concerts, etc.) websites. In this paper, online open data are discussed to provide traffic related information. Traffic conditions collected from web based map services are used to demonstrate the feasibility. The stacked long short-term memory model, a kind of deep architecture, is used to learn and predict the patterns of traffic conditions. Experimental results show that the proposed model for traffic condition prediction has superior performance over multilayer perceptron model, decision tree model and support vector machine model.

关键词： Logic gates Predictive models Computer architecture Google Data mining Microprocessors Social network services

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Salient Object Detection based on Boundary Contrast with Regularized Manifold Ranking

Salient Object Detection based on Boundary Contrast with Reg...

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World Congress on Intelligent control and automation

作者： Yongkang Luo Peng Wang Wanyi Li Xiaopeng Shang Hong Qiao Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences Beijing 100190 China Beijing Aerospace Automatic Control Institute Beijing 100040 China State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467384155

Salient object detection via graph-based manifold ranking, which exploits the boundary prior by using image boundaries as labelled background queries, always achieves impressive performance. However, when the salient object broadly touches the image boundary, this method is fragile and may fail. To address this issue, we present a novel approach which bases on boundary contrast with regularized manifold ranking. First, we compute the contrast saliency against the image boundary as ranking queries, instead of directly using the boundaries as background queries. Second, we use an affinity matrix with regularization for manifold ranking to infer saliency value. Third, we integrate saliency inference result with foregroundness based on boundary connectivity to improve the detection accuracy. Last, we adopt multiscale method to mitigate the object scale effect in saliency detection. Experimental results on three benchmark datasets show that the proposed method achieves comparable or better performance than stat-of-the-art methods.

关键词： Manifolds Image segmentation Object detection Benchmark testing automation Image color analysis Computer vision

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Design and dynamic analysis for Amoeba-like robot's turning-mechanism applied with spring and damp system

Design and dynamic analysis for Amoeba-like robot's turning-...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Xiang Dong HengHui Sun Zeng Fu Wang Long Cheng Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui CN The State Key Lab. of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing Beijing CN

ISBN: (纸本)9781509033652

A new turning-mechanism for Amoeba-like Robot was proposed in this paper, which based on the amoeba-like robot kinematics characteristics of tail contracting and skin flipping. First, one kind of variable-speed node composed of the spring and damp was designed. Because of the existing of the variable-speed nodes, the velocities of the two strip-skins depended not only on the velocities of threads that gone through the variable-speed nodes, but also on the spring and damp it contained. So, although the velocities of threads that induced the velocities of the strip-skins were the same, the velocities of the strip-skins still can be different since the variable-speed nodes existed. That difference in velocities made the turning movement possible. Second, the dynamic model for the turning movement of the Amoeba-like Robot was established and analyzed. The analysis results included the angular velocity and angle curve related to time, which were computed with the dynamic model when shortening speed of thread's length was constant. The results achieved in this paper provided an important basic for the research on the behaviors and control strategy of amoeba-like robot. The new turning-mechanism can be popularized to the tracked mobile robot, for it provided a new and available turning method.

关键词： Conferences Robots Mechatronics

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A New Manifold Distance Measure for Visual Object Categorization

A New Manifold Distance Measure for Visual Object Categoriza...

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World Congress on Intelligent control and automation

作者： Fengfu Li Xiayuan Huang Hong Qiao Bo Zhang Institute of Applied Mathematics AMSS Chinese Academy of Sciences Beijing 100190 China State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467384155

Manifold distances are very effective tools for visual object recognition. However, most of the traditional manifold distances between images are based on the pixellevel comparison and thus easily affected by image rotations and translations. In this paper, we propose a new manifold distance to model the dissimilarities between visual objects based on the complex Wavelet Structural Similarity (CWSSIM) index. The proposed distance is more robust to rotations and translations of images than the traditional manifold distance and the CW-SSIM index based distance. In addition, the proposed distance is combined with the k-medoids clustering method to derive a new clustering method for visual object categorization. Experiments on Coil-20, Coil-100 and Olivetti Face Databases show that the proposed distance measure is better for visual object categorization than both the traditional manifold distances and the CW-SSIM index based distances.

