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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Weihai Zhang Huanshui Zhang Bor-Sen Chen School of Electronic Information and Control Engineering Shandong Institute of Light Industry Jinan China Information and Control Research Center Shenzhen Graduate School Harbin Institute of Technology Shenzhen China Department of Electrical Engineering National Tsing Hua University Hsinchu Taiwan

In this paper, the finite horizon mixed H 2 /H ∞ control problem is studied for the systems governed by Ito-type nonlinear stochastic differential equations with state, control and external disturbance-dependent noise. It is shown that the mixed H 2 /H ∞ control under consideration is associated with the four cross-coupled Hamilton-Jacobi equations in nonlinear case. Some necessary and/or sufficient conditions for the existence of finite horizon stochastic H 2 /H ∞ controllers are derived. In particular, some previous results on deterministic and stochastic H ∞ (H 2 /H ∞ ) can be viewed as simple corollaries of our main theorems

关键词： Stochastic processes Stochastic systems Hydrogen control systems Stochastic resonance Nonlinear control systems Riccati equations Nonlinear equations Lighting control Differential equations

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Trajectory Planning of Space Robot System for Target Berthing and Reorientation after Capturing

Trajectory Planning of Space Robot System for Target Berthin...

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World Congress on Intelligent control and Automation (WCICA)

作者： Wenfu Xu Bin Liang Wenyi Qiang Panfeng Huang Yangsheng Xu Department of Control Science and Engineering Harbin Institute of Technology Harbin China College of Astronautics Northwestern Polytechnical University Xi'an China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, genetic algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation

关键词： Trajectory Orbital robotics Space technology Satellites Space vehicles Path planning Robotics and automation Attitude control control systems Genetic algorithms

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A Novel Matrix Norm Based Gaussian Kernel for Feature Extraction of Images

A Novel Matrix Norm Based Gaussian Kernel for Feature Extrac...

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International Conference on Intelligent Information Hiding and Multimedia Signal Processing (IIHMSP)

作者： Jun-bao Li Shu-chuan Chu Jeng-shyang Pan Jiun-huei Ho Department of Automatic Test and Control Harbin Institute of Technology Harbin China Department of Information Management Cheng Shiu University Taiwan Department of Electronic Engineering National Kaohsiung University of Applied Sciences Kaohsiung Taiwan Department of Electronic Engineering Cheng Shiu University Taiwan

Gaussian kernel is widely used in Support Vector Machines and many other kernel methods, and it is most often deemed to provide a local measure of similarity between vectors, which causes large storage requirements and large computational effort for transforming images to vectors owing to its viewing images as vectors. A novel matrix norm based Gaussian kernel (M-Gaussian kernel) which views images as matrices is proposed to solve the problem. Experiments conducted on ORL face database show the effectiveness of the proposed M-Gaussian kernel.

关键词： Kernel Feature extraction Image storage Image databases Spatial databases Principal component analysis Polynomials Electronic equipment testing Automatic testing Automatic control

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Development of intelligent setting system for fracture based on x-ray image

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Journal of Physics: Conference Series 2006年第1期48卷 1137-1141页

作者： Zheng, W. Zhang, Y. Liu, J. Yu, G. Hebei University College of Electronic and Information Engineering Baoding 071002 China Harbin University of Science and Technology Measurement Control Technology and Communications Engineering College Harbin 150040 China Harbin Institute of Technology School of Electrical Engineering and Automation Harbin 150001 China Harbin Fifth Hospital Department of Orthopedics Harbin 150040 China

In order to achieve micro-wound, intelligence and high efficiency for fracture setting, intelligent setting system for fracture is proposed in accordance with biomechanics and fracture therapy theory. In the comprehensive medical system based on C-shape-arm X-machine, image processing and analysis is the core, programmable logical controller and stepping motor are important driving parts controlling mechanical parts. Six degree of freedom dynamics sensor ensures to control accurately force and moment. On the foundation of analyzing X-ray image peculiarities, method of processing and analysis is put forward, combining time domain with frequency domain. After mining domain knowledge in depth, setting actions is quantized into three non-continuous steps and is parameterized into two angles and one distance aiming at femoral-neck fracture. Objective features are extracted by virtue of three power polymerization curved surface fitting. Master-slave reference frame is advanced to solve a question that basic standard for parameters calculation is difficult to be determined. At the same time, four-groupsixteen-frame algorithm is put forward to solve a problem that the load value is unable to be calculated and applied precisely in the process of treatment of delayed union and non-union of fracture. Clinic experience proved that the system can help orthopedist to correctly and reliably complete fracture setting. And the system has many advantages such as micro-wound, low medical cost and low infection ratio, in comparison with traditional operation setting and manipulator setting. © 2006 IOP Publishing Ltd.

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Configuration control of Space Robots for Impact Minimization

Configuration Control of Space Robots for Impact Minimizatio...

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IEEE International Conference on Robotics and Biomimetics

作者： Panfeng Huang Wenfu Xu Bin Liang Yangsheng Xu College of Astronautics Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

On-orbital services of space robot are playing more and more important roles in the space operation. Nearly all space operation can not possibly avoid to contact the target. The contact and impact do not possibly avoid when the space robot captures the object. The impulse caused by impact is bad to the space robot and object. This paper derives the impact dynamic equations according to the dynamic model of space robot system and the object. We propose a genetic algorithm (GA) based on approach to search the optimal configuration of space robot at capturing moment in order to minimize or avoid the impact. An illustrative example has verified that the proposed method has satisfactory performance and real significance for reducing the impact.

