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2020 IEEE International Conference on Networking, Sensing and Control (ICNSC)最新文献

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Bi-objective Intelligent Task Scheduling for Green Clouds with Deep Learning-based Prediction 基于深度学习预测的绿色云双目标智能任务调度
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238050
Heng Liu, Xiaofen Zhang, J. Bi, Haitao Yuan, Mengchu Zhou
The ever-increasing deployment of cloud data centers causes high energy consumption, high cost, and harmful environmental pollution. To solve above problems, cloud service providers are actively exploring to use green cloud data centers (GCDCs) by using green energy. Yet it is challenging to accurately predict the future wind and solar energy before making intelligent task scheduling decisions. In addition, it is difficult to jointly optimize cost and revenue. In this work, to make optimal task scheduling, various types of applications, service level agreements, service rates, task loss probability, electricity prices and green energy in different GCDCs are considered. First, this work employs a long short-term memory network to predict wind and solar energy. Then, it adopts a bi-objective optimization algorithm to achieve a better trade-off between cost and revenue of GCDCs. Finally, it adopts real-world data including workload trace, wind energy, solar energy and electricity prices to demonstrate the effectiveness of the proposed energy prediction and task scheduling methods. It's shown that the proposed methods achieve higher performance than other neural network methods.
随着云数据中心部署的不断增加,能耗高、成本高、环境污染严重。为了解决上述问题,云服务提供商正在积极探索利用绿色能源使用绿色云数据中心。然而,在制定智能任务调度决策之前,准确预测风能和太阳能的未来是一项挑战。此外,成本和收益难以共同优化。为了优化任务调度,本文考虑了不同gdc中的各类应用、服务水平协议、服务率、任务损失概率、电价和绿色能源等因素。首先,这项工作采用长短期记忆网络来预测风能和太阳能。然后,采用双目标优化算法,实现gdcs成本与收益的更好权衡。最后,采用工作负荷跟踪、风能、太阳能和电价等实际数据,验证了所提出的能源预测和任务调度方法的有效性。结果表明,该方法比其他神经网络方法具有更高的性能。
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引用次数: 2
Remote Monitoring System Of Track Cleaning Vehicles Based On 4G-Network 基于4g网络的轨道清扫车远程监控系统
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238083
Zenan Lin, Yanming Huang, Yong-Jun Xie, Qiantong Wu, Xiaojie Huang, Jingui Li, Xin Liu
The track cleaning vehicle plays an important role in the cleaning and maintenance of the modern tramway. To better monitor the working conditions of it and eliminate the occurrence of accidents, a remote monitoring system is designed. Various types of sensors are installed on the track cleaning vehicle to collect the information and the data are transmitted to Tencent Cloud Database. The remote monitoring software based on QT helps administrators to monitor the working conditions of the track cleaning vehicle, providing warnings and safety tips to guarantee the normal operation of it by acquiring the data from Tencent Cloud Database. The experimental results show that administrators can remotely monitor the working conditions of the track cleaning vehicle by the system, which promotes the development of the track cleaning vehicle and provides a safety guarantee for the modern tram.
轨道清洗车在现代有轨电车的清洗维护中起着重要的作用。为了更好的监控其工作状态,杜绝事故的发生,设计了远程监控系统。在轨道清扫车上安装各类传感器采集信息,并将数据传输至腾讯云数据库。基于QT的远程监控软件,通过从腾讯云数据库获取数据,帮助管理员监控轨道清扫车的工作状态,提供预警和安全提示,保证轨道清扫车的正常运行。实验结果表明,管理员可以通过该系统远程监控轨道清扫车的工作状态,促进了轨道清扫车的发展,为现代有轨电车的安全运行提供了保障。
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引用次数: 3
K-9 Artificial Intelligence Education in Qingdao: Issues, Challenges and Suggestions 青岛市中小学人工智能教育:问题、挑战与建议
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238087
Xiaoyan Gong, Ying Tang, Xiwei Liu, Sifeng Jing, Wei Cui, Joleen Liang, Feiyue Wang
Nowadays, AI education from Kindergarten to 9th grade(K-9) is in full swing in China, but many challenges exist, such as fragmented AI curricula, ineffective teaching tools, and uneven educational resources in urban and rural areas, etc. So this paper presents an in-depth study of the current status of K-9 AI education in Qingdao area through questionnaires, expert discussions, and field visits to sort out existing problems and then put forward corresponding advice and suggestions. Collected data is then analyzed from the perspectives of government, schools, teachers, students and parents, respectively. Results show that AI-related educational activities have been carried out in Qingdao area to improve students' AI literacy. But efforts are still needed to make such education more systematic, standardized, and personalized. Finally the paper made a list of recommendations corresponding to these needed efforts.