关键词： Manifolds Indexes Visualization Clustering algorithms Distortion Robustness Geometry Manifolds Visualization Clustering algorithms distance measurement abnormal shapes geometry Clustering methods distortion Robustness images

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Iterative search with emulating nodes' local movement on range-free sensor network localization 34

Iterative search with emulating nodes' local movement on ran...

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第三十四届中国控制会议

作者： QIAO Dapeng GUO Zongben MA Hongwei SHI Shuguang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Aerospace Control Devices

ISBN: (纸本)9781467374439

This paper proposes an iterative evolutionary algorithm with emulating nodes' local movement for searching the best localization accuracy in range-free scenario. All localization methods face a trade-off between the solution quality and computation cost. When sensor network localization in range-free scenario is considered as a constraint satisfaction problem, localization will reach the highest accuracy but with huge computation complexity. To solve the constraint satisfaction, some characteristics that only exist in range-free localization problem are utilized as heuristics in the search of nodes' positions. They are summarized as simple and complex movement to emulate nodes' local movement, and proved to be effective to find a suitable searching direction and jump out of local-minimums existing in the localization. Those emulations are then included in each iteration of a two-objective evolutionary algorithm minimizing the number of node-pairs with violated connectivity, as well as the value quantitating how worse of the violations. Simulation results show that the proposed algorithm can greatly decrease the reach high-accurate positions within limited iterations.

关键词： Wireless sensor network,Localization,Local movement,Evolutionary algorithm,Non-convex,Connectivity

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Transfer Classification for Distinct Manifestations with Shared Information

Transfer Classification for Distinct Manifestations with Sha...

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World Congress on Intelligent control and automation

作者： Lu Qi Peijie Yin Xiayuan Huang Ken Chen Hong Qiao State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Applied Mathematics Academy of Science Beijing 100190 China State Key Laboratory of Tribology Department of Mechanical Engineering Tsinghua University Beijing 100084 China

ISBN: (纸本)9781467384155

An object often has many distinct manifestations in computer vision, which brings a great challenge to utilizing more comprehensive information. Inspired by some biological researches about edge sensitivity and global structure priority, our key insight is to establish unified transfer classification network with shared contour information. Combining two convolutional networks with three cascaded filters, we build a unified kernel SVM classifier based on shared contour features. Two convolutional networks are used for acquiring the contour information of objects exactly. Obtained by three cascaded filters, shared edge features are used by a unified kernels SVM classifier. Our transfer classification network (TCN) is trained and tested with distinct manifestations including real photos (imagenet dataset or cifar-10 dataset) and cartoon abstracts. The model is able to extract robust contour features and achieve considerable transfer recognition accuracy (40% relative improvement to some popular convolutional models).

关键词： Image edge detection Support vector machines Training Feature extraction Kernel Robustness Visualization Edge detection Support Vector Network Feature extraction Visualization Kernel Functional training Seeds contour Robustness Information Sharing Training

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Neural Network based Constrained Optimal Guidance for Mars Entry Vehicles 34

Neural Network based Constrained Optimal Guidance for Mars E...

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第三十四届中国控制会议

作者： QIU Teng-Hai LUO Biao WU Huai-Ning GUO Lei Science and Technology on Aircraft Control Laboratory Beihang University (Beijing University of Aeronautics and Astronautics) State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467374439

In this paper, an approximate constrained optimal guidance law is proposed for Mars entry vehicles guidance. Firstly, the original guidance of Mars entry vehicle is transformed into a fixed-time optimal tracking control problem, which depends on the solution of the Hamilton-Jacobi-Bellman(HJB) equation. Considering the case the control input is constrained, a generalized non-quadratic performance index is defined. In general, the HJB equation is a nonlinear partial differential equation that is difficult or even impossible to be solved analytically. To overcome the difficulty, neural network(NN) is used to solve the HJB equation approximately. Subsequently, the Monte-Carlo integration method and Latin Hypercube Sampling(LHS) are introduced to compute the integrals on multi-dimensional domains. Finally, the Monte-Carlo simulation results on the Mars entry vehicle demonstrate the effectiveness of the proposed method.

