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2009 American Control Conference (ACC 2009)

作者： Yang Liu Yingmin Jia Junping Du Shiying Yuan Seventh Research Division Beihang University (BUAA) Beijing 100191 P.R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 P.R. China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan P.R. China

ISBN: (纸本)9781424445233

This paper deals with the consensus control of a multi-agent system with state and measurement disturbances, and proposes a distributed dynamic output feedback protocol. By defining an appropriate controlled output, the consensus control problem is reformulated as an H_(infinity) control problem. Using H_(infinity) techniques, a sufficient condition in terms of linear matrix inequalities (LMIs) is given to ensure consensus with the prescribed H_(infinity) performance, and the undetermined system matrix of the proposed protocol is obtained. Simulation results show that a multi-agent system under the proposed protocol with system matrix solved by the LMI (linear matrix inequality) approach possesses the desired H_(infinity) consensus performance.

关键词： Consensus Multi-agent systems Dynamic H_(infinity) control External disturbances Dynamic output feedback control Multi-agent systems Output Feedback Control linear matrix inequalities protocols

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A Novel Interacting Multiple Model Algorithm Based on Multi-sensor Optimal Information Fusion Rule

A Novel Interacting Multiple Model Algorithm Based on Multi-...

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2009 American Control Conference (ACC 2009)

作者： Xiaoyan Fu Yingmin Jia Junping Du Shiying Yuan Seventh Research Division Beihang University (BUAA) Beijing 100083 P.R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 P.R. China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan P.R. China

ISBN: (纸本)9781424445233

In this paper, a novel interacting multiple model (IMM) algorithm is proposed, which utilizes a multi-sensor optimal information fusion rule to combine multiple models in the linear minimum variance sense instead of famous Bayes' rule. Furthermore, the diagonal matrices are used as the updated weights of models, which are applied to distinguish the effects produced by different dimensions of state, so the new algorithm is named as diagonal interacting multiple model (DIMM) algorithm. Extensive Monte Carlo simulations indicate that the proposed DIMM algorithm has better accuracy of estimation than the IMM algorithm with no increase in the execution time, which confirm that the DIMM algorithm is a competitive alternative to the classical IMM algorithm.

关键词： Covariance matrix State estimation Change detection algorithms Laser radar Optimal control Radar tracking Target tracking Radar detection Laser modes Laser transitions

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Monotonically Convergent Iterative Learning Control for Uncertain Time-Delay Systems: An LMI Approach

Monotonically Convergent Iterative Learning Control for Unce...

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2009 American Control Conference (ACC 2009)

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu Seventh Research Division Beihang University (BUAA) Beijing 100083 P. R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 P. R. China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan P. R. China

ISBN: (纸本)9781424445233

This paper deals with the robust iterative learning control (ILC) problem for time-delay systems (TDS) subject to matched parameter uncertainties. Based on two-dimensional (2-D) approach, a stability analysis of the ILC process is developed in the sense that the control error converges monotonically as a function of iteration. It shows that a sufficient condition for the ILC stability can be given in terms of linear matrix inequalities (LMIs), which derives learning gains directly. Simulation results show that the ILC system under a law using gains solved by the LMI approach is robustly stable and monotonically convergent.

关键词： Iterative methods Control systems Robust control Uncertain systems Two dimensional displays Stability analysis Error correction Sufficient conditions Linear matrix inequalities Robustness

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An Empirical analysis of software effort estimation with outlier elimination 08

An Empirical analysis of software effort estimation with out...

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30th International Conference on software engineering, ICSE 2008 - 4th International Workshop on Predictor Models in software engineering, PROMISE 2008

作者： Seo, Yeong-Seok Yoon, Kyung-A Bae, Doo-Hwan Software Engineering Laboratory Division of Computer Science EECS KAIST 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781605580364

Accurate software effort estimation has always been challenge for software engineering communities. To improve the estimation accuracy of software effort, many studies have focused on effort estimation methods without any consideration of data quality, although data quality is one of important factors to impact to the estimation accuracy. In this paper, we investigate the influence of outlier elimination upon the accuracy of software effort estimation through empirical studies applying two outlier elimination methods(Least trimmed square and K-means clustering) and three effort estimation methods(Least squares, Neural network and Bayes ian network) associatively. The empirical studies are performed using two industry data sets(the ISBSG Release 9 and the Bank data set which consists of the project data performed in a bank in Korea) with or without outlier elimination. Copyright 2008 ACM.

关键词： Least squares approximations

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Fast Information Sharing in Networks of Autonomous Agents

Fast Information Sharing in Networks of Autonomous Agents

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2008 American Control Conference (ACC), vol.10

作者： Feng Xiao Long Wang Yingmin Jia Languages Informatics Systems and Software Engineering Department Faculty of Computer Science Peking University Beijing China Seventh Research Division Beihang University Beijing China

A new nonlinear protocol is proposed for state consensus of multi-agent systems in this paper. It is shown that this protocol can provide faster convergence rate than the typical linear protocol, presented by Olfati-Saber and Murray, and furthermore guarantees the states of agents reach a consensus in finite time, provided that the interaction topology, represented by a directed graph, has a spanning tree.

关键词： Multi-agent systems coordination finite-time consensus interaction topology

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Robust watermark detection against D-A/A-D conversion for digital cinema using local auto-correlation function

Robust watermark detection against D-A/A-D conversion for di...

