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第三十三届中国控制会议

作者： Zhi-Yong Feng Li Xu Ye Li Huijin Fan Xue-Xun Guo Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Hubei Collaborative Innovation Center for Automotive Components Technology Department of Electronics and Information Systems Akita Prefectural UniversityYuri-HonjoAkita 015-0055Japan Department of Control Science and Engineering University of Shanghai for Science and Technology Key Laboratory of Image Processing and Intelligent Control School of AutomationHuazhong University of Science and Technology

ISBN: (纸本)9781479947249

The problem of how to select a coordinate transformation matrix to improve the LMI conditions for H∞ staticoutput-feedback(SOF) control of discrete-time systems is a challenging open *** paper applies a newly proposed strategy to solve this *** iterative algorithm is developed to produce controllers with locally optimal closed-loop H∞*** algorithm is also applied to other H∞ SOF control problems,such as decentralized H∞ SOF control and simultaneous H∞ SOF ***,numerical examples are provided to demonstrate the effectiveness and advantages of the proposed method.

关键词： H∞ control,Static output feedback,Decentralized control,Simultaneous control,Linear matrix inequality(LMI)

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Short-term PV generation system direct power prediction model on wavelet neural network and weather type clustering

Short-term PV generation system direct power prediction mode...

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2013 5th International Conference on intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yang, Ying Dong, Lei School of Automation Beijing Institute of Technology China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9780769550114

With the increase of the capacity of PV generated systems, how to eliminate the problem caused by the randomness of power output for photovoltaic system becomes more significant. Most of the existing photovoltaic prediction is Based on the solar radiation. However, it's difficult to implement in China due to insufficient solar radiation station available and poor forecasting performance. In addition, indirect forecasting cannot consider the factors related with PV system. A novel power forecasting model using historical power is proposed to solve the problems. Furthermore, in order to adapt sudden weather changes, the future weather type was recognized by using self-organizing feature map(SOM). Then, PV power generation in each weather type could be forecasted from its corresponding forecast network and the over fitting issue of single network model could be addressed. Wavelet neural network is combined with wavelet analysis and neural network. It is compatible with the good time-frequency property and good fault tolerant ability of neural network. Wavelet neural network can optimize the forecasting model. The experimental results indicate that the prediction has high precision and can be applied in stable operation of photovoltaic generation system. © 2013 IEEE.

关键词： Solar radiation

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Study on GIS's application in driving in the unstructured environment for UGV

Study on GIS's application in driving in the unstructured en...

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2013 International Conference on Geo-Informatics in Resource Management and Sustainable Ecosystem, GRMSE 2013

作者： Yang, Qiangrong Wang, Meiling School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing 100081 China

ISBN: (纸本)9783642419072

For UGV, driving in the unstructured environment safely and quickly without human intervention becomes increasingly important. While many scholars have conducted researches in driving in this case, the results seem quite unsatisfied. In this paper, how to use GIS in aiding the UGV to drive in the unstructured environment is studied. First, GIS is used to process the raw data received from the 3D laser scanner to get the high-resolution gradient and elevation grid, which is used to determine the traversability of the environment. Then the relatively low-resolution gradient grid is used as the cost field in the path planning algorithm to generate the optimal path from the start point to the goal point. At last, an algorithm is introduced to get the reference speed limit from the given optimal path according to the geometry features of the path and the gradient grid. Simulation and experiment results are given to show the effectiveness of the algorithms. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Motion planning

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Multi-target Passive Location Based on the Algorithm of TDOA-Camberra

Multi-target Passive Location Based on the Algorithm of TDOA...

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第25届中国控制与决策会议

作者： Xin Xu Wenjie Chen Mingjun Jiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education China North Vehicle Research Institute

ISBN: (纸本)9781467355339

An algorithm namely the TDOA-Camberra is proposed for the multi-target passive location in this paper. The algorithm uses the Camberra distance to associate the target data and do the optimal search, then uses the time difference of arrival (TDOA) to locate multiple targets passively once data from the same target is determined. At the same time, as the computing time of associating data using Camberra distance is long, the improved sequential similarity detection algorithm (SSDA) is added to the calculation in order to shorten the time of the data association, thus to increase the speed of the multi-target passive location. The theoretical analysis and simulation experiment proves that the multi-target passive location can be implemented by the proposed algorithm accurately and quickly.

关键词： passive location, data association, Camberra distance, SSDA

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Pyramid histogram of oriented gradient and particles swarm optimization based SVM for vehicle detection

Pyramid histogram of oriented gradient and particles swarm o...

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2013 7th International Conference on Image and Graphics, ICIG 2013

作者： Wang, Hailuo Bo, Wang Sun, Li College of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9780769550503

Vehicle Detection is an important part in intelligent transportation system (ITS) and driver assistance system. Considering vehicles have strong edges and lines in different orientation and scales, in this paper, we presents a method for detecting vehicles based on a feature named Pyramid Histogram of Oriented Gradient. This feature provides spatial distribution information of edges which was often ignored by other features. Specifically, we extract PHOG features from a traffic image and a vector is obtained as representation of this image. In order to speed up the process of calculation, Principle Component Analysis (PCA) algorithm is applied to these vectors to reduce their dimensionality. Tests show the efficiency improved significantly. Theses representative vectors are then used to train SVM classifier. To ensure the final classification accuracy, we adopt Particles Swarm Optimization (PSO) method to gain the parameters used in SVM classification. Optimal parameters correspond with optimal result. Experiments demonstrate the superiority of the proposed approach which has achieved an average accuracy of 95% on test images. © 2013 IEEE.

