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Distributed dynamic stochastic approximation algorithm over time-varying networks 时变网络上的分布式动态随机逼近算法
自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00003-1
Kewei Fu, Han-Fu Chen, Wenxiao Zhao
{"title":"Distributed dynamic stochastic approximation algorithm over time-varying networks","authors":"Kewei Fu,&nbsp;Han-Fu Chen,&nbsp;Wenxiao Zhao","doi":"10.1007/s43684-021-00003-1","DOIUrl":"10.1007/s43684-021-00003-1","url":null,"abstract":"<div><p>In this paper, a distributed stochastic approximation algorithm is proposed to track the dynamic root of a sum of time-varying regression functions over a network. Each agent updates its estimate by using the local observation, the dynamic information of the global root, and information received from its neighbors. Compared with similar works in optimization area, we allow the observation to be noise-corrupted, and the noise condition is much weaker. Furthermore, instead of the upper bound of the estimate error, we present the asymptotic convergence result of the algorithm. The consensus and convergence of the estimates are established. Finally, the algorithm is applied to a distributed target tracking problem and the numerical example is presented to demonstrate the performance of the algorithm.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00003-1.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42250364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Online distributed tracking of generalized Nash equilibrium on physical networks 物理网络上广义纳什均衡的在线分布式跟踪
自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00004-0
Yifan Su, Feng Liu, Zhaojian Wang, Shengwei Mei, Qiang Lu
{"title":"Online distributed tracking of generalized Nash equilibrium on physical networks","authors":"Yifan Su,&nbsp;Feng Liu,&nbsp;Zhaojian Wang,&nbsp;Shengwei Mei,&nbsp;Qiang Lu","doi":"10.1007/s43684-021-00004-0","DOIUrl":"10.1007/s43684-021-00004-0","url":null,"abstract":"<div><p>In generalized Nash equilibrium (GNE) seeking problems over physical networks such as power grids, the enforcement of network constraints and time-varying environment may bring high computational costs. Developing online algorithms is recognized as a promising method to cope with this challenge, where the task of computing system states is replaced by directly using measured values from the physical network. In this paper, we propose an online distributed algorithm via measurement feedback to track the GNE in a time-varying networked resource sharing market. Regarding that some system states are not measurable and measurement noise always exists, a dynamic state estimator is incorporated based on a Kalman filter, rendering a closed-loop dynamics of measurement-feedback driven online algorithm. We prove that, with a fixed step size, this online algorithm converges to a neighborhood of the GNE in expectation. Numerical simulations validate the theoretical results.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00004-0.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46576002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Smart level sensor based on thermal resistance measurement with self calibration 基于热阻测量的智能液位传感器，具有自校准功能
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547040
L. Umar
{"title":"Smart level sensor based on thermal resistance measurement with self calibration","authors":"L. Umar","doi":"10.1109/AIS.2010.5547040","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547040","url":null,"abstract":"A new detection method of level sensor based on the thermal resistance of gas and liquids using modeling of the current-voltage-curve is presented. The model directly examines the thermal resistance (Rth) of the sensor exposed to a specified medium whose value extracted simultaneously with the parameters of the sensor. In compared to the in air with 348K/W, the thermal resistance in water decreased around 82 %, and/or in silicon oil 67 %, in transmission oil 68 % and in petroleum 71 %. From these results, the sensor status between „empty“ (in air) and „full“ (in fluid) are clearly distinguishable. The change of overall thermal resistance due to the dirt was measured experimentally using a variety of fluids and the results were validated with the mathematical simulation. The changing of the thermal resistance is evaluated using the mathematical model based on heat transfer concept, enable to assess if soiling on the sensor surfaces so far increased, then the sensor must be changed or cleaned.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"37 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77461948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Tracking control of autonomous vehicles with slippage 带滑移的自动驾驶汽车跟踪控制
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547029
Howard Li, M. Trentini
{"title":"Tracking control of autonomous vehicles with slippage","authors":"Howard Li, M. Trentini","doi":"10.1109/AIS.2010.5547029","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547029","url":null,"abstract":"To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving on a plane surface. Fuzzy control laws are designed for the nonlinear system. Finally, the proposed fuzzy controller is tested on the Ackerman steered vehicle and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous vehicle tracks the trajectory satisfactorily.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"114 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79329949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Hybrid derivative-free EKF for USBL/INS tightly-coupled integration in AUV 水下航行器USBL/INS紧密耦合集成的混合无导数EKF
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547035
Y. Geng, J. Sousa
{"title":"Hybrid derivative-free EKF for USBL/INS tightly-coupled integration in AUV","authors":"Y. Geng, J. Sousa","doi":"10.1109/AIS.2010.5547035","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547035","url":null,"abstract":"This paper presents a novel hybrid derivative-free extended Kalman filter, which takes advantage of both the linear time propagation of the Kalman filter and nonlinear measurement propagation of the derivative-free extended Kalman filter. The proposed filter is very suitable for the tightly coupled integration navigation system which consists of USBL or GPS with INS. The computation burden is reduced sharply compare to nonlinear estimation method such as the unscented Kalman filter (UKF). Simulations are conducted to illustrate the effectiveness of the proposed Kalman filter. The performance of the novel filter is as good as that of the UKF in integration navigation.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"41 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85940938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Automated planning of tutorial dialogues 教程对话的自动规划
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547015
A. Rahati, F. Kabanza
