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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

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Motion trajectory design for underactuated three-link gymnast robot

Motion trajectory design for underactuated three-link gymnas...

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Asian control Conference

作者： Ancai Zhang Jinhua She Jianlong Qiu Chengdong Yang Lan Zhou School of Automation and Electrical Engineering Linyi University Linyi Shandong China Key Laboratory of Complex Systems and Intelligent Computing Universities of Shandong Linyi Shandong China School of Automation China University of Geosciences Wuhan Hubei China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Information Science and Engineering Linyi University Linyi Shandong China School of Information and Electrical Engineering Hunan University of Science and Technology Xiangtan Hunan China

ISBN: (纸本)9781509015740;9781509015733

This paper concerns the motion trajectory design for an underactuated three-link robot (UTGR). First, we design a controller for the UTGR system based on the system's dynamic structure characteristics. And then, the properties of closed-loop system are analyzed. After that, a motion trajectory of the UTGR is designed based on the analyzed properties and an inverted trajectory idea. The designed trajectory starts from the downward position and ends at the upward position. Tracking of this trajectory can enable the stabilization control objective of UTGR from the downward position to the upward position to be achieved. A numerical example demonstrates the effectiveness of our proposed theoretical results.

关键词： Trajectory Robots Closed loop systems Mathematical model Mechanical systems Tracking

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Robust Traffic Sign Detection in complex Road Environments

Robust Traffic Sign Detection in Complex Road Environments

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2016年IEEE汽车电子与安全国际会议

作者： Bin Tian Ran Chen Yanjie Yao Naiqiang Li the State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

Traffic sign recognition is an important topic in driver assistant system and intelligent autonomous vehicles. Traffic sign detection is a critical step, whose performance greatly affect the performance and computation cost of traffic sign recognition. In this paper, we propose a traffic sign detection method based on a scoring SVM model. First, traffic sign color and color gradient are extracted according to their color characteristics. Then, the shape of traffic sign is computed by a voting scheme, yielding shape score maps. After that, the score maps of traffic signs are used to train a SVM model. Compared with single traffic sign score value, the score map is more efficient to verify the existence of a traffic sign. Finally, the trained SVM model is used to detect traffic signs. Experiments show that the proposed method is more effective than the voting based method to detect traffic signs.

关键词： image Robust Traffic Sign Detection in complex Road Environments

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Performance Evaluation for Multi-antenna Vehicular Communication Based on IEEE 802.11p Standard

Performance Evaluation for Multi-antenna Vehicular Communica...

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International Conference on Computing, Networking and Communications

作者： Shuangshuang Han Kai Zhao Liu-Qing Yang Xiang Cheng The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries

ISBN: (纸本)9781467385800

Multi-input multi-output (MIMO) has been a promising technique for wireless communication areas, such as intelligent transportation systems. In this paper, we present performance evaluation of a multi-antenna transceiver for Wireless Access in Vehicular Environments (WAVE) according to IEEE 802.11p standard. Herein, MIMO WAVE is performed by employing three MIMO schemes, namely, Alamouti, vertical BLAST (V-BLAST) and space shift keying (SSK) scheme. The above three MIMO schemes are discussed and compared, considering the influence of different driving velocity and with/without line of sight (LOS) on the system performance. Based on the analysis and simulation results, it can be found that compared with single antenna systems, V-BLAST scheme would significantly increase the transmission data rate, while Alamouti and SSK scheme could improve the reliability and robustness even under poor receive conditions.

关键词： MIMO 802.11p Alamouti V-BLAST SSK

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The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system

The Application of Square-Root Cubature Kalman Filter in the...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Dongyang Zhang Zhihong Deng Bo Wang Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Nanjing University of Science and Technology

ISBN: (纸本)9781467383196

The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix,which will affect the accuracy and numerical stability of the system *** in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation *** simulation results show that the position,velocity and attitude errors are reduced effectively compared with the EKF *** SCKF method is more suitable for the state estimation problems in integrated navigation system.

