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Adaptive cubature strong tracking information filter using variational Bayesian method 19

Adaptive cubature strong tracking information filter using v...

引用

19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Ge, Quanbo Wen, Chenglin Chen, Shaodong Sun, Ruoyu Li, Yuan Institute of Systems Science and Control Engineering School of Automation Hangzhou Dianzi University Hangzhou Zhejiang310018 China Luoyang Institute of Electro Optical Equipment of AVIC Luoyang Henan471000 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55414 United States Information Engineering School Shenyang University of Chemical Technology Shenyang Liaoning100142 China

ISBN: (纸本)9783902823625

For most practical nonlinear state estimation problems, the conventional nonlinear filters do not usually work well for some cases, such as inaccurate system model, sudden change of state-interested and unknown variance of measurement noise. In this paper, an adaptive cubature strong tracking information filter using variational Bayesian (VB) method is proposed to cope with these complex cases. Firstly, the strong tracking filtering (STF) technology is used to integrally improve performance of cubature information filter (CIF) aiming at the first two cases and an iterative scheme is presented to effectively evaluate a strong tracking fading factor. Secondly, the VB method is introduced to iteratively evaluate the unknown variance of measurement noise. Finally, the novel adaptive cubature information filter is obtained by perfectly combining the STF technology with the VB method, where the variance estimation provided by the VB method guarantees normal running of the strong tracking functionality. © IFAC.

关键词： Information filtering

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On infinite time performance of nonlinear model predictive controllers 19

On infinite time performance of nonlinear model predictive c...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast BelfastBT7 1NN United Kingdom

ISBN: (纸本)9783902823625

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases. © IFAC.

关键词： controllers

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A new balanced-to-single-ended (BTSE) power divider

A new balanced-to-single-ended (BTSE) power divider

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2014 IEEE International Wireless Symposium, IWS 2014

作者： Wu, Lin-Sheng Guo, Yong-Xin Qiu, Liang-Feng Mao, Jun-Fa Key Laboratory of Ministry of Education of Design and EMC of High-Speed Electronic Systems Shanghai Jiao Tong University Shanghai 200240 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Research Institute Suzhou City 215123 Jiangsu Province China

ISBN: (纸本)9781479934034

A balanced-to-single-ended (BTSE) power divider is proposed in this paper. Its input is a differential pair while both the outputs are single-ended ports. It can replace the cascade of a balun and a conventional power divider. The characteristics requirements of a two-way BTSE power divider with equal power division are first derived, and then a prototype is designed for 2.0 GHz. In order to construct the component compactly, a short-ended four-wire coupled line and T-shaped sections are utilized to realize a -90° transmission line and a phase inverter, respectively. The developed prototype occupies an area of 0.077 λg2, where λg is the guided wavelength of central frequency. It provides all the desired performances within the operating bandwidth of 25%, with low insertion loss and good balance also achieved. © 2014 IEEE.

关键词： Timing circuits

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A green wave band based method for urban arterial signal control

A green wave band based method for urban arterial signal con...

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IEEE International Conference on Networking, Sensing and control

作者： Bao-Lin Ye Weimin Wu Xuanhao Zhou Weijie Mao Yi-Sheng Huang The State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electrical Engineering National Ilan University Taiwan China

Optimal signal timing is an efficient and effective method to mitigate traffic congestion in urban road traffic networks. In this paper, we propose a new method for signal-timing optimization of urban arterial roads. The main idea to the method is to design a bi-direction green wave band for arterial roads. In order to reduce delay and stops, an arterial road signal coordination approach is developed. In addition, the arterial signal coordination approach has been expanded to deal with the problem of coordination for urban traffic networks coordination control. Finally, simulation experiments are given to illustrate the effectiveness of the proposed method.

关键词： Artificial intelligence Vehicles Silicon

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CS-Based Framework for Sparse Signal Transmission over Lossy Link

CS-Based Framework for Sparse Signal Transmission over Lossy...

