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3D surveillance coverage using maps extracted by a monocular SLAM algorithm

3D surveillance coverage using maps extracted by a monocular...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Lefteris Doitsidis Alessandro Renzaglia Stephan Weiss Elias Kosmatopoulos Davide Scaramuzza Roland Siegwart Informatics & Telematics Institute Center of Research and Technology Hellas Thessaloniki Greece Department of Electronics Technological Educational Institute of Crete Chania Greece INRIA Rhône-Alpes Grenoble France ETH Autonomous Systems Laboratory Zurich Switzerland Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece GRASP laboratory University of Pennsylvania Philadelphia USA

This paper deals with the problem of deploying a team of flying robots to perform surveillance coverage missions over a terrain of arbitrary morphology. In such missions, a key factor for the successful completion is the knowledge of the terrain's morphology. In this paper, we introduce a two-step centralized procedure to align optimally a swarm of flying vehicles for the aforementioned task. Initially, a single robot constructs a map of the area of interest using a novel monocular-vision-based approach. A state-of-the-art visual-SLAM algorithm tracks the pose of the camera while, simultaneously, building an incremental map of the surrounding environment. The map generated is processed and serves as an input in an optimization procedure using the cognitive adaptive methodology initially introduced in [1], [2]. The output of this procedure is the optimal arrangement of the robot team, which maximizes the monitored area. The efficiency of our approach is demonstrated using real data collected from aerial robots in different outdoor areas.

关键词： Three dimensional displays Optimization Simultaneous localization and mapping Cameras

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Hybrid Satellite-Terrestrial Architecture for control Systems Education

Hybrid Satellite-Terrestrial Architecture for Control System...

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International Conference on computer Modeling and Simulation, UKSIM

作者： Vasilis N. Tsoulkas Athanasios A. Pantelous Leonidas Dritsas Christos Papachristos Center for Security Studies/Minist. of Citizen Protection (KEMEA) Athens Greece Department of Mathematical Sciences University of Liverpool UK Division of Automatic Control Hellenic Air Force Academy Athens Greece Division of Information and Transmission Systems and Materials Technology Department of Electrical and Computer Engineering National and Technical University of Athens Greece

In this paper, the modules for the conceptual design of an innovative e-learning platform using satellite communications for teaching control systems theory courses are presented. All necessary tools and mechanisms are provided enabling real time text, and audio/video based communication between tutors and learners. The end-user driven services include: virtual classroom, offline operation, sharing of applications, private/ public chatting, audio/video streaming. A concise description of the pilot architecture which depends on the DVB-RCS standard is presented justifying further the choice of the proposed platform. Simulation results concerning the teaching of fundamental issues in Networked control Theory within the proposed architecture are provided. Connections with hybrid configurations such as wireless terrestrial broad-band technologies (DVB-RCS/WiMAX, DVB-RCS/Wi-Fi) are further justified.

关键词： Streaming media Satellites Digital video broadcasting Servers Training control systems Materials

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An analysis of variance approach to tuning of generalized predictive controllers for second order plus dead time models

An analysis of variance approach to tuning of generalized pr...

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2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Neshasteriz, A.R. Khaki-Sedigh, A. Sadjadian, H. Department of Control Engineering School of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran 16315-1355 Iran Department of Control Engineering School of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Control Department School of Electrical Engineering Iran University of Science and Technology Tehran Iran

ISBN: (纸本)9781424451951

This paper presents a new tuning strategy for Generalized Predictive controllers (GPC) based on Analysis of Variance (ANOVA). This strategy is derived for Second Order plus Dead Time (SOPDT) models of an industrial plant. Moreover, SOPDT modeling allows oscillating modes to be included in the model dynamics. The tuning strategy employs a simple expression for the tuning parameter as a function of plant parameters which is absent in earlier tuning attempts. This novel expression is extracted using ANOVA method combined with nonlinear regression. Also, a better performance index value and more convenient implementation are obtained in comparison with the conventional GPC tuning methods. Therefore, the tuning strategy for SOPDT models is both more comprehensive and more effective than traditional First Order plus Dead Time (FOPDT) model tunings. The proposed strategy is verified by two comparative simulation studies. © 2010 IEEE.

