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Coordination of Mobile Agents in Flocks with Time-varying Interactions *

IFAC Proceedings Volumes 2011年第1期44卷 5687-5692页

作者： Shanying Zhu Cailian Chen Xinping Guan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 P. R. China

Abstract In this paper, we develop a novel self-propelled particle model to describe the emergent behavior of a group of mobile agents. All agents coordinate with their neighbors through local social forces accounting for velocity alignment and collision avoidance. We allow the interaction ranges to adapt to the group density. This range adaption results in topology changes as well as discontinuities in those social forces. We apply differential inclusion technique to analyze the convergence properties of the proposed control method. The analytical and numerical results show that all the agents eventually align their velocities and avoid collisions with each other no matter how fast the topology changes.

关键词： Co-operative control discontinuities time-varying systems

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Connectivity-Preserving Consensus Algorithms for Multi-agent systems

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IFAC Proceedings Volumes 2011年第1期44卷 5675-5680页

作者： Jin Dai Shanying Zhu Cailian Chen Xinping Guan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 P. R. China

Abstract The consensus problem for multi-agent systems with double integrator dynamics is considered in this paper. We propose and analyze a connectivity-preserving consensus algorithm with position measurements only. Under the assumption that the initial interaction network is connected, the connectivity of the interaction network during the dynamical evolution can be preserved. Moreover, the consensus algorithm with a virtual leader is investigated. It is shown that all the agents can asymptotically attain a desired position and velocity even if only one agent in the team has access to the information of the virtual leader. Numerical simulations illustrate the effectiveness of the proposed methods.

关键词： Co-operative control decentralized systems autonomous mobile robots

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A context-aware entrance guard in smart home: An event-driven application based on the human motion and face recognition

A context-aware entrance guard in smart home: An event-drive...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Long Xiao Bo Cheng Bo Yang Rong Du Wenbin Yu Xinping Guan Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

In terms of the convenience and interaction in the smart home, context awareness is introduced when we enter or leave a house resulting from that conventional methods such as RFID and pyroelectric infrared (PIR) sensors are usually adopted in indoor environments which are tough to determine the human motion direction. Specifically, a centroid based human motion recognition is implemented along with the eigenface based face recognition, which are both used to detect an event with the time and place added. Thus, an event driven application is constructed concerning the distinctive reactions towards different events detected. This paper initially proposes the algorithms adopted in the recognition of motion and face. Finally, with the method integration, an experiment is carried out in our demonstration room comprising the information integration of the camera videos as well as the communication in the wireless nodes that enables the reactions of the corresponding actuators, which is a positive attempt in context-aware smart home and can be further investigated afterwards.

关键词： Face recognition Humans Vectors Radiofrequency identification Face Smart homes

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A simple PID controller tuning strategy for first order plus dead time model

A simple PID controller tuning strategy for first order plus...

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International Conference on Electronics, Communications and control (ICECC)

作者： Yingjian Xu Daxiao Wang Shaoqin Lin Wei Zhang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

Proportional, integral and derivative (PID) controller has been widely used in many aspects of the industries since its theory was published. In this paper, a systematic approach for the tuning strategy of MacPID controller parameters for first order plus dead time (FOPDT) model is proposed. This method aims to simplify the process PID parameters adjustment and to achieve a desired effect in the same time. Moreover, the proposed rule is compared with other well-known tuning strategies to demonstrate its simplicity and accuracy.

关键词： Tuning Mathematical model Process control Transfer functions control systems Industries Robustness

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An efficient route computation approach for large graphs

An efficient route computation approach for large graphs

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Chinese control Conference (CCC)

作者： Qing Song Xiaofan Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China

The problem of efficient routing arises in several applications such as transportation problems and network optimization. The increasing availability of large network data sets and the impact of networks on everyday life has set new standard to route computations, necessitating research for even faster and more accurate shortest path algorithms. A hierarchical graph model is developed based on an effective partition of graphs for decomposing the complex search problem. A new heuristic hierarchical routing algorithm is then proposed to significantly reduce the search space by pruning searches towards unpromising subgraph branches. Experimental results on New York City road network demonstrate the performance of the algorithm.

关键词： Partitioning algorithms Algorithm design and analysis Routing Communities Upper bound Search problems Roads

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Robust ART-2 neural network learning framework

Robust ART-2 neural network learning framework

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International Conference on Modelling, Identification and control (ICMIC)

作者： Jiang-Bo Yin Hong-Bin Shen Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Automation Shanghai Jiaotong University China

The ART-2 network is a typical adaptive resonance theory based neural network approach for clustering purpose and has been successfully used in many fields. However, one of the fatal shortcomings of traditional ART-2 is that its final results heavily depend on a pre-defined fixed vigilance threshold parameter, which makes it infeasible to be applied in different complicated applications. Another disadvantage of traditional ART-2 method is that the number of categories in the network will increase all the time with the continuous input. Considering these points, an improved algorithm of ART-2 has been presented in this paper called the Robust ART-2. We first systematically analyze the dynamic changes of the optimal vigilance threshold with the succession inputs and propose a new adaptive method to make the network itself can automatically choose the optimal threshold in various situations. Then we introduce a constraint parameter to confine the scale of ART-2 network by limiting the maximal number of categories of network. Simulation experiments including artificial and benchmark data sets demonstrate the effectiveness of our algorithm.