关键词： Robot control Orbital robotics Robot kinematics Aerodynamics Space technology Manipulator dynamics Robotics and automation Equations Trajectory Genetic algorithms

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Application of improved simplex genetic algorithm hybrid in automatic optical fiber alignment

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Guangdian Gongcheng/Opto-Electronic engineering 2006年第10期33卷 67-71页

作者： Shen, Hao Wang, Xin Department of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China

This paper first gives a 3-D profile of light intensity in fiber end-face and analyzes the consequences of initial offset and angular misalignment between a single-mode fiber and a laser diode coupling. Compared with conventional Hill-climbing algorithm, a novel method for optical fiber alignment using Simplex Genetic Algorithm Hybrid (SGAH) is presented. The Simplex method is a local searching method. Combined with Genetic Algorithm (GA), this method converges quickly and can amend the defect that GA converges slowly. Considering the poor individual diversity caused by little population of fiber alignment, the expansion and contraction coefficients of simplex method are improved. Simulation result also shows that new algorithm can reach the best coupling point within 10 generations.

关键词： Genetic algorithm Hill-climbing algorithm Optical fiber alignment Simplex

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Cipher chip of combining stream based on the neural network algorithm

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Tien Tzu Hsueh Pao/Acta Electronica Sinica 2006年第3期34卷 409-412页

作者： Ding, Qun Peng, Xi-Yuan Yang, Zi-Heng Department of Automatic Test and Control Harbin Institute of Technology Harbin 150001 China Electronic Engineering School Heilongjiang University Harbin 150080 China

Stream cipher has always been one of the most important encryption methods in cryptography. Now we bring in a stream cipher encryption chip design which is based on neural network algorithm and it not only contains the good statistics of m-sequence but also enhances the periodicity and linear complexity of the output sequences. We use FPGA technology to complete the stream cipher circuit design and the modern electronic design method to smoothly realize operation functions and sequential assignment. The result of logical synthesis simulation verifies the correctness of the chip circuit. This research is helpful to the application of stream cipher algorithm in information security and modern secure communication equipment.

关键词： Cryptography

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Phase-only pupil filtering approach to higher spatial resolutions in a laser probe measurement system

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Jiliang Xuebao/Acta Metrologica Sinica 2006年第SUPPL.期27卷 118-122页

作者： Qiu, Li-Rong Zhao, Wei-Qian Sha, Ding-Guo School of Information Science and Technology Beijing Institute of Technology Beijing 100081 China Automatic Measurements and Control Engineering Department Harbin Institute of Technology Harbin 150001 China

The phase-only pupil filtering heterodyne confocal measurement method is a new approach for improving the spatial resolution of a laser probe measurement system(LPMS) for ultra-precise measurement of micro-structural workpieces. The proposed approach uses a phase-only pupil with lateral superresolution capability for sharpening the lateral main lobe of the Airy spot to improve the LPMS lateral resolution and uses the heterodyne confocal measuring method to improve the LPMS axial resolution, and thereby improving the LPMS spatial resolution. Experimental comparison and analyses indicate that the lateral resolution of a phase-only filtering heterodyne system can be improved by 50% that of an LPMS with the same parameters, and a lateral resolution better than 0.2 μm and an axial resolution of 2 nm can be achieved when the wavelength of the incident λ = 632.8 nm, the numerical aperture of the measuring lens NA = 0.85, and uM = 4. It is therefore concluded that the approach proposed can be used for ultra-precise measurement of surface micro-contours and micro-dimensions.

关键词： Confocal Metrology Phase-only pupil Pupil filter Superresolution

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Discriminant Feature Fusion Strategy for Supervised Learning

Discriminant Feature Fusion Strategy for Supervised Learning

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International Conference on Intelligent Information Hiding and Multimedia Signal Processing (IIHMSP)

作者： Jun-bao Li Shu-chuan Chu Jung-chou Harry Chang Jeng-shyang Pan Department of Automatic Test and Control Harbin Institute of Technology Harbin China Department of Information Management Cheng Shiu University Taiwan Division of Research & Development Viswis Inc. Taipei Taiwan Department of Electronic Engineering National Kaohsiung University of Applied Sciences Kaohsiung Taiwan

An efficient fusion strategy called discriminant feature fusion strategy for supervised learning is proposed to seek the optimal fusion coefficients of feature fusion. Contributions of this paper lie in: 1) creating a constrained optimization problem based on maximum margin criterion for solving the optimal fusion coefficients, which causes that fused data has the largest class discriminant in the fused feature space; 2) keeping an unique solution of optimization problem by transforming the optimization problem to an eigenvalue problem, which causes the fusion strategy to reach a consistent performance. Besides of the detailed theory derivation, many experimental evaluations also are presented in this paper.

关键词： Supervised learning Constraint optimization Eigenvalues and eigenfunctions Pattern classification Automatic testing Automatic control Information management Research and development Constraint theory Fuses

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On stochastic nonlinear regulator problem

On stochastic nonlinear regulator problem

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American control Conference (ACC)

作者： Weihai Zhang Bor-Sen Chen Huanshui Zhang College of Information and Electrical Engineering Shandong University of Science and Technology Qingdao China Department of Electrical Engineering National Tsing Hua University Hsinchu Taiwan Information and Control Research Center Shenzhen Graduate School Harbin Institute of Technology Shenzhen China

This paper treats with the regulator theory of nonlinear stochastic systems. The contributions of this paper are as follows: firstly, by applying the stochastic LaSalle's invariant principle, the constrained end-point regulator problem of affine stochastic systems is studied. Secondly, it is shown that the infinite horizon free end-point regulator can be viewed as the limit of finite horizon optimal regulator

关键词： Stochastic processes Regulators Stochastic systems Infinite horizon Riccati equations Constraint theory Kalman filters control theory Nonlinear filters Nonlinear equations

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