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第36届中国控制会议

作者： Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of Ministry of Education Charles L.Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781538629185

For a linear system that has a pole in the open right-half plane and is subject to actuator saturation,global asymptotically stabilization cannot be *** a result,a multi-agent system containing such an actuator saturating agent can only reach regional consensus,that is,consensus can be achieved only when the initial state of each agent resides in a region of the state *** region of all these initial states is referred to as the domain of *** general,the domain of consensus cannot be exactly *** this paper,we consider the problem of estimating the domain of consensus of a multi-agent system with an agent subject to actuator saturation.A set of necessary and sufficient conditions under which an ellipsoidal set can be used as an estimate of the domain of consensus are *** on these conditions,an LMI-based optimization problem is formulated for obtaining the largest ellipsoidal estimate of the domain of *** results illustrate the effectiveness of the proposed approach and show the relationship between the size of the largest ellipsoidal estimate and the communication topology of the multi-agent system.

关键词： Multi-agent systems actuator saturation regional consensus domain of consensus

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Process map for collision avoidance based on information exchange for autonomous navigation of vessel

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IOP Conference Series: Materials Science and engineering 2020年第1期929卷

作者： Ho Namgung Jung Sik Jeong Kwangil Lee Sun-Young Kim Graduate school of Maritime Transportation System Mokpo National Maritime University Mokpo Republic of Korea Department of Maritime Transportation Science Mokpo National Maritime University Mokpo Republic of Korea Department of Control and Automation Engineering Korea Maritime and Ocean University Busan Republic of Korea Maritime Safety and Environmental Research Division Korea Research Institute of Ships & Ocean Engineering Daejeon Republic of Korea jsjeong@mmu.ac.kr

A reliable collision avoidance method is essential when operating an autonomous vessel. For this to become a reality, a number of researches have been conducted in order that the autonomous vessel could take an action for collision avoidance by herself. However, it may lead to dangerous situation without knowing the navigation intention of target-ships. In order to solve the issue, we developed the process map for collision avoidance based on information exchange via the communication relay system as follows: (i) the navigation situation analysis of the autonomous vessel was conducted based on manned ship voyage definition; (ii) the sequence diagram for information exchange was developed based on the autonomous vessel's navigation context and the communication relay system, and (iii) the process map for collision avoidance based on information exchange was proposed based on the developed sequence diagram and the existing collision avoidance method. It would be expected that the autonomous vessel could avoid collision more safely than taking an action by herself.

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Efficient visual loop closure detection in different times of day

Efficient visual loop closure detection in different times o...

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Intelligent Robotics and Industrial Applications using Computer Vision 2017, IRIACV 2017

作者： Erhan, Can Sariyanidi, Evangelos Sencan, Onur Temeltas, Hakan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey School of Electronic Engineering and Computer Science Queen Mary University of London London United Kingdom

Performing reliable and computationally efficient loop closure detection in real-world environments still remains a challenging problem. In this paper, we propose a novel method for efficient loop closure detection in different times of day. An illumination invariant color transform is applied to images that are represented by a whole-image descriptor, named PALM. The efficiency of our method resides either in description of the places or in image matching in which FLANN is used for fast nearest neighbor search. With this approach, searching time is decreased about 70 times compared to standard brute-force search with no significant loss of accuracy. According to the experiments that are performed in real-world datasets, the proposed method successfully accomplishes to detect loops under varied illumination conditions with high accuracy, and it allows real-time operation for long-life localization and mapping. © 2017, Society for Imaging Science and Technology.

关键词： Nearest neighbor search

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Optimal DoS Attack Strategy against Remote State Estimation Over Lossy Networks 29

Optimal DoS Attack Strategy against Remote State Estimation ...

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第29届中国控制与决策会议

作者： Menglin Li Jiahu Qin Ling Shi Xinghuo Yu Huijun Gao Department of Automation University of Science and Technology of China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology School of Engineering RMIT University Research Institute of Intelhgent Control and Systems Harbin Institute of Technology

ISBN: (纸本)9781509046584

This paper considers a Denial-of-Service(DoS) attack scheduling ***,a sensor employs the wireless fink to send the data packet to the remote estimator at each time step,while an energy-constrained attacker launches DoS attacks against the remote state estimation,and designs an optimal attack strategy to maximize damage to the remote estimation *** packet will drop if the channel is *** most of the existing works on DoS attacks,it is assumed that the wireless channel is perfect,i.e.,the packet dropout never occurs in the absence of ***,this is far from the practical *** encompass the lossy nature of wireless networks,we study the scenario of lossy networks in which the packet may drop even without attack,and construct the optimal attack strategy that maximizes the average expected estimation error at the remote estimator over lossy *** simulations are provided to demonstrate the effectiveness of the theoretical results.