关键词： Robustness Clustering algorithms Artificial neural networks Benchmark testing Iris recognition Classification algorithms Subspace constraints

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Mixed H2/H∞ robust model predictive control with norm-bounded uncertainty

Mixed H2/H∞ robust model predictive control with norm-bound...

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Chinese control Conference (CCC)

作者： He Huang Dewei Li Yugeng Xi Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China

This paper studies the problem of the mixed H 2 /H ∞ robust model predictive control (RMPC) for a class of linear systems with structure uncertainties and disturbance. A sufficient condition for the mixed H 2 /H ∞ RMPC are given in term of the solvability of linear matrix inequalities (LMI). In addition, the feasible conditions are discussed. Numerical examples illustrate the effectiveness of the proposed methods.

关键词： Robustness Predictive models Indexes Predictive control Uncertainty Linear matrix inequalities Uncertain systems

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Flexibly Cooperative Spectrum Sensing and Allocation in Cognitive Radio Networks: An Auction-based Framework

Flexibly Cooperative Spectrum Sensing and Allocation in Cogn...

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2011 International Conference on Computer Science and Network Technology(2011计算机科学与网络技术国际会议 ICCSNT 2011)

作者： Tao Wang Jing Wu Chengnian Long Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240

Cognitive radio networks have made a dramatic shift towards variously cooperative paradigm to achieve fast, reliable spectrum sensing and effective spectrum usage in recent past In this paper, we develop a Flexibly Cooperative Spectrum Sensing and Allocation (FCSSA) framework in cognitive radio networks. The proposed FCSSA framework captures the essential interactive function between cooperative spectrum sensing and allocation, which allows licensed channel and secondary users bargaining on their decisions, such as the enforceable requirements of spectrum sensing time, energy detection threshold and secondary users' payment for spectrum access, to maximize their utilities respectively. Moreover, we apply Stackelberg game to formulate the joint cooperative spectrum sensing and allocation design. The leader (authorized agent of licensed channel) decides spectrum sensing time and energy detection threshold according to the predictable behavior of secondary users. The followers (secondary users) make their payment decision underlying a non-cooperative game according to the limited information from licensed channel. Numeric simulations verify that our proposed jointly design framework in cooperative spectrum sensing and allocation can increase the agility and effectiveness of dynamic spectrum usage.

关键词： Cognitive radio Reliability

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An improved method for estimating urban traffic state via probe vehicle tracking

An improved method for estimating urban traffic state via pr...

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Chinese control Conference (CCC)

作者： Qiankun Zhao Qingjie Kong Yingjie Xia Yuncai Liu Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China

In order to estimate the state of urban traffic flow, a Probe-Vehicle-Tracking based method is proposed in this paper. The method collects traffic flow data with Global Positioning system (GPS)-equipped taxies, which are taken as the probe vehicles. Then, the A* heuristic search algorithm is employed to judge the optimal vehicle tracking path. In addition, the average velocities of road links are calculated by considering the velocities of vehicle tracks as well as their corresponding credibility factors. Finally, an experiment with massive real-world traffic data in the surface road network of Shanghai was carried out, and the ground truth of the average velocity was obtained by repeating the videos shot on the 24 links in Shanghai downtown. The experiment results verify that the method has high accuracy and can be applied in engineering practice.

关键词： Roads Vehicles Global Positioning system Accuracy Probes Estimation Videos

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Ash fouling monitoring dynamic models of coal-fired utility boiler's heat transfer surface

Ash fouling monitoring dynamic models of coal-fired utility ...

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Chinese control Conference (CCC)

作者： Yuanhao Shi Jingcheng Wang Bin Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China 200240 China

Ash deposition on heat transfer surfaces still to be a significant problem in power plant utility boilers. The effective ways to deal with this problem are accuracy on-line monitoring of ash fouling and soot-blowing. In this paper, the on-line ash fouling monitoring dynamic models of coal-fired utility boiler's heat transfer surfaces are proposed. The fundamental principle of the models is dynamic heat balance method. Finally, taking the economizer of a certain 300MW power plant utility boiler as the object of consideration, ash fouling of the transfer surface has been calculated with real time data from the DCS. The calculation results show the effectiveness of the dynamic models mentioned above. Some preliminary results analysis are shown aiming at the situation that the cleanliness factor has a obvious increased but its not corresponding to the soot-blowing point. The dynamic models are contributed to ash fouling monitoring and optimization of the soot-blowing.

关键词： Biological system modeling Monitoring Ash Boilers Argon Optimization Power generation

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