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IEEE Internatonal Conference on Mobile Adhoc and Sensor systems (MASS)

作者： Liantao Wu Kai Yu Yuhen Hu Zhi Wang State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Department of Electrical&Computer Engineering University of Wisconsin-Madison

ISBN: (纸本)9781479960378

In this work, compressive sensing (CS) is applied to facilitate efficient wireless information transmission over lossy communication links. Inherently sparse data packets are transmitted without compression or error protection. The packet loss during transmission is modeled as a random sampling process of the transmitted data. The original signal then is reconstructed based on correctly received data packets using CS-based reconstruction method. No computations for source, channel coding or random measurement sampling will be required at the transmitter side. Thus, this method is suitable for applications where transmitters have extreme low power constraints such as wireless sensor networks. Compared with traditional error protection technique(automatic repeat request, data interleaving and interpolation), the proposed method delivers higher quality of sparse signal while significantly reducing energy consumption at transmitter as well as transmission latency.

关键词： Conferences Mobile communication Sensor systems

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Synthesis of Correct-by-construction control Protocols for Hybrid systems Using Partial State Information

Synthesis of Correct-by-construction Control Protocols for H...

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American control Conference

作者： Oscar Mickelin Necmiye Ozay Richard M. Murray Royal Institute of Technology (KTH) Sweden Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor Department of Control and Dynamical Systems California Institute of Technology

ISBN: (纸本)9781479932757

This paper considers the problem of synthesizing output-feedback control laws for a class of discrete-time hybrid systems in order for the trajectories of the system to satisfy certain high-level specifications expressed in linear temporal logic. By leveraging ideas from robust interpretation of temporal logic formulas and bounded-error estimation, we identify a subclass of systems for which it is possible to reduce the problem to a state-feedback form. In particular, we use locally superstable hybrid observers to resolve the partial information at the continuous level. This allows us to use recent results in temporal logic planning to synthesize the desired controllers based on two-player perfect-information games. The overall control architecture consists of a hybrid observer, a high-level switching protocol and a low-level continuous controller. We demonstrate the proposed framework in a case study on designing control protocols for an aircraft air management system.

关键词： hybrid systems Temporal logic control protocol control Architecture synthesis

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Decoding of Intentional Actions from Scalp Electroencephalography (EEG) in Freely-behaving Infants

Decoding of Intentional Actions from Scalp Electroencephalog...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Zachery R. Hernandez Jesus Cruz-Garza Teresa Tse Jose L. Contreras-Vidal Non-Invasive Brain-Machine Interface Systems Laboratory at the Department of Electrical and Computer Engineering University of Houston (UH) Center for Robotics and Intelligent Systems Tecnologico de Monterrey

ISBN: (纸本)9781424479276

The mirror neuron system (MNS) in humans is thought to enable an individual's understanding of the meaning of actions performed by others and the potential imitation and learning of those actions. In humans, electroencephalographic (EEG) changes in sensorimotor a-band at central electrodes, which desynchronizes both during execution and observation of goal-directed actions (i.e., μ suppression), have been considered an analog to MNS function. However, methodological and developmental issues, as well as the nature of generalized μ suppression to imagined, observed, and performed actions, have yet to provide a mechanistic relationship between EEG μ-rhythm and MNS function, and the extent to which EEG can be used to infer intent during MNS tasks remains unknown. In this study we present a novel methodology using active EEG and inertial sensors to record brain activity and behavioral actions from freely-behaving infants during exploration, imitation, attentive rest, pointing, reaching and grasping, and interaction with an actor. We used δ-band (1-4Hz) EEG as input to a dimensionality reduction algorithm (locality-preserving Fisher's discriminant analysis, LFDA) followed by a neural classifier (Gaussian mixture models, GMMs) to decode the each MNS task performed by freely-behaving 6-24 month old infants during interaction with an adult actor. Here, we present results from a 20-month male infant to illustrate our approach and show the feasibility of EEG-based classification of freely occurring MNS behaviors displayed by an infant. These results, which provide an alternative to the μ-rhythm theory of MNS function, indicate the informative nature of EEG in relation to intentionality (goal) for MNS tasks which may support action-understanding and thus bear implications for advancing the understanding of MNS function.

