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Chinese control Conference

作者： Xu Yin Ruilin Wang Xiaobo Liu Yaoming Cai Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Computer Science China University of Geosciences Wuhan P. R. China

The classification of hyperspectral images (HSIs) is a hot topic in the field of remote sensing technology. In recent years, convolutional neural network (CNN) has achieved great success for HSI classification. However, CNN has to do a great effort in parameters tuning which is time-consuming. Furthermore, a large number of samples are required to train CNN, nevertheless, it is expensive to obtain enough training samples from HSIs. In this paper, we propose a novel classification approach based on deep forest. To reduce the dimension of hyperspectral data, principal component analysis (PCA) is performed during the pre-processing. In contrast to the CNN, our method has fewer hyper-parameters and faster training speed. To the best of our knowledge, this is among the first deep forest-based hyperspectral spectral information classification. Extensive experiments are conducted on two real-world HSI datasets to show the proposed method is significantly superior to the state-of-the-art methods.

关键词： Forestry Hyperspectral imaging Training Principal component analysis Vegetation Radio frequency

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Hopf bifurcation analysis and control of a bacteria-immunity system with delayed quorum sensing 8

Hopf bifurcation analysis and control of a bacteria-immunity...

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8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Applications, ISCIIA and ITCA 2018

作者： Liu, Feng Dai, Xiangjuan Mei, Qicheng Ling, Guang Sun, Fenglan School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligence Automation for Complex System Wuhan430074 China School of Science Wuhan University of Technology Wuhan430070 China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing400065 China

A bacteria-immunity system model is formulated to describe the interaction between bacteria and immune cells with quorum sensing. Time delay is introduced to study this system. The stability and the conditions for the existence of Hopf bifurcation are obtained. Finally, numerical simulations are used to verify the theoretical conclusions. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Application.

关键词： Bacteria

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A General 6-DOF Industrial Robot Arm control System Based on Linux and FPGA

A General 6-DOF Industrial Robot Arm Control System Based on...

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第30届中国控制与决策会议

作者： Cong Han Hongbin Ma Wenchao Zuo Sunjie Chen Xinghong Zhang School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This paper presents a general six degrees of freedom(6-DOF) robot arm control system based on Linux and field-programmable gate array(FPGA).The system provides a friendly human-computer interaction *** can complete palletizing,handling and other processes through simple programming of the interactive *** adopt industrial personal computer(IPC) as the controller to accomplish the kinematics calculation,design motion control board connected with the controller and the servo system,and use the servo system to implement the motion of the robot *** kinematics calculation and trajectory generation based on cubic polynomial are developed based on the Linux system,which improves the portability of the *** a normal method is adopted in updating trajectory points to improve *** control board is designed based on FPGA,which with the characteristic of parallel computing raises the running speed of the robot arm.

关键词： 6-DOF industrial robot arm control system human-machine interaction Linux FPGA

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Algebraic Connectivity Estimation Based on Decentralized Inverse Power Iteration

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Asian Journal of control 2017年第2期19卷 805-812页

作者： Wei, Yue Fang, Hao Chen, Jie Xin, Bin School of Automation Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this work, we propose a new scheme to estimate the algebraic connectivity of the graph describing the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The main idea is to propose a new decentralized conjugate gradient algorithm and a decentralized compound inverse power iteration scheme. The matrix inversion computation in this scheme is replaced by solving the non-homogeneous linear equations relying on the proposed decentralized conjugate gradient algorithm. With this scheme, we can achieve a fast convergence rate in estimating the algebraic connectivity by setting the parameter μ properly. Simulation results demonstrate the effectiveness of the proposed scheme. © 2016 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Network topology

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Simulation and Experimental Study on Piezoelectric Geophone Core Based on PMN-PT

Simulation and Experimental Study on Piezoelectric Geophone ...

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Chinese control Conference

作者： JunLei Song YanXia Huang ZhiHeng Yang MeiJuan Chen Yong Yang WenQin Mo KaiFeng Dong Fang Jin Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Mathmatics and Physics China University of Geosciences Wuhan P. R. China

Piezoelectric geophones are vibration detectors that convert vibration acceleration signals into electrical signals. High performance piezoelectric materials can improve the sensitivity of piezoelectric geophone and meet the need of high-resolution seismic data acquisition. The comprehensive performance of relaxor piezoelectric single crystal PMN-PT is more superior than PZT, and it is potential to be applied to high sensitivity and small volume geophones. In this paper, the central compressed geophone core model based on PMN-PT was established and theoretically analyzed. Then, a multiphysics simulation model was set up in COMSOL for simulation calculation. Finally, experimental verification was carried out. The results show that using PMN-PT in geophone core design can improve the sensitivity of the model by more than 120% compared with the traditional PZT material. The PMN-PT has the potential to be applied to high sensitivity and small volume geophones.

关键词： Vibrations Sensitivity Acceleration Piezoelectric materials Sensors Earth Force

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Multi Constellation Fast Selection Method Based on Equivalent Distance Error

Multi Constellation Fast Selection Method Based on Equivalen...

