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2016 IEEE International Conference on automation Science and Engineering, CASE 2016

作者： Fan, Qiu Yi, Yang Hao, Li Mengyin, Fu Shunting, Wang School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509024094

A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status for each pixel of images. First, we extract and match sparse image features to estimate ego-motion between two consecutive stereo images, the result of feature points grouping is used to segment moving object in U-disparity map. Second, a Fully Convolutional Neural Network is employed for semantic segmentation. Moreover, semantic cues are utilized to remove pixels have no potential to be moved in motion mask. Finally, we use a fully connected CRF to integrate motion into semantic segmentation. To validate the effectiveness of the proposed algorithm, we present experimental results with KITTI stereo images that contain moving objects. © 2016 IEEE.

关键词： Semantics

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Disturbance Rejection based on Equivalent-Input-Disturbance Approach for Nonlinear Time-Delay systems

Disturbance Rejection based on Equivalent-Input-Disturbance ...

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Asian control Conference

作者： Fang Gao Min Wu Jinhua She Mingxing Fang Youwu Du Fang Wang College of Physics and Electronic Information Anhui Normal University Wuhu Anhui China School of Automation China University of Geosciences Wuhan Hubei China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Electrical and Information Engineering Zhengzhou University of Light Industry Zhenzhou Henan China

ISBN: (纸本)9781509015740;9781509015733

A new disturbance rejection method to achieves good control performance for a nonlinear time-delay system is presented in this paper. This method effectively reject any disturbances. First, the configuration of the control system is constructed based on the equivalent-input-disturbance method. Then, a sufficient condition for global uniform ultimate boundedness and feedback controller are developed using linear matrix inequality. Finally, the effectiveness of the method is proved by a numerical simulation.

关键词： Matrix decomposition Observers Symmetric matrices Adaptive control Closed loop systems Steady-state

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Application of Hilbert-Huang decomposition to reduce noise and characterize for NMR FID signal of proton precession magnetometer

arXiv

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arXiv 2017年

作者： Huan, Liu Haobin, Dong Liu, Zheng Ge, Jian Bai, Bingjie Zhang, Cheng School of Automation China University of Geosciences Hubei Wuhan430074 China School of Engineering University of British Columbia Okanagan Campus KelownaBCV1X 1V7 Canada Institute of Geophysics and Geomatics China University of Geosciences Hubei Wuhan430074 China Hubei Key Laboratory of Advance Control and Intelligent Automation for Complex Systems Hubei Wuhan430074

The parameters in a nuclear magnetic resonance (NMR) free induction decay (FID) signal contain information that is useful in magnetic field measurement, magnetic resonance sounding (MRS) and other related applications. A real time sampled FID signal is well modeled as a finite mixture of exponential sequences plus noise. We propose to use the Hilbert-Huang Transform (HHT) for noise reduction and characterization, where the generalized Hilbert-Huang represents a way to decompose a signal into so-called intrinsic mode function (IMF) along with a trend, and obtain instantaneous frequency data. Moreover, the HHT for an FID signal's feature analysis is applied for the first time. First, acquiring the actual untuned FID signal by a developed prototype of proton magnetometer, and then the empirical mode decomposition (EMD) is performed to decompose the noise and original FID. Finally, the HHT is applied to the obtained IMFs to extract the Hilbert energy spectrum, to indicate the energy distribution of the signal on the frequency axis. By theory analysis and the testing of an actual FID signal, the results show that, compared with general noise reduction methods such as auto correlation and singular value decomposition (SVD), combined with the proposed method can further suppress the interfered signals effectively, and can obtain different components of FID signal, which can use to identify the magnetic anomaly, the existence of groundwater etc. This is a very important property since it can be exploited to separate the FID signal from noise and to estimate exponential sequence parameters of FID signal. Copyright © 2017, The Authors. All rights reserved.

