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第三十四届中国控制会议

作者： LI Jiwei LI Dewei XI Yugeng Zheng Pengyuan Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information Processing Ministry of Education College of Automation Engineering Shanghai University of Electric Power

ISBN: (纸本)9781467374439

This paper designs output-feedback model predictive control for discrete-time stochastic linear systems. An augmented system of both estimated state and estimation error is formulated. A series of polyhedrons is designed for uncertainty propagation of the augmented system and handling probabilistic constraints. In particular, the polyhedron of estimation error is maintained over the repeated optimization such that the real system state is properly estimated. The resultant optimization problem of the controller is quadratic programming and is solved efficiently. A numerical example is given to illustrate performance of the controller.

关键词： model predictive control,output feedback,probabilistic constraints,stochastic uncertainty

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Dual-Tone Radio Interferometric Positioning systems for Multi-Target Localization Using a Single Mobile Anchor

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China Communications 2015年第1期12卷 25-35页

作者： LI Li'an WANG Yiyin MA Xiaoli CHEN Cailian GUAN Xinping Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electrical & Computer Engineering Georgia Institute of Technology

In this paper, a low-cost dualtone radio interferometric positioning system using a single mobile anchor is proposed to locate multiple targets at the same time. We name it mDRIPS. In mDRIPS, each target continuously transmits a dual-tone signal with its dedicated frequencies, and the mobile anchor receives the signals at different positions along its trajectory, Neither time synchronization between the mobile anchor and the targets nor time synchronization among the targets is required. We take the instability of targets clocks into consideration and develop an ESPRIT-type algorithm to estimate frequencies of each dual-tone signal. Furthermore, the time of arrival （TOA） of each target signal is extracted from the phase estimates of the received dual-tone signals. After measuring several TOAs at different locations along the anchor＇s trajectory, each target can be located. Since the frequency difference of the two tones of each dualtone signal is designed to be smaller than the channel coherence bandwidth, the same fading effect on these two tones can be eliminated. Moreover, the integer ambiguity problem due to phase wrapping is investigated, and a localization algorithm to deal with a simplified ambiguity problem is proposed. Numerical results demonstrate the efficiency of the proposed mDRIPS.

关键词： ranging localization mobile anchor radio interferometry oscillator instability

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Improving a two-equation eddy-viscosity turbulence model to predict the aerodynamic performance of thick wind turbine airfoils

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Journal of Physics: Conference Series 2018年第1期974卷

作者： Galih Bangga Tri Kusumadewi Go Hutomo Ahmad Sabila Taurista Syawitri Herlambang Setiadi Muhamad Faisal Raditya Wiranegara Yongki Hendranata Dwi Lastomo Louis Putra Stefanus Kristiadi Institute of Aerodynamics and Gas Dynamics University of Stuttgart Stuttgart Germany Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia School of Manufacturing System and Mechanical Engineering Sirindhorn International Institute of Technology Thammasat University Thailand Toyota SO Department Astra International Ltd. Indonesia Civil Engineering Department Universitas Brawijaya Malang Indonesia Mechanical Engineering Department Universitas Muhammadiyah Surakarta Surakarta Indonesia School of Information Technology & Electrical Engineering The University of Queensland Brisbane Australia Non-Installation Top Range Department Berca Schindler Lifts Ltd. Indonesia Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taiwan School of Aerospace Transport and Manufacturing Cranfield University United Kingdom Mechanical Engineering Department Texas A&M University College Station United States PUI-PT Mechatronics and Industrial Automation Research Center Intitut Teknologi Sepuluh Nopember Surabaya Indonesia Mechanical Engineering Department Politecnico di Milano Milan Italy Aeronautics Department Imperial College of Science Technology and Medicine London United Kingdom

Numerical simulations for relatively thick airfoils are carried out in the present studies. An attempt to improve the accuracy of the numerical predictions is done by adjusting the turbulent viscosity of the eddy-viscosity Menter Shear-Stress-Transport (SST) model. The modification involves the addition of a damping factor on the wall-bounded flows incorporating the ratio of the turbulent kinetic energy to its specific dissipation rate for separation detection. The results are compared with available experimental data and CFD simulations using the original Menter SST model. The present model improves the lift polar prediction even though the stall angle is still overestimated. The improvement is caused by the better prediction of separated flow under a strong adverse pressure gradient. The results show that the Reynolds stresses are damped near the wall causing variation of the logarithmic velocity profiles.