目前,中国从幼儿园到9年级(K-9)的人工智能教育正如火如荼地进行,但也存在许多挑战,如人工智能课程的碎片化、教学工具的低效、城乡教育资源的不均衡等。因此,本文通过问卷调查、专家讨论、实地考察等方式,对青岛地区K-9人工智能教育现状进行深入研究,梳理存在的问题,并提出相应的意见和建议。收集到的数据分别从政府、学校、教师、学生和家长的角度进行分析。结果表明,青岛地区开展了人工智能相关的教育活动,提高了学生的人工智能素养。但仍需努力使这种教育更加系统化、标准化和个性化。最后,本文就这些需要作出的努力提出了相应的建议清单。
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引用次数: 7
An Overview of Robust Reinforcement Learning 鲁棒强化学习概述
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238129
Shiyu Chen, Yanjie Li
Reinforcement learning (RL) is one of the popular methods for intelligent control and decision making in the field of robotics recently. The goal of RL is to learn an optimal policy of the agent by interacting with the environment via trail and error. There are two main algorithms for RL problems, including model-free and model-based methods. Model-free RL is driven by historical trajectories and empirical data of the agent to optimize the policy, which needs to take actions in the environment to collect the trajectory data and may cause the damage of the robot during training in the real environment. The main different between model-based and model-free RL is that a model of the transition probability in the interaction environment is employed. Thus the agent can search the optimal policy through internal simulation. However, the model of the transition probability is usually estimated from historical data in a single environment with statistical errors. Therefore, an issue is faced by the agent is that the optimal policy is sensitive to perturbations in the model of the environment which can lead to serious degradation in performance. Robust RL aims to learn a robust optimal policy that accounts for model uncertainty of the transition probability to systematically mitigate the sensitivity of the optimal policy in perturbed environments. In this overview, we begin with an introduction to the algorithms in RL, then focus on the model uncertainty of the transition probability in robust RL. In parallel, we highlight the current research and challenges of robust RL for robot control. To conclude, we describe some research areas in robust RL and look ahead to the future work about robot control in complex environments.
强化学习(Reinforcement learning, RL)是近年来机器人智能控制和决策的热门方法之一。强化学习的目标是通过跟踪和错误与环境的交互来学习agent的最优策略。RL问题有两种主要的算法,包括无模型和基于模型的方法。无模型强化学习是由智能体的历史轨迹和经验数据驱动来优化策略,需要在环境中采取行动来收集轨迹数据,在真实环境中训练时可能会对机器人造成损伤。基于模型的强化学习与无模型的强化学习的主要区别在于采用了交互环境中的转移概率模型。因此,智能体可以通过内部模拟来搜索最优策略。然而,转移概率的模型通常是根据单一环境下的历史数据来估计的,存在统计误差。因此,智能体面临的一个问题是,最优策略对环境模型中的扰动很敏感,这会导致性能的严重下降。鲁棒强化学习的目的是学习一种考虑转移概率模型不确定性的鲁棒最优策略,以系统地降低最优策略在扰动环境中的敏感性。在本综述中,我们首先介绍了强化学习中的算法,然后重点讨论了鲁棒强化学习中转移概率的模型不确定性。同时,我们强调了鲁棒强化学习在机器人控制中的研究现状和挑战。最后,我们描述了鲁棒强化学习的一些研究领域,并展望了复杂环境下机器人控制的未来工作。
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引用次数: 5
Distributed Formation Control of Unicycle-Like Vehicles Without Direct Distance Measurements 无直接距离测量的类独轮车分布式编队控制
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238078
Liang Liu, Xiaopeng Luo, Zhangqing Zhu
In this paper, we propose the distributed formation control law to drive a group of unicycle-like vehicles to converge to a formation with a same orientation. The vehicles do not rely on a global coordinate frame. The network of the vehicles forms an acyclic digraph with no directed loops. We design the control law for vehicles without using position or direct distance measurements. Then we analyze the convergence and the properties of the closed-loop system. Finally, our simulation results certify the effectiveness of the proposed control laws.
