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A Hybrid Learning Method for the Data-Driven Design of Linguistic Dynamic Systems

IEEE/CAA Journal of Automatica Sinica 2019年第6期6卷 1487-1498页

作者： Chengdong Li Jianqiang Yi yisheng Lv Peiyong Duan School of Information and Electrical Engineering Shandong Jianzhu UniversityJinan 250101China Institute of Automation Chinese Academy of SciencesBeijing 100190China Institute of Automation Chinese Academy of SciencesBeijing 100190and also with Qingdao Academy of Intelligent IndustriesQingdao 266109China School of Information Science and Engineering Shandong Normal UniversityJinan 250014China

In lots of data based prediction or modeling applications,uncertainties and/or noises in the observed data cannot be avoided.In such cases,it is more preferable and reasonable to provide linguistic(fuzzy)predicted results described by fuzzy memberships or fuzzy sets instead of the crisp estimates depicted by numbers.Linguistic dynamic system(LDS)provides a powerful tool for yielding linguistic(fuzzy)results.However,it is still difficult to construct LDS models from observed data.To solve this issue,this paper first presents a simplified LDS whose inputoutput mapping can be determined by closed-form formulas.Then,a hybrid learning method is proposed to construct the data-driven LDS model.The proposed hybrid learning method firstly generates fuzzy rules by the subtractive clustering method,then carries out further optimization of centers of the consequent triangular fuzzy sets in the fuzzy rules,and finally adopts multiobjective optimization algorithm to determine the left and right end-points of the consequent triangular fuzzy sets.The proposed approach is successfully applied to three real-world prediction applications which are:prediction of energy consumption of a building,forecasting of the traffic flow,and prediction of the wind speed.Simulation results show that the uncertainties in the data can be effectively captured by the linguistic(fuzzy)estimates.It can also be extended to some other prediction or modeling problems,in which observed data have high levels of uncertainties.

关键词： Fuzzy set least square method linguistic dynamic system(LDS) multi-objective optimization

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Time-varying formation finite-time tracking control for multi-UAV systems under jointly connected topologies

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International Journal of Intelligent Computing and Cybernetics 2017年第4期10卷 478-490页

作者： Tianyi Xiong Zhiqiang Pu Jianqiang Yi Institute of Automation Chinese Academy of SciencesBeijingChina and University of Chinese Academy of SciencesBeijingChina Institute of Automation Chinese Academy of SciencesBeijingChina University of Chinese Academy of Sciences BeijingChina

Purpose–The purpose of this paper is to investigate the time-varying finite-time formation tracking control problem for multiple unmanned aerial vehicle systems under switching topologies,where the states of the unmanned aerial vehicles need to form desired time-varying formations while tracking the trajectory of the virtual leader in finite time under jointly connected topologies.Design/methodology/approach–A consensus-based formation control protocol is constructed to achieve the desired formation.In this paper,the time-varying formation is specified by a piecewise continuously differentiable vector,while the finite-time convergence is guaranteed by utilizing a non-linear function.Based on the graph theory,the finite-time stability of the close-loop system with the proposed control protocol under jointly connected topologies is proven by applying LaSalle’s invariance principle and the theory of homogeneity with dilation.Findings–The effectiveness of the proposed protocol is verified by numerical simulations.Consequently,the proposed protocol can successfully achieve the predefined time-varying formation in finite time under jointly connected topologies while tracking the trajectory generated by the leader.Originality/value–This paper proposes a solution to simultaneously solve the control problems of time-varying formation tracking,finite-time convergence,and switching topologies.

关键词： Finite time Formation tracking control Jointly connected topologies Multi-UAV system

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Stable Transition of Quadruped Rhythmic Motion Using the Tracking Differentiator

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Journal of Harbin Institute of Technology(New Series) 2015年第5期22卷 9-16页

作者： Xiaoqi Li Wei Wang Jianqiang Yi Institute of Automation Chinese Academy of Sciences

Since the quadruped robot possesses predominant environmental adaptability,it is expected to be employed in nature environments. In some situations,such as ice surface and tight space,the quadruped robot is required to lower the height of center of gravity( COG) to enhance the stability and maneuverability. To properly handle these situations,a quadruped controller based on the central pattern generator( CPG) model,the discrete tracking differentiator( TD) and proportional-derivative( PD) sub-controllers is presented. The CPG is used to generate basic rhythmic motion for the quadruped robot. The discrete TD is not only creatively employed to implement the transition between two different rhythmic medium values of the CPG which results in the adjustment of the height of COG of the quadruped robot,but also modified to control the transition duration which enables the quadruped robot to achieve the stable transition. Additionally,two specific PD sub-controllers are constructed to adjust the oscillation amplitude of the CPG,so as to avoid the severe deviation in the transverse direction during transition locomotion. Finally,the controller is validated on a quadruped model. A tunnel with variable height is built for the quadruped model to travel through. The simulation demonstrates the severe deviation without the PD sub-controllers,and the reduced deviation with the PD sub-controllers.