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Shadow lane robust detection by image signal local reconstruction

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2016年第3期9卷 89-102页

作者： Du, Mingfang Junzheng, Wang Nan, Li Duoyang, Li School of Automation Beijing Union University Beijing China State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Key Laboratory of Information Service Engineering

In order to resolve shadow interference and slow image processing speed in the visual navigation of unmanned vehicles on city roads, a new lane detection algorithm based on the Inverse Perspective Mapping(IPM) of vertical sub-image reconstruction using local bands was proposed. The lane’s IPM aerial image was obtained using the projective transformation of three-dimensional images of city roads. The ROI portion of the IPM map was decomposed and analyzed using the sym3 wavelet, and after analyzing and comparing the experimental results the first and second levels of the vertical sub images were selected for the reconstruction, compression, and removal of shadows from the original image. The Canny algorithm was proposed and adopted in order to extract the edge features of the reconstructed images according to real-time road image quality. A modified, polar angle, constraint-based, fast Hough transform was used to locate the candidate lanes. Finally, the main control point, straight-line-fitting algorithm was used to fit the final lanes, which achieved the precise location and recognition of the lane lines. The California Polytechnic lane data set, a public data platform, which is now widely used in road visual recognition fields around the world, was selected for the testing and verification of the algorithm. The results of the experiment and actual operation indicated that, despite having a storage space of approximately one tenth the size of similar algorithms, this detection algorithm effectively solves the issue of shadow removal, meets the real-time requirements of roadway image processing systems for unmanned vehicles with a recognition time of less than 20ms, and is robust. © 2016 SERSC.

关键词： Wavelet transforms

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Density peaks clustering based on multiple distance measures for manufacturing process

Density peaks clustering based on multiple distance measures...

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International Conference on Information and automation (ICIA)

作者： Shuai Li Shiying Gao Xiaofeng Zhou Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Network Control System Shenyang China College of Computer Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781509041039

Data analysis and processing of manufacturing process is significant to ensure the stable production safety, maintain quality stabilization, and optimize production profit. Practical manufacturing process often has complex characteristics, such as multimode, nonlinearity, etc. Mode division can divide manufacturing process into multiple modes and is useful for subsequent process monitoring and scheduling optimizing. In this paper, density peaks clustering (DPC) based on multiple distance measures is used for mode division in manufacturing process. Multiple distance measures for computing the local density and minimum distance between the point and any other point with higher density in DPC are compared and analyzed. To illustrate the effectiveness of the clustering method for mode division in manufacturing process, experiments are developed based on penicillin fermentation process and practical foods industrial production process. Experimental results verify the feasibility and efficiency of the clustering method for mode division in manufacturing process.

关键词： Manufacturing processes Density measurement Level measurement Clustering methods automation Monitoring

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Formal modeling and performance analysis of safety communication protocol in train control system

Formal modeling and performance analysis of safety communica...

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第35届中国控制会议

作者： LIU Hongjie CHEN Lijie Eckehard Schnieder State Key Lab of Rail Traffic Control & Safety Beijing Jiaotong University National Engineering Research Center of Rail Transportation Operation & Control System Beijing Jiaotong University Institute of Standards & Measurements China Academy of Railway Sciences Institute for traffic safety and automation engineering Technical University Braunschweig

ISBN: (纸本)9781509009107

The safety communication protocol is a main factor affecting the train control system. Its performance analysis is of great significance to the train control system. After introducing the procedure of safety communication protocol in the train control system briefly, this paper first explores the application of hierarchy timed Colored Petri Net(CPN) to establish the models of the protocol, including the models of state transition process and the models with time delay and packet loss to imply the influent factors, then collects related performance data such as time for establishment of safety connection, with different time delay and probability of packet loss via simulation. The simulation results could provide a certain reference for the safety communication protocol design and development. Finally, this paper finds how the time delay and packet loss could influent the time for the establishment of safety connection through data interaction process based on theory of probability and mathematical statistic, which is reasonable.