关键词： Cyber-Physical systems DoS attack lossy networks energy constraint remote state estimation

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Fuzzy-based Tracking controller Design for Autonomous Underwater Vehicle 36

Fuzzy-based Tracking Controller Design for Autonomous Underw...

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第36届中国控制会议

作者： Hongjun Ban Xian Yang Xiaoyuan Luo Jing Yan Xinping Guan Institute of Electrical Engineering Yanshan University Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China Institute of Information Science and Engineering Yanshan University

ISBN: (纸本)9781538629185

Autonomous Underwater Vehicle（AUV） is referred as a promising device to extend human intelligences to harsh underwater *** applications of AUV demand accurate trajectory tracking,however the nonlinear and model inaccuracy constraints on AUV make it challenging to achieve tracking *** this paper,we are concerned with the trajectory tracking problem for *** AUV is assumed to be auto navigated in surge,sway,heave and *** first give the 4-DOF mathematical model of ***,the tracking control problem is formulated into T-S fuzzy *** on this,T-S fuzzy-based position and head controllers,which depend on the relative state errors between the AUV and reference,are designed for AUV to achieve the trajectory tracking ***,simulation results are presented to show the effectiveness of the proposed tracking controllers,wherein the influence of chattering problem can be reduced by compared with SMC-based controller.

关键词： Autonomous underwater vehicle（AUV） tracking target fuzzy underwater

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Model and Algorithms for Competitiveness Maximization on Complex Networks

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IFAC-PapersOnLine 2017年第1期50卷 9438-9443页

作者： Zhao J. Liu Q. Wang L. Wang X. Chen G. Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Institute of Complexity Science Qingdao University Qingdao China Department of Electronic Engineering City University of Hong Kong Hong Kong Hong Kong

In this paper we study a competition model on complex networks, where two competing agents are fixed to different states while other agents are evolving to update their states through interactions according to a distributed consensus rule. We consider the situation where one competitor has the opportunity to add new links to other evolving agents such that it could improve its influence on the number of its supporters. We focus on the problem of how to add these new links in order to maximize the influence of a competitor against its rival, referred to as competitiveness. We formulate this competition as a competitiveness maximization problem, which tries to maximize the number of supports of a given competitor against its rival. We analyze the properties of this problem on some special graphs and provide optimal solutions for them, respectively. We design a simulated annealing algorithm and three heuristic algorithms to approximately solve this NP-hard constrained optimization problem. © 2017

关键词： Competitive dynamics complex network heuristic algorithm simulated annealing algorithm

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Conditions for Global Asymptotic Stabilizability of the Double Integrator system with Output Saturation

Conditions for Global Asymptotic Stabilizability of the Doub...

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Chinese control Conference (CCC)

作者： Yuanlong Li Zongli Lin Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

In this paper we revisit the problem of global asymptotic stabilization of the double integrator system subject to output saturation. We first observe that the double integrator system cannot be asymptotically stabilized by linear static output feedback. We then establish that there exist linear dynamic output feedback laws that globally asymptotically stabilize the double integrator system subject to output saturation. The determination of the linear output feedback laws is presented in the form of an algorithm. Simulation results illustrate that the linear dynamic output feedback laws have the ability to achieve global asymptotic stabilization of the double integrator system subject to output saturation.

关键词： Output feedback Linear systems Heuristic algorithms Closed loop systems Actuators Trajectory

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Preventive Soot Blowing Strategy Based on State of Health Prediction for Coal-fired Power Plant Boiler

Preventive Soot Blowing Strategy Based on State of Health Pr...

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Chinese control Conference (CCC)

作者： Yuanhao Shi Jie Wen Xiaoqiong Pang Jianfang Jia Fangshu Cui Jianchao Zeng Jingcheng Wang North University of China School of Electrical and Control Engineering Taiyuan China North University of China School of Computer Science and Technology Taiyuan China Department of Automation and Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China

This paper seeks the optimization of soot-blowing operations for heat transfer surfaces in coal- fired power plant boiler. A preventive soot blowing strategy based on state of health prediction for heat transfer surface was proposed. The average state of health of heat transfer surface was forecasted as the threshold to draft preventive soot blowing strategy. According to the theory of renewal process, an optimization model with the system prediction interval and the threshold of preventive soot blowing operation as the optimization variables and minimize average energy losses as the target function was established. By using Particle Swarm Optimization (PSO), the optimal preventive cycle and soot-blowing threshold were obtained, and the long-run average cost rate was the lowest. The model is validated with experiment data of a 300MW coal-fired power plant boiler and the parameters of prediction model are obtained. The results can verify the feasibility of proposed strategy. It can be used as the guide for the optimization of soot blowing in coal-fired power plant to improve the energy conservation level.