关键词： quadruped robot center of gravity central pattern generator discrete tracking differentiator proportional-derivative sub-controller

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Scene-adaptive crowd counting method based on meta learning with dual-input network DMNet

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Frontiers of Computer Science 2023年第1期17卷 91-100页

作者： Haoyu ZHAO Weidong MIN jianqiang XU Qi WANG yi ZOU Qiyan FU School of Information Engineering Nanchang UniversityNanchang 330031China School of Software Nanchang UniversityNanchang 330047China Jiangxi Key Laboratory of Smart City Nanchang 330047China

Crowd counting is recently becoming a hot research topic, which aims to count the number of the people in different crowded scenes. Existing methods are mainly based on training-testing pattern and rely on large data training, which fails to accurately count the crowd in real-world scenes because of the limitation of model’s generalization capability. To alleviate this issue, a scene-adaptive crowd counting method based on meta-learning with Dual-illumination Merging Network (DMNet) is proposed in this paper. The proposed method based on learning-to-learn and few-shot learning is able to adapt different scenes which only contain a few labeled images. To generate high quality density map and count the crowd in low-lighting scene, the DMNet is proposed, which contains Multi-scale Feature Extraction module and Element-wise Fusion Module. The Multi-scale Feature Extraction module is used to extract the image feature by multi-scale convolutions, which helps to improve network accuracy. The Element-wise Fusion module fuses the low-lighting feature and illumination-enhanced feature, which supplements the missing illumination in low-lighting environments. Experimental results on benchmarks, WorldExpo’10, DISCO, USCD, and Mall, show that the proposed method outperforms the existing state-of-the-art methods in accuracy and gets satisfied results.

关键词： crowd counting meta-learning scene-adaptive Dual-illumination Merging Network

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Combined pollution of arsenic and Polymyxin B enhanced arsenic toxicity and enriched ARG abundance in soil and earthworm gut microbiotas

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Journal of Environmental Sciences 2021年第11期33卷 171-180页

作者： Lyu Li Dong Zhu Xingyun yi jianqiang Su Guilan Duan Xianjin Tang Yongguan Zhu State Key Lab of Urban and Regional Ecology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Urban Environment and Health Institute of Urban EnvironmentChinese Academy of SciencesXiamen 361021China Institute of Soil and Water Resources and Environmental Science Zhejiang UniversityHangzhou 310058China

Polymyxin B(PMB)is considered as the last line of antibiotic defense available to humans.The environmental effects of the combined pollution with PMB and heavy metals and their interaction mechanisms are unclear.We explored the effects of the combined pollution with PMB and arsenic(As)on the microbial composition of the soil and in the earthworm gut,as well as the spread and transmission of antibiotic resistance genes(ARGs).The results showed that,compared with As alone,the combined addition of PMB and As could significantly increase the bioaccumulation factor and toxicity of As in earthworm tissues by 12.1%and 16.0%,respectively.PMB treatment could significantly increase the abundance of Actinobacteria in the earthworm gut(from 35.6%to 45.2%),and As stress could significantly increase the abundance of Proteobacteria(from 19.8%to 56.9%).PMB and As stress both could significantly increase the abundance of ARGs and mobile genetic elements(MGEs),which were positively correlated,indicating that ARGs might be horizontally transferred.The inactivation of antibiotics was the main resistance mechanism that microbes use to resist PMB and As stress.Network analysis showed that PMB and As might have antagonistic effects through competition with multi-drug resistant ARGs.The combined pollution by PMB and As significantly promoted the relative abundance of microbes carrying multi-drug resistant ARGs and MGEs,thereby increasing the risk of transmission of ARGs.This research advances the understanding of the interaction mechanism between antibiotics and heavy metals and provides new theoretical guidance for the environmental risk assessment and combined pollution management.