在本文中,我们提出了分布式编队控制律,以驱动一组单轮车收敛到具有相同方向的编队。车辆不依赖于全局坐标系。车辆网络形成无有向环路的无环有向图。我们设计了不使用位置或直接距离测量的车辆控制律。然后分析了闭环系统的收敛性和性质。最后,仿真结果验证了所提控制律的有效性。
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引用次数: 0
Accelerated Latent Factor Analysis for Recommender Systems via PID Controller 基于PID控制器的推荐系统加速潜在因素分析
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238055
Jinli Li, Xuke Wu, Ye Yuan, Yajuan Wu, Kangkang Ma, Yue Zhou
High-dimensional and sparse (HiDS) matrices generated by recommender systems (RSs) contain rich knowledge. A latent factor (LF) model can address such data effectively. Stochastic gradient descent (SGD) is an efficient algorithm for building a LF model on an HiDS matrix. However, it suffers slow convergence. To address this issue, this study proposes to implement a LF model with a proportional integral derivative (PID) controller. The main idea is to continuously apply a correction for SGD to accelerate the training process. Based on such design, a PID-based LF (PLF) model is proposed. Empirical studies on two HiDS matrices from RSs indicate that a PLF model outperforms an LF model in terms of both convergence rate and prediction accuracy for missing data.
由推荐系统生成的高维稀疏矩阵包含丰富的知识。潜在因素(LF)模型可以有效地处理这类数据。随机梯度下降法(SGD)是在HiDS矩阵上建立LF模型的有效算法。然而,它的收敛速度很慢。为了解决这个问题,本研究提出使用比例积分导数(PID)控制器来实现LF模型。其主要思想是不断地应用SGD校正来加速训练过程。在此基础上,提出了一种基于pid的LF (PLF)模型。对RSs中两个HiDS矩阵的实证研究表明,PLF模型在缺失数据的收敛速度和预测精度方面都优于LF模型。
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引用次数: 1
Path Planning with Autonomous Obstacle Avoidance Using Reinforcement Learning for Six-axis Arms 基于强化学习的六轴臂自主避障路径规划
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238112
Yinsen Jia, Yichen Li, Bo Xin, Chunlin Chen
In this paper, a strategy of path planning for autonomous obstacle avoidance using reinforcement learning for six-axis arms is proposed. This strategy gives priority to planning the obstacle avoidance path for the terminal of the mechanical arm, and then uses the calculated terminal path to plan the poses of the mechanical arm. For the points on the terminal path that the mechanical arm cannot avoid obstacles within the limit of the safe distance, this strategy will record these points as new obstacles and plan a new obstacle avoidance path for the terminal of mechanical arm. The above process is accelerated by the assisted learning strategies and looped until the correct path being calculated. The method proposed in this paper has been applied to a six-axis mechanical arm, and the simulation results show that this method can effectively plan an optimal path and poses for the mechanical arm.
提出了一种基于强化学习的六轴机械臂自主避障路径规划策略。该策略首先规划机械臂末端的避障路径,然后利用计算得到的末端路径规划机械臂的位姿。对于末端路径上机械臂无法在安全距离范围内避障的点,该策略将这些点记录为新的障碍物,并为机械臂末端规划新的避障路径。上述过程被辅助学习策略加速并循环,直到计算出正确的路径。将该方法应用于某六轴机械臂,仿真结果表明,该方法能有效地规划出机械臂的最优路径和姿态。
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引用次数: 1
Operator-based Nonlinear Modeling and Control for Microreactor 基于算子的微反应器非线性建模与控制
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238111
Kosuke Nishizawa, M. Deng, Y. Noge
In this paper, a model of a microreactor unit using Peltier devices for cooling and design a control system is proposed. In detail, after describing the mathematical model of the microreactor in consideration of nonlinearity, a control system based on operator theory is designed using the proposed model. Next, the simulation results in the open-loop are shown, and the past model and the proposed model are compared. Finally, we show the simulation results of the proposed control system and confirm its effectiveness.