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Chinese control Conference

作者： Guangjun Wang Yutao Cheng Shaohui Yang School of Automatic China University of Geosciences Wuhan Hubei Key Laboratory of Advance Control and Intelligent Automation for Complex Systems State Grid Puyang Electric Power Supply Company

A single satellite navigation system can get high accuracy in general environment, but when the ground satellite navigation receiver is in complex environment, single system navigation often results in poor location results due to the visible satellite less than four. If multiple constellation fusion navigation is used, the number of visible satellites can be increased, thus improving the positioning results. However, the use of all visible satellites in location calculation will bring a huge amount of calculation, which seriously affects the real-time performance of navigation and positioning. Therefore, a reasonable selection of star selection method is urgently needed in the integrated navigation system. Based on the two performance indexes of balanced geometric accuracy factor (GDOP) and star selection efficiency, fast star selection algorithm based on equivalent distance error is proposed in this paper. The experimental results show that the method can effectively improve the efficiency of multi constellation star selection of the premise of high precision.

关键词： Satellites Satellite navigation systems Receivers Extraterrestrial measurements Measurement uncertainty Clocks Space vehicles

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Robust Disturbance Rejection in Repetitive-control System Based on Improved Equivalent-Input-Disturbance Approach 36

Robust Disturbance Rejection in Repetitive-Control System Ba...

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第36届中国控制会议

作者： Lan Zhou Jinhua She Changzhong Pan School of Information and Electrical Engineering Hunan University of Science and Technology School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

This paper concerns disturbance rejection for a repetitive-control system（RCS） with unknown time-varying uncertainties and nonlinearity. The design of the RCS is based on the concept of equivalent input disturbance（EID）. First, an EID estimator is constructed through a state observer with dynamic coefficient matrix that effectively estimates the total effect of the uncertainties and nonlinearity on the output of the plant. Next, a robust globally uniformly ultimately bounded stability condition for the EID-based RCS is derived in the form of a linear matrix inequality. Then, the methods of designing a modified repetitive controller, a state-feedback controller, and an EID estimator are explained. Finally, simulation results demonstrate the validity of the method.

关键词： Repetitive control Equivalent Input Disturbance Disturbance Rejecting Two-dimensional System Linear Matrix Inequality

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Model Predictive control for Human Following Rehabilitation Robot

Model Predictive Control for Human Following Rehabilitation ...

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IEEE Workshop on advanced Robotics and its Social Impacts, ARSO

作者： Shihao Yan Jing Tao Jian Huang Anshun Xue the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Ministry of Civil Affairs of the People's Republic of China National Research Center for Rehabilitation Technical Aids Beijing China the Beijing Advanced Innovation Center of Intelligent Robots and Systems Beijing China

A new type of rehabilitation robot that can follow the user side-by-side is designed for aiding the elderly and disabled. The Human Following Rehabilitation Robot (HFRR) consists of a metal armrest, a set of sensors and a differential mobile base. By predicting the user's speed in the future through the user's current walking speed and the preset path, the problem of human following side-by-side is converted to a problem of keeping a certain lateral distance from the predicted trajectory. Linearizing the tracking error model, the nonholonomic mobile robot (NMR) can maintain a certain lateral distance from the trajectory by using Model Predictive control (MPC) and then follow the user side-by-side. The simulation and experimental results show the proposed controller can obtain good performance in this problem.

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An improved tiny SLAM method for simultaneous localization and mapping 5

An improved tiny SLAM method for simultaneous localization a...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Li, Dan-Yun Liu, Cong-Jun Liu, Zhen-Tao Feng, Zhi-Yong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Wuhan430070 China

TinySLAM algorithm is a simple 2D laser SLAM algorithm. However, in practical applications, it has higher error rate of mapping because of its simple filter. In this paper, an improved TinySLAM algorithm is proposed for simultaneous location and mapping. By adding a simple filter before the Monte Carlo simulation and then fusing the information from the odometer, the error in the positioning process can be reduced. Moreover, the introduced hybrid map cell model that can be compatible with ROS system, improves the response to dynamic obstacles, and reduces the mapping error rate further. Simulation using ROS system and Stage software is performed, from which the results show that the proposal has good effects comparing with TinySLAM, and the error rate is reduced so that the map built is closer to the actual environment.

关键词： Mapping

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A probabilistic learning algorithm for the shortest path problem 11th

A probabilistic learning algorithm for the shortest path pro...

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11th International Conference on Simulated Evolution and Learning, SEAL 2017

作者： Diao, Yiya Li, Changhe Ma, Yebin Wang, Junchen Zhou, Xingang School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan China Communication Security Group of Eastern Theater Command Nanjing China

ISBN: (纸本)9783319687582

Ant colony optimization (ACO) has been shown effectiveness for solving combinatorial optimization problems. Inspired by the basic principles of ACO, this paper proposes a novel evolutionary algorithm, called probabilistic learning (PL). In the algorithm, a probability matrix is created based on weighted information of the population and a novel random search operator is proposed to adapt the PL to dynamic environments. The algorithm is tested on the shortest path problem (SPP) in both static and dynamic environments. Experimental results on a set of carefully designed 3D-problems show that the PL algorithm is effective for solve SPPs and outperforms several popular ACO variants. © Springer International Publishing AG 2017.

关键词： Ant colony optimization

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