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IEEE International Conference on Image Processing

作者： Min-Jeong Lee Kyung-Su Kim Hae-Yeoun Lee Tae-Woo Oh Young-Ho Suh Heung-Kyu Lee Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology South Korea School of Computer and Software Engineering Kumoh National Institute of Technology South Korea Digital Content Research Division Electronics and Telecommnications Research Institute South Korea

In this paper, we propose a blind watermark detection scheme for digital cinema which is robust against D-A/A-D conversion attack. D-A/A-D conversion attack commonly happens during capturing cinema with a camera and is composed of various geometrical distortions as well as signal processing distortions. In many video applications, geometric distortions have been compensated by utilizing auto-correlation function (ACF). Since the ACF cannot resist projective transform but affine transform, we present a robust watermark detection scheme utilizing local auto-correlation function (LACF) with a mathematical model. Also, we suggest a way to design watermark pattern to improve performance of the LACF. We demonstrate robustness of the presented scheme against D-A/A- D conversion attacks for digital cinema as well as common video processing attacks.

关键词： Robustness Watermarking Motion pictures Autocorrelation Distortion Image restoration Payloads Cameras Video signal processing Resists

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U-healthcare System using Smart Headband

U-healthcare System using Smart Headband

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

作者： Sang Hyun Kim Dong Wan Ryoo Changseok Bae The Department of Computer Software and Engineering Korea University of Science and Technology South Korea The Department of Post-PC Research Group Digital Home Research Division Electronics and Telecommunications Research Institute South Korea

The wearable healthcare system should be not only small and easy for users to wear them but accurate in measuring physiological signals in daily life without any inconvenience. To meet these requirements, we propose the U-healthcare System which consists of a Smart Headband and a Health-state Monitor program. It can monitor the health-state in walking and running. The Smart Headband measures a photo-plethysmography (PPG) signal at the forehead for monitoring the heart rate and acceleration signals. The Health-state Monitor program is developed to show the health-state. Health-state Monitor program is operated in the handheld computer, such like (Ultra Mobile Personal computer (UMPC). It provides the user PPG, heart rate and steps for the precise measurement, Adaptive Noise Cancellation (ANC) is introduced. The Smart Headband and the Health-state Monitor program are communicated by the WPAN using Zigbee protocol. If the heart rate is higher or lower than usual, the Health-state Monitor program sends the SMS message to the designated person, such as family or the attending physician in the medical center, to inform the emergency situation.

关键词： Biomedical monitoring Heart rate Monitoring Legged locomotion Distortion Acceleration Forehead

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Development and control of dolphin-like underwater vehicle

Development and control of dolphin-like underwater vehicle

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American Control Conference (ACC)

作者： Yonghui Hu Long Wang Junzhi Yu Jiyan Huo Yingmin Jia Languages Informatics Systems and Software Engineering Department Faculty of Computer Science Peking University Beijing China Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China Seventh Research Division Beihang University Beijing China

This paper is concerned with prototype development and motion control of a dolphin-like underwater robot. The propulsion and maneuvering of the robotic dolphin are realized with the flapping motion of the mechanical flippers and the combined heaving and pitching motions of the fluke. Mechanical design and control of the flipper apparatus and the flexible tail mechanism are presented. Through coordinated control of the propulsors, several swimming movements are designed. Preliminary experimental results verify the effectiveness of the proposed design scheme.

关键词： Underwater vehicles Dolphins Robot kinematics Propulsion Marine animals Motion control Tail Robot sensing systems Control systems Automotive engineering

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Algebraic Criteria for Consensus Problems of Discrete-Time Networked Systems

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IFAC Proceedings Volumes 2008年第2期41卷 1502-1509页

作者： Zonggang Li Yingmin Jia Junping Du Fashan Yu The Seventh Research Division Beihang University Beijing 100083 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

This paper is mainly devoted to the algebraic criteria for consensus problems of discrete-time networked systems with the fixed and switching topology. A special eigenvector ω of the Laplacian matrix is first correlated with the connectivity of a digraph, and then the relations between a class of Laplacian-type matrix and the stochastic matrix are established. Based on these tools, some necessary and/or sufficient algebraic conditions are proposed, which can directly determine whether the consensus problem can be solved or not. Furthermore, it is proved that only the agents corresponding to the positive elements of ω contribute to the group decision value and decide the collective behavior of the system. Particularly for the fixed topology case, it is shown that not only the role of each agent is exactly proportional to the value of the corresponding element of ω but also the group decision value can be calculated by such a vector and the initial states of all agents.

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Fast Iterative Learning Control for Delay Systems: A Predictive Approach

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IFAC Proceedings Volumes 2008年第2期41卷 13474-13479页

作者： Deyuan Meng Yingmin Jia Junping Du Shiying Yuan The Seventh Research Division Beihang University Beijing 100083 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

In a previous paper (Li et al. (2005)), an iterative learning control (ILC) law, proposed for linear continuous systems with a single time delay, has the ability to drive the output tracking error to zero only after one learning iteration. The convergence result is quite attractive; however, it requires unavailable system state. The aim of this paper is to provide a predictive approach to not only reach this result, but also extend it to linear continuous systems with multiple time delays. To this end, that unavailable system state is predicted and its corresponding equivalent form is obtained, based on which new ILC laws with fully available information are determined, ensuring the zero output tracking only after one learning iteration. The numerical simulation shows that this kind of ILC design is available, and furthermore the extension of the results from systems with a single time delay to those with multiple time delays is feasible.

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