关键词： Electroencephalography Scalp Acceleration Training Coherence Electrodes Testing

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Joint optimal placement and energy allocation of underwater sensors in a tree topology

Joint optimal placement and energy allocation of underwater ...

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Annual Conference on Information Sciences and systems (CISS)

作者： Hadis Dashtestani Paul Cotae Ira S. Moskowitz Department of Electrical and Computer Engineering University of the District of Columbia Washington DC USA Naval Research Laboratory Center for High Assurance Computer Systems Washington DC USA

By using the Karush-Kuhn-Tucker (KKT) conditions in a multi-hop hierarchical tree structure we obtained the optimal placement of the underwater acoustic sensor nodes with respect to the capacity of the wireless links between the nodes. We assumed that the energy consumption of each sensor node is constant. We were able to calculate the vertical and horizontal distances between each sensor nodes and also between any levels of interest. On the same tree topology we focused on the energy efficient transmission in underwater sensor networks by providing the optimal transmitting energies for the nodes with fixed locations.

关键词： Resource management Capacitive sensors Wireless sensor networks Wireless communication Topology Energy efficiency

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A New Class of Learning Automata for Selecting an Optimal Subset

A New Class of Learning Automata for Selecting an Optimal Su...

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IEEE International Conference on systems, Man, and Cybernetics

作者： JunQi Zhang ZeZhou Li Qi Kang MengChu Zhou Key Laboratory of Embedded System and Service Computing Ministry of Education Department of Computer Science and Technology Tongji University Department of Control Science and Engineering Tongji University Department of Electrical and Computer Engineering New Jersy Institute of Technology

ISBN: (纸本)9781479938414

Interacting with a random environment, Learning Automata (LAs) are automata that, generally, have the task of learning the optimal action based on responses from the environment. Distinct from the traditional goal of Learning Automata to select only the optimal action out of a set of actions, this paper considers a multiple-action selection problem and proposes a novel class of Learning Automata for selecting an optimal subset of actions. Their objective is to identify the optimal subset: the top k out of r actions. Based on conventional continuous pursuit and discretized pursuit learning schemes, this paper introduces four pursuit learning schemes for selecting the optimal subset, called continuous equal pursuit, discretized equal pursuit, continuous unequal pursuit and discretized unequal pursuit learning schemes, respectively. In conjunction with a reward-inaction learning paradigm, the above four schemes lead to four versions of pursuit Learning Automata for selecting the optimal subset. The simulation results present a quantitative comparison between them.

关键词： Learning Automata Optimal subset Pursuit algorithm

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Modeling and analysis of inertia aerodynamic effect of titan aerobot

Modeling and analysis of inertia aerodynamic effect of titan...

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AIAA SPACE 2014 Conference and Exposition

作者： Li, Zhibin Fan, Chunshi Li, Minghang Lin, Xianwu Wu, Lei Wang, He Jiang, Jianer Science and Technology on Space Intelligent Control Laboratory BICE Beijing 100190 China Qian Xuesen Laboratory of Space Technology China Academy of Space Technology 100194 China School of Electrical and Computer Engineering Purdue University IN 47907 United States Department of Automation Xiamen University Fujian 361005 China Science and Technology on Space Intelligent Control Laboratory BICE Beijing China Suzhou Fangzhou Aeromodelling Co. Ltd. Suzhou 215156 China

ISBN: (纸本)9781624102578

Research is done from the point of flight mechanics on Titan Aerobot. Consdering there are some errors in exstiong literatures on atmospheric temperature and density models for Titan, atmospheric environment model was built by polynomial fitting including temperature, density, pressure, viscosity and wind field models. The kinetic model of the airship was derived considering dynamic buoyancy effect, wind field disturbance and time varying mass characteristics. Also, repetitive calculation of Munk moment was avoided. Finally, after determining mass, inertia matrix, added mass tensor and apparent inertia tensor of LRC Titan Aerobot, the dynamic process is simulated by Matlab. Results shows that inertia aerodynamic force has significant influence on the airship motion and that repetitive calculation of Munk moment can produce wrong results.

关键词： Airships

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