关键词： Thermal engineering Radio frequency Coal Combustion Heat engines Heat transfer

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Robust medical instrument segmentation challenge 2019

arXiv

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arXiv 2020年

作者： Roβ, Tobias Reinke, Annika Full, Peter M. Wagner, Martin Kenngott, Hannes Apitz, Martin Hempe, Hellena Filimon, Diana Mindroc Scholz, Patrick Tran, Thuy Nuong Bruno, Pierangela Arbelaéz, Pablo Bian, Gui-Bin Bodenstedt, Sebastian Bolmgren, Jon Lindström Bravo-Sánchez, Laura Chen, Hua-Bin González, Cristina Guo, Dong Halvorsen, Pål Heng, Pheng-Ann Hosgor, Enes Hou, Zeng-Guang Isensee, Fabian Jha, Debesh Jiang, Tingting Kirtac, Kadir Jin, Yueming Kletz, Sabrina Leger, Stefan Li, Zhixuan Maier-Hein, Klaus H. Ni, Zhen-Liang Riegler, Michael A. Schoeffmann, Klaus Shi, Ruohua Speidel, Stefanie Stenze, Michael Twick, Isabell Wang, Gutai Wang, Jiacheng Wang, Liansheng Wang, Lu Zhang, Yujie Zhou, Yan-Jie Zhu, Lei Wiesenfarth, Manuel Kopp-Schneider, Annette Müller-Stich, Beat P. Maier-Hein, Lena Heidelberg Germany University of Heidelberg Germany Heidelberg Germany Department of General Heidelberg University Hospital Visceral and Transplant Surgery Heidelberg Germany caresyntax Berlin Germany University of Chinese Academy Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China SimulaMet Oslo Norway Tromsø Norway Oslo Norway School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China Partner Site Dresden Heidelberg Germany Faculty of Medicine and University Hospital Carl Gustav Carus Technische Universität Dresden Dresden Germany Dresden Germany Universidad de Los Andes Bogotá Colombia Peking University Peking China Department of Computer Science School of Informatics Xiamen University Xiamen China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong German Cancer Research Center Division of Biostatistics Heidelberg Germany Institute of Information Technology Klagenfurt University Austria

Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and roboticassisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video images have been proposed in the literature, key limitations remain to be addressed: Firstly, robustness, that is, the reliable performance of state-of-the-art methods when run on challenging images (e.g. in the presence of blood, smoke or motion artifacts). Secondly, generalization;algorithms trained for a specific intervention in a specific hospital should generalize to other interventions or institutions. In an effort to promote solutions for these limitations, we organized the Robust Medical Instrument Segmentation (ROBUST-MIS) challenge as an international benchmarking competition with a specific focus on the robustness and generalization capabilities of algorithms. For the first time in the field of endoscopic image processing, our challenge included a task on binary segmentation and also addressed multi-instance detection and segmentation. The challenge was based on a surgical data set comprising 10,040 annotated images acquired from a total of 30 surgical procedures from three different types of surgery. The validation of the competing methods for the three tasks (binary segmentation, multi-instance detection and multi-instance segmentation) was performed in three different stages with an increasing domain gap between the training and the test data. The results confirm the initial hypothesis, namely that algorithm performance degrades with an increasing domain gap. While the average detection and segmentation quality of the best-performing algorithms is high, future research should concentrate on detection and segmentation of small, crossing, moving and transparent instrument(s) (parts). Copyright © 2020, The Authors. All rights reserved.

关键词： Endoscopy

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Increase in accuracy forecast for electrical energy consumption of the WEM subjects using fuzzy neural networks

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IOP Conference Series: Materials Science and engineering 2020年第1期791卷

作者： Ya P Fedorov V L Burkovsky A L Rutskov Corporate finance department and corporate management of the Financial University under the Government of the Russian Federation Leningradsky prospect 49 Moscow 125993 Russia Department of electric drive automation and control in an engineering system Voronezh State Technical University Moscow prospect 179 Voronezh 394066 Russia Forecasting department of electricity balance power and loss analysis branch office OJSC «IDGC Centre» - «Voronezhenergo» Arzamaskaya 2 Voronezh 394033 Russia

This paper covers in depth functioning essence of the balancing electricity market in the Russian Federation in accordance with the current economic stimuli. Significant role of the prediction process for energy resources consumption has been noted, which has a direct influence on a pricing policy within the marked trade area. Analysis of different factors, that impact execution accuracy of the one day in advance model, was conducted. Problem of the weakly defined and unknown parameters, that influence the performance of the balancing electricity market, is suggested to resolve by means of fuzzy neural controller. The paper presents its structure and settings, and possibility to scale it to use not only as an analyzer but as an executive element in the subsystems of electric power systems. High accuracy performance of the fuzzy neural controller was shown - around (0,5-3) %, that is much higher than methods already in use (for instance, based on a coefficient of decline/growth of power consumption).

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