关键词： Safety communication protocol Train control system Petri net Theory of probability Mathematical statistic

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Corrigendum to “Stabilizing Parametric Region of Multiloop PID controllers for Multivariable systems Based on Equivalent Transfer Function”

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Mathematical Problems in engineering 2017年第1期2017卷

作者： Xiaoli Luan Qiang Chen Pedro Albertos Fei Liu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education and the Institute of Automation Jiangnan University Wuxi 214122 *** Department of System Engineering and Automatica Universidad Politécnica de Valencia 46022 Valencia Spainupv.es

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A least square approach for distributed sensor fusion in bandwidth-constrained sensor networks

A least square approach for distributed sensor fusion in ban...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Shanying Zhu Jinming Xu Cailian Chen Xinping Guan Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Automation Shanghai Jiao Tong University Shanghai China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781479999897

In this paper, we consider a simple model of distributed sensor fusion problem in sensor networks with asymmetric links, where the common goal is linear parameter estimation. For the realistic scenario of bandwidth-constrained networks, we propose a least square approach, based on distributed quantized consensus algorithms, to compute the ideal centralized sample mean estimate. Analytical results show that the proposed approach is effective in smearing out the quantization errors, and outperforms the centralized approaches with respect to the estimation performance. Simulation results are provided to validate the analytical results.

关键词： Quantization (signal) Sensor fusion Bandwidth Distributed algorithms Convergence Estimation Probabilistic logic

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Constrained Energy Efficiency Optimization for Robotic Manipulators Using Neuro-dynamics Approach 34

Constrained Energy Efficiency Optimization for Robotic Manip...

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第三十四届中国控制会议

作者： XU Peng WANG Liyang LI Zhijun SU Chun-Yi The Key Lab of Autonomous System and Network Control Ministry of Education and College of Automation Science and Engineering South China University of Technology Department of Electronic Engineering Shunde Polytechnic

ISBN: (纸本)9781467374439

In the paper, a neurodynamic-based energy efficiency optimization strategy(NEE-OS) is proposed to decrease the energy expenditure of robotic manipulators. Different from the traditional approaches, the proposed NEE-OS integrates several necessary constrains from the environment and the robotic manipulator, which could affect energy consumptions of the robotic manipulator in engineering applications to a large extent. To handle the constraints formulated as equalities and inequalities, the energy efficiency optimization problem is converted into a constrained quadratic programming(QP) problem, which is solved using a linear variable inequality-based primal-dual neural network(PDNN) efficiently.

关键词： robotic manipulator,energy optimization,quadratic programming,neural network

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Attitude synchronization of multiple rigid bodies in SE(3) over proximity networks

Attitude synchronization of multiple rigid bodies in SE(3) o...

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第35届中国控制会议

作者： Juan Deng Zhixin Liu Lin Wang John S.Baras Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceCAS Department of Automation Shanghai Jiao Tong Universityand the Key Laboratory of System Control and Information ProcessingMinistry of Education Department of Electrical and Computer Engineering and the Institute for Systems Research University of MarylandCollege Park

ISBN: (纸本)9781509009107

This paper investigates the attitude synchronization of a group of moving rigid bodies whose states including positions and rotation matrices evolve in the Lie group SE(3).The commonly used circular neighborhood is adopted,and the neighbor graphs are described by proximity *** order to avoid introducing discussions on the abrupt changes of neighbor graphs,a dwell time is *** distributed sampled-data control law for the angular velocity is *** the assumptions on the initial states,we provide sufficient conditions for the attitude synchronization of multiple rigid body *** with the existing results,our condition depends only on the neighborhood radius,the moving velocity and the dwell time.

关键词： rigid body SE(3) attitude synchronization sampled-data control proximity network

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