关键词： Guidance,Neural network,Mars entry vehicle,Hamilton-Jacobi-Bellman equation,Monte-Carlo integration

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An overview of recent progress in high-order nonholonomic chained system control and distributed coordination

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Journal of control and Decision 2015年第1期2卷 64-85页

作者： Jie Huang Jie Chen Hao Fang Lihua Dou School of Automation Beijing Institute of TechnologyBeijingChina State Key Laboratory of Intelligent Control and Decision of Complex Systems BeijingChina Fujian Institute of Education FuzhouChina

This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system *** controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,*** important definitions,lemmas,theorems and dynamics are *** the consensus and formation control problems for networked nonholonomic chained systems are ***,some open questions are proposed.

关键词： distributed coordination multi-agent system nonholonomic system chained system high-order

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Cyber-physical-social System in Intelligent Transportation

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IEEE/CAA Journal of Automatica Sinica 2015年第3期2卷 320-333页

作者： Gang Xiong Fenghua Zhu Xiwei Liu Xisong Dong Wuling Huang Songhang Chen Kai Zhao the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Science the Cloud Computing Center Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Beijing Engineering Research Center for Intelligent Systems and Technology Institute of AutomationChinese Academy of Science

A cyber-physical system (CPS) is composed of a physical system and its corresponding cyber systems that are tightly fused at all scales and levels. CPS is helpful to improve the controllability, efficiency and reliability of a physical system, such as vehicle collision avoidance and zero-net energy buildings systems. It has become a hot R&D and practical area from US to EU and other countries. In fact, most of physical systems and their cyber systems are designed, built and used by human beings in the social and natural environments. So, social systems must be of the same importance as their CPSs. The indivisible cyber, physical and social parts constitute the cyber-physical-social system (CPSS), a typical complex system and it's a challengeable problem to control and manage it under traditional theories and methods. An artificial systems, computational experiments and parallel execution (ACP) methodology is introduced based on which data-driven models are applied to social system. Artificial systems, i.e., cyber systems, are applied for the equivalent description of physical-social system (PSS). Computational experiments are applied for control plan validation. And parallel execution finally realizes the stepwise control and management of CPSS. Finally, a CPSS-based intelligent transportation system (ITS) is discussed as a case study, and its architecture, three parts, and application are described in detail. © 2014 Chinese Association of automation.

关键词： Amphibious vehicles complex networks Embedded systems Intelligent systems Transportation

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Cloud Computing Platform and Big Data Service for Incubator Cluster

Cloud Computing Platform and Big Data Service for Incubator ...

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2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Gang Xiong Chi Zhang Tongkai Ji Banji Guan Aobing Sun Yuexiang Hu Timo R.Nyberg Dongguan Research Institute of CASIA Cloud Computing CenterChinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Economic and Management Beijing University of Chemical Technology Department of Industrial Engineering and Management School of Sciences Aalto University

Hundreds of incubators get birthed worldwide every day, and many new ICT technologies developed continuously, like cloud computing and big data. Therefore, it's possible and necessary to develop a cloud computing platform that gathering a variety of data and resources information needed by thousands of incubators and millions of incubated enterprises. In this paper, after comparing three different countries incubator's management procedure, we mainly talk about the way to design a cloud-based incubator platform including its architecture, main functions, and the interface. We assume that the platform can gather and share a variety of information and resource, like money, human resource, equipment, office place and so on. So the platform is beneficial for the incubated enterprises, incubators, and the government. For example, the platform can provide individual services through big data technology. The platform can analysis the situation of incubators and warn the companies in dangerous condition with the history big data. Finally, this paper describes the use case of cloud-based incubator platform for Guangdong Province.

关键词： business incubator cluster open innovation cloud computing platform crowdsourcing big data service

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