关键词： Arsenic Soil Earthworm gut microbiotas Polymyxin B Antibiotic resistance genes

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A novel material for passive NO_(x) adsorber:Ce-based BEA zeolite

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Journal of Rare Earths 2023年第8期41卷 1163-1170,I0002页

作者： Yan Wu Jun Wang Zexiang Chen yi Zhu Minghui Yu Chen Wang Yanping Zhai jianqiang Wang Gurong Shen Meiqing Shen School of Chemical Engineering and Technology Tianjin UniversityTianjin 300350China National Rare Earth Catalysis Research Institute Dongying 257000China Department of Environmental Engineering and Technology China Institute for Radiation ProtectionTaiyuan 030006China School of Materials Science and Engineering Tianjin UniversityTianjin 300350China School of Environmental and Safety Engineering North University of ChinaTaiyuan 030051China Collaborative Innovation Center of Chemical Science and Engineering(Tianjin) Tianjin 300350China

Passive NO_(x) adsorbers(PNAs)were proposed to address the NO_(x) emissions during the cold start phase.Here we show a novel Ce-based BEA zeolite,as a noble-metal-free passive NO_(x)adsorber.The NO_(x) adsorption capacity of Ce/BEA reaches 36μmol/g in the feed gas close to realistic exhaust conditions,and the NO_(x) desorption temperature,which is around 290℃,is ideal for diesel exhaust after-treatment systems.Ce/BEA also behaves notable stability of high temperature CO exposure conditions.Multiple characterizations were performed to explore the NO_(x) adsorption chemistry of Ce/BEA.The Ce(Ⅳ)species in the BEA zeolite serves as the active center for NO_(x) adsorption.The bidentate nitrate species is responsible for the observed NO_(x) storage capacity,and the active oxygen around Ce(Ⅳ)plays a critical role in its formation.Considering the significantly better cost efficiency of Ce compared to Pd,Ce/BEA presents an enormous potential for the PNA applications and provides a novel formulation for the noblemetal choice of PNA materials.

关键词： Passive NO_(x)adsorbers Ce/BEA Non-noble-metal Cold start Rare earths

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Foot-ground Contact Force during Quadruped Locomotion Using CPG Control

Foot-ground Contact Force during Quadruped Locomotion Using ...

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第37届中国控制会议

作者： Xiaoqi Li Yanbo Wang Wei Wang Jianqiang Yi Beijing Institute of Precise Mechatronics and Controls China Academy of Launch Vehicle Technology Institute of Automation Chinese Academy of Sciences IEEE

Central Pattern Generator（CPG） is able to produce rnytnmic signals witnout sensory teedback or any rhytnmic inputs,and is becoming popular for locomotion of quadruped robots.However,due to the lack of foot-ground contact force information,the swing phase and the stance phase of control signals generated by CPG are not consistent with the actual phase of the quadruped limb,so that the dynamic performance of quadruped robots controlled by CPG is not satisfying.Therefore,in this paper,force sensor is attached on the quadruped limb to detect the real-time contact force of foot with the substrate,and the actual contact-lift state of the limb.In addition,we analyze the characteristic of ground reaction force（GRF）,and the relationship between GRF and the detected foot-ground contact force.Moreover,we discuss the effect of different CPG parameters on the foot-ground contact force,so as to lay basis for improving the dynamic performance of quadruped robots.

关键词： Quadruped robot central pattern generator ground reaction force

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Jaundice as a prognostic factor in patients undergoing radical treatment for carcinomas of the ampulla of Vater

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Chinese Medical Journal 2014年第5期127卷 860-864页

作者： Zhou Jianguo Zhang Qian Li Peng Shan yi Zhao Dongbing Cai jianqiang Department of Abdominal Surgery Cancer Hospital &amp Institute Chinese Academy of Medical Sciences &amp Peking Union Medical College Beijing 100021 China