关键词： Singular value decomposition

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controllability of giant connected components in a directed network

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Physical Review E 2017年第4期95卷 042318-042318页

作者： Xueming Liu Linqiang Pan H. Eugene Stanley Jianxi Gao Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Automation Huazhong University of Science and Technology Wuhan 430074 Hubei China Center for Polymer Studies and Department of Physics Boston University Boston Massachusetts 02215 USA School of Electric and Information Engineering Zhengzhou University of Light Industry Zhengzhou 450002 Henan China Center for Complex Network Research and Department of Physics Northeastern University Boston Massachusetts 02115 USA

When controlling a complex networked system it is not feasible to control the full network because many networks, including biological, technological, and social systems, are massive in size and complexity. But neither is it necessary to control the full network. In complex networks, the giant connected components provide the essential information about the entire system. How to control these giant connected components of a network remains an open question. We derive the mathematical expression of the degree distributions for four types of giant connected components and develop an analytic tool for studying the controllability of these giant connected components. We find that for both Erdős-Rényi (ER) networks and scale-free (SF) networks with p fraction of remaining nodes, the minimum driver node density to control the giant component first increases and then decreases as p increases from zero to one, showing a peak at a critical point p=pm. We find that, for ER networks, the peak value of the driver node density remains the same regardless of its average degree 〈k〉 and that it is determined by pm〈k〉. In addition, we find that for SF networks the minimum driver node densities needed to control the giant components of networks decrease as the degree distribution exponents increase. Comparing the controllability of the giant components of ER networks and SF networks, we find that when the fraction of remaining nodes p is low, the giant in-connected, out-connected, and strong-connected components in ER networks have lower controllability than those in SF networks.

关键词： Network structure

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Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

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2016 IEEE International Conference on advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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Consensus for networked multi-agent systems with unknown communication delays

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Journal of the Franklin Institute 2016年第16期353卷 4176-4190页

作者： Xiaoyu Liu Lihua Dou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China School of Automation Beijing Institute of Technology 100081 P.R. China

The problem of consensus for linear discrete-time networked multi-agent systems with directed topologies and communication delays is investigated in this paper. The communication delays are assumed to be constant but unknown. A consensus protocol is designed to compensate for the unknown delays based on the networked predictive control scheme. A sufficient condition for the consensus of multi-agent systems is derived. Finally, a numerical example is given to illustrate that the consensus protocol proposed in this paper is effective.

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Solving the uncertain multi-objective multi-stage weapon target assignment problem via MOEA/D-AWA

Solving the uncertain multi-objective multi-stage weapon tar...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin Lihua Dou Zhihong Peng School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R.China

ISBN: (纸本)9781509006243

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is with uncertainties, namely the uncertain MWTA (UMWTA) problem, and is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the assumption that each element of the kill probability matrix follows four different probability distributions. In order to tackle the two challenges, i.e., multi-objective and the uncertainty, the multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment (MOEA/D-AWA) and the Max-Min robust operator are adopted to solve the problem efficiently. Then comparison studies between the MOEA/D-AWA and a single objective solver used for a relaxed formulation on solving both certain and uncertain instances of two different scaled MWTA problems which include four uncertain scenarios are conducted. Numerical results show that MOEA/D-AWA outperforms the single objective solver on solving both certain and uncertain multi-objective MWTA problems discussed in this paper. Comparisons between the results of the certain and uncertain formulation also indicate the necessity of the robust formulation of practical problems.

关键词： Weapons Uncertainty Discrete wavelet transforms Optimization Robustness Decision making Evolutionary computation

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Optimizing application layer multicast routing via artificial fish swarm algorithm

Optimizing application layer multicast routing via artificia...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Xuan Ma Rongjun Tang Jingyan Kang Qing Liu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Faculty of Automation and Information Engineering

ISBN: (纸本)9781509040940

In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimization objectives, we design the behaviors of artificial fish individual (AF), i.e. moving randomly, preying, following, and use Pareto ranking to evaluate the fitness of AF. The simulation results show that the proposed algorithm is an appropriate method to explore the search space of the complex problem and leads to good solutions in a reasonable amount of time.

关键词： Delays Routing Optimization Fish Network topology Algorithm design and analysis Visualization

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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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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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