关键词： The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system Kalman CNS Filter

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Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements

Cooperative navigation for multiple autonomous underwater ve...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Yuantao Qi Bo Wang Shunting Wang Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Nanjing University of Science and Technology

ISBN: (纸本)9781467383196

Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles(MAUVs).In this work,in order to solve the invalidation of location due to the time delayed measurements,an algorithm which based on the augmented extended Kalman filter(AEKF) is *** algorithm expands the variable dimension of slave AUV according to the time delayed measurements,and infers the fundamental equations of *** to the traditional EKF method,simulation results prove that AEKF has higher positioning accuracy.

关键词： AUV EKF Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements

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Steps toward Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 345-348页

作者： Fei-Yue Wang Xiao Wang Lingxi Li Li Li IEEE State Key Laboratory of Management and Control for Complex Systems (SKL-MCCS) Institute of AutomationChinese Academy of Sciences (CASIA) Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Qingdao Academy of Intelligent Industries (QAII) QingdaoShandongChinaand SKL-MCCSCASIA Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis Department of Automation Tsinghua University Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies

The origin of artificial intelligence is investigated, based on which the concepts of hybrid intelligence and parallel intelligence are presented. The paradigm shift in Intelligence indicates the ''new normal'' of cyber-social-physical systems (CPSS), in which the system behaviors are guided by Merton's Laws. Thus, the ACP-based parallel intelligence consisting of Artificial societies, Computational experiments and Parallel execution are introduced to bridge the big modeling gap in CPSS. © 2014 Chinese Association of automation.

关键词： control systems Electrical engineering

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An overall solution of Virtual Reality Classroom

An overall solution of Virtual Reality Classroom

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2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Xisong Dong The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Institute of Smart Education Systems Qingdao Academy of Intelligent Industries

Virtual Reality(VR) is a three-dimensional computergenerated virtual world. It is essential to introduced VR technology to education area to develop new teaching mode to improve the efficiency and quality of teaching and learning. Among them, VR classroom has quickly become most dazzling star with its subversive advantage. This paper proposes an overall integration solution of VR classroom, including its composition, its scene design of various disciplines and its main advantage. Finally, a case study of a geography lesson is provided to show its advantages and strong potentiality.

关键词： Virtual Reality Education virtual classroom

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How to “STEAM” Children at Home? Let Children “STEAM” Themselves

How to “STEAM” Children at Home? Let Children “STEAM” Th...

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2016年IEEE/INFORMS服务运筹、物流与信息化国际会议

作者： Xiaoyan Gong The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Institute of Smart Education Systems Qingdao Academy of Intelligent Industries

In this article, I would like to share my daughter's experience on self-STEAM education. In our daily life, she can always find problems and then dream them with her imagination, finally narrows down her solutions to solve problems in her own way. During these problem-solving processes, I noticed that she went through sciences, technology, engineering, arts and mathematics in a very natural way. So I would like to say, STEAM is the way we learn and grow ever since we were born. But later at school, we are trained in a way that subjects are completely disconnected. It might take time to change this situation at school, but at home, as parents, we need to realize that children can discover new things by themselves even from young ages, and provide rich learning environment for them and let them "STEAM " themselves in their own way.

关键词： STEM STEAM education maker education

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Modeling of hysteresis in piezoelectric actuator using linear play operator adaptive filter

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key Engineering Materials 2015年 645卷 957-962页

作者： Xiong, Rui Liu, Xiangdong Shan, Fengmin Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Automation College Beijing Institute of Technology Beijing China

Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear play operators (LPO) adaptive hysteresis model is introduced in this paper. LPO operators are used to replace delay operators of adaptive transversal filter to compose a new serial structure of adaptive transversal filter model, and LMS (Least Mean Square) algorithm is used to adjust the weight values. As hysteresis loop of piezoelectric actuator is asymmetric and LPO operator is symmetric, a modified LPO (MLPO) adaptive filter is proposed for asymmetric hysteresis effect. At last, the two LPO filters are applied to model hysteresis characteristic of Piezoelectric actuator, and the modeling effect is verified via a micro-positioning system experiment platform based on Piezoelectric actuator. Experimental results show that the modified LPO filters can achieve better accurate hysteresis modeling. © (2015) Trans Tech Publications, Switzerland.

关键词： Hysteresis

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