Background Carcinomas of the ampulla of Vater （CAV） is a relatively rare malignant gastrointestinal tumor,and its postoperative prognostic factors have been well studied.However,as its first symptom,the impact of jaundice on the prognosis of CAV is not so clear.This study aims to explore the role of jaundice as a prognostic factor in patients undergoing radical treatment for CAV.Methods The clinical data of 195 patients with CAV who were treated in the Cancer Hospital,Chinese Academy of Medical Sciences ＆ Peking Union Medical College,from January 1989 to January 2013 were retrospectively analyzed.Among them,170 patients with pathologically confirmed CAV entered the statistical analysis.Jaundice was defined as a total bilirubin serum concentration of ≥3 mg/dl.Result Of these 170 patients,99 （58.20％） had jaundice at presentation.Jaundice showed significant correlations with tumor differentiation （P=0.002）,lymph node metastasis （P=0.016）,pancreatic invasion （P=0.000）,elevated preoperative CA199 （P=0.000）,depth of invasion （P=0.000）,and tumor stage （P=0.000）.There were more patients with pancreatic invasion in the jaundice group than in the non-jaundice group.Also,lymph node metastasis was more common in the jaundice group （n=26） than in the non-jaundice group （n=8）.The non-jaundice group had significant better overall 5-year disease-free survival （72.6％） than the jaundice group （41.2％,P=0.013）.Jaundice was not significantly correlated with the postoperative bleeding （P=-0.050）.Conclusions Jaundice in patients with CAV often predicts more advanced stages and poorer prognoses.Pancreatic invasion and lymph node metastasis are more common in CAV patients with jaundice.Jaundice is not a risk factor for postoperative bleeding and preoperative biliary drainage cannot reduce the incidence of postoperative complications.

关键词： carcinoma, ampulla of Vater prognosis jaundice

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Prognostic relevance of number and ratio of metastatic lymph nodes in resected carcinoma of the ampulla of Vater

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Chinese Journal of Cancer Research 2013年第6期25卷 735-742页

作者： Jianguo Zhou Qian Zhang Peng Li yi Shan Dongbing Zhao jianqiang Cai Department of Abdominal Surgery Cancer HospitalChinese Academy of Medical Sciences & Peking Union Medical College Department of General Surgery Aerospace Central Hospital

Objectives： To explore the prognostic relevance of the number and ratio of metastatic lymph nodes in resected Carcinoma of the ampulla of Vater （CAV）. Methods： The clinical data of 155 patients who underwent pancreaticoduodenectomy （PD） for cancer of the ampulla of Vater between January 1990 and December 2010 were retrospectively analyzed. Kaplan- Meier method was used in survival analysis and Log rank method in comparison. Multivariate analysis was performed using Cox proportional hazards model. Results： Among these 155 patients, the in-hospital mortality rate was 4.5%, lymph node positive disease was 21.3%, and the 5-year survival rate was 51.6%. Patients with a lymph node ratio （LNR）〉20% were more likely to have tumor differentiation, depth of duodenal involvement, depth of pancreatic invasion, T-stage and TNM-Stage. The number of the metastatic lymph nodes is important prognostic factors of the CAV. Univariate analysis showed that the factors associated with the prognosis included tumor size （P=0.036）, tumor differentiation （P=0.019）, LNR （P=0.032）, mtmber of metastatic lymph nodes （P=0.024）, lymph node metastasis （P=0.03）, depth of pancreatic invasion （P=0.001）, T-stage （P=0.002）, TNM stage （P=0.001）, elevated CA 19-9 （P=0.000）, and jaundice （P=0.021）. Multivariate analysis showed that the factors associated with the prognosis were the number of metastatic lymph nodes （P=0.032; RR： 1.283; 95% CI： 1.022-1.611）, tumor size （P=0.043; RR： 1.736; 95% CI： 1.017-2.963）, and elevated CA 19-9 （P=0.003; RR： 3.247; 95% CI： 1.504-7.010）. Conclusions： LNR is a useful factor for predicting the prognosis of the radical treatment for CAV,, whereas the number of metastatic lymph nodes is the most important factor. Further research on the locations, number, and LNR will be clinically meaningful to improve survival in patients with CAV.

关键词： Ampulla of vater lymph nodes metastasis carcinoma prognosis

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Immersion and Invariance Based Composite Adaptive Control of Nonlinear High-Order Systems

Immersion and Invariance Based Composite Adaptive Control of...

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第30届中国控制与决策会议

作者： Zhen Liu Ruyi Yuan Guoliang Fan Jianqiang Yi Institute of Automation Chinese Academy of Sciences

A new nonlinear composite adaptive control based on immersion and invariance theory is presented for a class of high-order system with parametric uncertainty.The main feature of this control scheme lies in the construction of the adaptive law,which is driven by both tracking error and prediction error.The tracking-error based adaptation law is first constructed using immersion and invariance theory,then the prediction-error based adaptation law is added to it,thus makes a composite adaptive control law.The combination is applied to the immersion and invariance based adaptive control with improved performance.Stability analysis is presented using Lyapunov theory,which shows asymptotical convergence of the tracking error to zero.The validity of the proposed control scheme is illustrated through numerical simulations.

关键词： Immersion and Invariance Adaptive Control Composite Adaptive Control High-Order Systems

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