关键词： Vehicles

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Object Tracking Algorithm of Adaptive Kernel-Bandwidth for Mean-Shift Based on Optical-flows

Object Tracking Algorithm of Adaptive Kernel-Bandwidth for M...

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第三十二届中国控制会议

作者： Qinlong He Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

To obtain and update the kernel-bandwidth,we present an adaptive bandwidth obtainment algorithm based on object contour extraction from optical-flow *** combination of modified mountain cluster approach and fast scanning window contour extractor guarantees the speed of this algorithm.A novel ellipse detection method based on a modified RANSAC is adopted to reduce the *** results demonstrate that the algorithm select the proper size of tracking kernel-bandwidth with minor extra computational overhead and keep up with the object robustly when the scale changed rapidly.

关键词： object tracking mean shift kernel bandwidth mountain cluster RANSAC

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A multi-objective decomposition-based stochastic particle swarm optimization algorithm and its application to optimal design for linear motor

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2013年第6期30卷 693-701页

作者： Wang, Guang-Hui Chen, Jie Cai, Tao Li, Peng School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This article proposes a multi-objective decomposition stochastic particle swarm optimization (MDSPSO) algorithm. In MDSPSO, every particle has a weighted vector constantly. Then, an improved Tchebycheff decomposition method is applied to decompose the multi-objective problem into some single-objective problems. The reference position of every particle is uniformly generated in the zone with the center which is the geometrical center of its current position, the best previous reference position as well as the swarm best reference position. The radius of this zone is the distance from the center to its current position. Then the particle is updated to the new position according to the reference position and its current velocity. The comparisons with the decomposition-based multi-objective particle swarm optimizer (dMOPSO), a multiobjective evolutionary algorithm based on decomposition (MOEA/D), and nondominated sorting genetic algorithm II (NSGA-II) show that the solutions of MDSPSO can be dominated at least with the best diversity. To reduce the computational time by finite element analysis for optimizing the structure parameters of linear motor, artificial neural network is used as the model to evaluate the performance. Finally, MDSPSO is applied to optimize four objectives simultaneously. The practical result is shown that the optimized linear motor has an increased thrust, improved efficiency, reduced fluctuation and manufacturing cost.

关键词： Multiobjective optimization

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A novel sparse auto-encoder for deep unsupervised learning

A novel sparse auto-encoder for deep unsupervised learning

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International Workshop on advanced Computational Intelligence (IWACI)

作者： Xiaojuan Jiang Yinghua Zhang Wensheng Zhang Xian Xiao State Key Laboratory of Intelligent Control and Management of Complex System at Institute of Automation Chinese Academy of Sciences Beijing

This paper proposes a novel sparse variant of auto-encoders as a building block to pre-train deep neural networks. Compared with sparse auto-encoders through KL-divergence, our method requires fewer hyper-parameters and the sparsity level of the hidden units can be learnt automatically. We have compared our method with several other unsupervised leaning algorithms on the benchmark databases. The satisfactory classification accuracy (97.92% on MNIST and 87.29% on NORB) can be achieved by a 2-hidden-layer neural network pre-trained using our algorithm, and the whole training procedure (including pre-training and fine-tuning) takes far less time than the state-of-art results.

关键词： Training Classification algorithms Data models Principal component analysis Lead

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Distortion correction method in the high-precision and high-speed CCD measurement system

Distortion correction method in the high-precision and high-...

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Chinese control Conference (CCC)

作者： Jing Li Junzheng Wang Renjian Hao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

In the high-precision and high-speed measurement system, the distortion of CCD pixes will give a greater margin of error to measurement results. According to the characteristic of noise leading to the image distortion, this article establishes the image transformation model. Data fitting based method is used for correcting image distortion. For the distortion caused by camera installation, the perspective transformation is used to correcting the image. And then the four points calibration method is adopted to calibrating the measurement system. Experiments adopt the high speed area array CCD to gather images with the circular facula in the target area launched by the laser, and calculate the real position of the facula in the target area, adopt the high accurate displacement sensor to give the true displacement of the target which is used to verify the real position of the facula in the target area. The results show that the algorithm can reduce the influence of image distortion, which advances the measurement accuracy efficiently.

关键词： Charge coupled devices Distortion measurement Optical distortion Cameras Measurement uncertainty Calibration Real-time systems

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Design and simulation of a hydraulic biped robot

Design and simulation of a hydraulic biped robot

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Chinese control Conference (CCC)

作者： Guangrong Chen Junzheng Wang Lipeng Wang Yudong He Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.

关键词： Legged locomotion Planning Stability analysis Electronic mail Servomotors

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