关键词： Industrial plants

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Smart grid: An intelligent way to empower energy choices

Smart grid: An intelligent way to empower energy choices

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2010 IEEE International Energy Conference and Exhibition, EnergyCon 2010

作者： Moghaddam, A. Anvari Seifi, A.R. Shiraz University Department of Power and Control School of Electrical and Computer Engineering Shiraz Iran

ISBN: (纸本)9781424493807

People of the world are now fully aware of the importance of measures against global warming. It raises high expectations for clean power generation and advanced technologies. In this regard, Smart Grid, which effectively controls supply and demand of electric power by information technology, is a leading tool for developing a new town. Although many aspects of such new town have been observed recently and worth knowledge has been achieved, rarely can be found an article to make a comprehensive overview on smart grid and its related vision, therefore, in this paper a working definition is presented that will help to put in context the framework for better realization of smart grids. © 2010 IEEE.

关键词： Distributed power generation

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Two alternative approaches to stochastic discrete-time iterative learning control systems

Two alternative approaches to stochastic discrete-time itera...

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IEEE Conference on Decision and control

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper aims to address the robust convergence problem that arises from discrete-time iterative learning control (ILC) systems subject to random disturbances. Two alternative approaches are considered in order to achieve the perfect output tracking of the stochastic discrete-time ILC systems in the sense of both expectation and variance, which use the tracking error and the input error for analysis, respectively. It is shown that the convergence results of two approaches to ILC can be established by developing some statistical expressions in super-vector forms. Moreover, it is demonstrated that the convergence results of two approaches to ILC are not always equal, and they can keep the same only in the case where the controlled plants are square.

关键词： Iterative learning control discrete-time systems random disturbances

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Robust L_(2) - L_(infinity) Consensus control of the Second-order Multi-agent Systems with Time-delay

Robust L_(2) - L_(infinity) Consensus Control of the Second-...

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IEEE Conference on Decision and control

作者： Yan Cui Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L_(2) - L_(infinity) control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the convergence to consensus of the network under fixed or switching topology. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.

关键词： Topology Europe

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Column Formation control of Multi-robot Systems with Input Constraints

Column Formation Control of Multi-robot Systems with Input C...

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IEEE Conference on Decision and control

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.

关键词： Column formation control multi-robot systems leader-follower input constraints elliptic approximation

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Collision Avoidance Maneuver Design Based on Equidistance Interpolation

Collision Avoidance Maneuver Design Based on Equidistance In...

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IEEE Conference on Decision and control

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust Vision measurement Switch control law The specified trajectory Equidistance interpolation

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Gaussian mixture PHD filter for multiple maneuvering extended targets tracking

Gaussian mixture PHD filter for multiple maneuvering extende...

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IEEE Conference on Decision and control

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.

关键词： Maneuvering Filters shape parameter extended target Gauss Subset numerical example

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Accelerating image retrieval using Binary Haar Wavelet transform on the color and edge directivity descriptor

Accelerating image retrieval using Binary Haar Wavelet trans...

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International Multi-Conference on Computing in The Global Information Technology

作者： Chatzichristofis, Savvas A. Boutalis, Yiannis S. Arampatzis, Avi Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Department of Electrical Electronic and Communication Engineering Automatic Control University of Erlangen Nuremberg Germany

ISBN: (纸本)9780769541815

In this paper, a new accelerating technique for content-based image retrieval is proposed, suitable for the Color and Edge Directivity Descriptor (CEDD). To date, the experimental results presented in the literature have shown that the CEDD demonstrates high rates of successful retrieval in benchmark image databases. Although its storage requirements are minimal, only 54 bytes per image, the time required for the retrieval procedure may be practically too long when searching on large databases. The proposed technique utilizes the Binary Haar Wavelet Transform in order to extract from the CEDD a smaller and more efficient descriptor, with a size of less than 2 bytes per image, speeding up retrieval from large image databases. This descriptor describes the CEDD, but not necessarily the image from which is extracted. The effectiveness of the proposed method is demonstrated through experiments performed with a known benchmark database. © 2010 IEEE.

关键词： Content based retrieval

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