{"title":"Automated planning of tutorial dialogues","authors":"A. Rahati, F. Kabanza","doi":"10.1109/AIS.2010.5547015","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547015","url":null,"abstract":"Managing a dialogue between a student and an intelligent tutoring system is a challenging problem for many applications. It has often been argued and demonstrated that adaptive dialogues between a user and a computer can be generated automatically, using automated planning techniques to plan speech acts. To date such plan-based dialogue generation approaches have relied on deterministic planning algorithms. Consequently they can only handle sequential dialogue structures. In this paper we describe a new approach for automatically planning more general tree-like dialogue structures, by using a nondeterministic planner with incomplete knowledge and sensing. Our approach takes into account incomplete information about the user's knowledge by including queries that the computer can ask to the user to gather missing information that is necessary for an effective feedback. We illustrate our system with an application to an intelligent tutoring system for medical diagnosis.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"12 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85170590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
A testbed platform for assessing human-robot verbal interaction 一个评估人机语言交互的测试平台
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547031
Hassene Bouraoui, A. Khamis, F. Karray
{"title":"A testbed platform for assessing human-robot verbal interaction","authors":"Hassene Bouraoui, A. Khamis, F. Karray","doi":"10.1109/AIS.2010.5547031","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547031","url":null,"abstract":"Verbal interaction provides a natural and social-style interaction mode by which robots can communicate with general public who is likely unknowledgeable in robotics. This interaction mechanism is also very important for a broad range of users such as hands/eyes-busy users, motor-impaired users, users with vision impairment and users working in hostile environments. This paper presents a testbed that can be used to study human-robot verbal interaction. The proposed testbed encompasses a Java-based user interfaces and a user-independent automatic speech recognizer with a modified grammar module in the context of human-robot interaction. The performance of the proposed testbed has been evaluated quantitatively using a set of evaluation metrics such as word correct rate, recognition Time and success and false action rates. The conducted experiments show the promising features of the system.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"100 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83612688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Efficient deployment of connected sensing devices using circle packing algorithms 使用圆形封装算法的连接传感设备的有效部署
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547023
R. Ramadan, S. Abdel-Mageid
{"title":"Efficient deployment of connected sensing devices using circle packing algorithms","authors":"R. Ramadan, S. Abdel-Mageid","doi":"10.1109/AIS.2010.5547023","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547023","url":null,"abstract":"In this paper, we explore different sensor deployment problems and how these problems can be solved optimally using the current packing approaches in terms of small-scale problems. In addition, we consider the deployment of either homogenous or heterogeneous sensing devices. The deployment objectives are to maximize the coverage of the monitored field and use the best of the sensing devices characteristics as well as developing a connected deployment scheme. We propose a novel algorithm named Sequential Packing-based Deployment Algorithm (SPDA) for the deployment of heterogeneous sensors in order to maximize the coverage of the monitored field and connectivity of the deployed sensors. The algorithm is inspired from the packing theories in computational geometry where it benefits from many of the observations properties that are captured from the optimal packing solutions. The algorithm efficiency is examined using different case studies.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"2 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81965493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
A software framework for multi-agent control of multiple autonomous underwater vehicles for underwater mine counter-measures 针对水雷对抗的多自主水下航行器多智能体控制软件框架
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547032
Howard Li, Alexandru Popa, Carl Thibault, M. Trentini, M. Seto
{"title":"A software framework for multi-agent control of multiple autonomous underwater vehicles for underwater mine counter-measures","authors":"Howard Li, Alexandru Popa, Carl Thibault, M. Trentini, M. Seto","doi":"10.1109/AIS.2010.5547032","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547032","url":null,"abstract":"In this study, a novel robot control framework is presented for multiple autonomous underwater vehicles. In this framework, we incorporate sonar sensor data and integrated navigation system position data in a simulation environment, called UNBeatable-Sim, where complex control behaviors can be executed and analyzed. UNBeatable-Sim is developed by the COllaboration Based Robotics and Automation (COBRA) research group at the University of New Brunswick, Canada. Range and pose sensor data are accumulated in an ocean environment constructed using seabed data collected at Bedford Basin, Nova Scotia, Canada by DRDC Atlantic. A seabed map is generated from the real-world data using UNBeatable-Sim. The underwater vehicle and the seabed are simulated and visualized using OpenGL. An external controller implemented using Matlab and Simulink is used to control the robot model. Simulations of multiple underwater vehicles to navigate in the ocean environment to sense and map the seabed are performed using UNBeatable-Sim to assess the system architecture and controller performance.","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"11 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78790599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 18
Sensorless control for synchronous motors 同步电机无传感器控制
自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547028
L. Veselý, P. Zbranek
{"title":"Sensorless control for synchronous motors","authors":"L. Veselý, P. Zbranek","doi":"10.1109/AIS.2010.5547028","DOIUrl":"https://doi.org/10.1109/AIS.2010.5547028","url":null,"abstract":"Permanent magnet synchronous motors are used in many industrial applications because they have several inherent advantages. However, information about the rotor position is necessary even to be able to control drive speed. Conventional speed and position detection uses encoder and resolver. These sensors significantly increase price, weight, and degrade reliability. Therefore many authors publish papers about algorithms for rotor position and speed estimation. One of state estimation possibility is using extended Kalman filter. Conventional algorithms based on EKF are developed using a simple model of permanent magnet synchronous motor, thereby provide bad performance in the low speed range. Extended Kalman filter using an interior permanent magnet synchronous motor model is described in this paper. This model makes possible for EKF to operate in low speeds. Second part of this paper describes an algorithm Model Reference Adaptive system (MRAS).","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":"55 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2010-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86441776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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