本文提出了一种采用珀尔帖装置冷却的微堆装置模型,并设计了控制系统。详细地,在描述了考虑非线性的微反应器数学模型后,利用该模型设计了基于算子理论的控制系统。其次,给出了开环下的仿真结果,并对以往模型和所提模型进行了比较。最后给出了控制系统的仿真结果,验证了控制系统的有效性。
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引用次数: 0
Time-varying unimodular function based robust right coprime factorization for nonlinear forced vibration control system 基于时变单模函数的非线性强迫振动控制系统鲁棒右互素分解
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238113
Guang Jin, M. Deng
In this paper, a new nonlinear forced vibration control scheme using an operator-based robust right coprime factorization approach is considered for forced vibration control on a flexible plate with piezoelectric actuator. First, for considering the effect of hysteresis nonlinearity from the piezoelectric actuator, the Prandtl-Ishlinskii (P-I) hysteresis model is used to describe it. Also, a dynamic model of flexible plate is given by the theory of thin plates. For guaranteeing the robust stability of the nonin-ear forced vibration control system, operator-based controllers are designed. Simultaneously, for improving forced vibration control performance, the time-varying unimodular function is constructed by the designed controllers. If the inverse of the time-varying unimodular function tends to zero by the operator-based controllers and designed compensator, the output can be made arbitrarily small. Finally, the effectiveness of the proposed nonlinear control system is confirmed by simulation results.
本文提出了一种基于算子的鲁棒右素数分解方法的压电柔性板强制振动控制新方案。首先,考虑压电作动器迟滞非线性的影响,采用Prandtl-Ishlinskii (P-I)迟滞模型对其进行描述。并利用薄板理论建立了柔性板的动力学模型。为了保证非耳式强迫振动控制系统的鲁棒稳定性,设计了基于算子的控制器。同时,为了提高强制振动控制性能,设计的控制器构造了时变单模函数。如果基于算子的控制器和设计的补偿器使时变单模函数的逆趋于零,则可以使输出任意小。最后,仿真结果验证了所提非线性控制系统的有效性。
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引用次数: 0
Root Cause Analysis of Concurrent Alarms Based on Random Walk over Anomaly Propagation Graph 基于异常传播图随机游走的并发报警根本原因分析
Pub Date : 2020-10-30 DOI: 10.1109/ICNSC48988.2020.9238084
Lingyu Zhang, Jiabao Zhao, Min Zhang
With the development of Internet technology, IT systems are getting more and more complex, in which there are two main relationships among system components: service call relationship and deployment configuration relationship. Once a local anomaly occurs in the system, it tends to spread, triggering emergent and dense concurrent alarms. Hence, it is important to quickly and precisely locate the root cause of concurrent alarms. In this paper, we first construct an anomaly propagation graph using collected system data. Then, based on the graph, we propose two optional algorithms: random walk and state iteration, to track anomaly propagation process and locate the root cause. Simulation experiments demonstrate that our proposed method can localize root causes correctly and rapidly for scenarios with complex call chains and resource competition, and is robust to alarm error. The proposed method pays more attention to system characteristics and depends little on experience knowledge of IT operators.
随着Internet技术的发展,IT系统变得越来越复杂,其中系统组件之间的关系主要有两种:服务调用关系和部署配置关系。系统一旦出现局部异常,就有扩散的趋势,引发紧急、密集的并发告警。因此,快速准确地定位并发告警的根本原因非常重要。本文首先利用收集到的系统数据构造异常传播图。在此基础上,我们提出了随机漫步和状态迭代两种可选算法来跟踪异常传播过程并定位根本原因。仿真实验表明,该方法可以在复杂调用链和资源竞争场景下正确快速地定位根本原因,并且对报警误差具有鲁棒性。该方法更注重系统特性,对IT操作员的经验知识依赖较少。
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引用次数: 0
期刊
2020 IEEE International Conference on Networking, Sensing and Control (ICNSC)
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