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第35届中国控制会议

作者： Liping Yan Jun Liu Lu Jiang Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

In the field of target tracking and navigation,multi-sensor data fusion has been widely *** of the data fusion algorithms are built on the premise that the sensor observation information is ***,in practical problems,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen *** addition,at present a lot of research is aimed at the situation where measurement noise between various sensors is not relevant,and process noise and measurement noise is *** correlation is more *** this paper,a multi-rate multi-sensor data fusion state estimation algorithm with unreliable observations under correlated noises is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation sequential fusion correlated noise unreliable measurements

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Image Matching Based on Multiscale Increment Sign Correlation and Iterative Correction

Image Matching Based on Multiscale Increment Sign Correlatio...

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第35届中国控制会议

作者： Liping Yan Sai Yang Shuo Li Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

By combining wavelet transform and increment sign correlation with iterative correction,we present a robust image matching method,which effectively reduced ***,by decomposing the sensed image and the reference image with wavelet,smooth images are generated in coarse *** the use of increment and decrement information of adjacent pixels,smooth images are encoded into binary images,and the matching position can be found by use of the cross correlation *** decomposition can effectively remove noise and greatly improve the real-time performance of matching algorithm while increment sign correlation method is not sensitive to the gray level of *** combination of wavelet transform and increment sign correlation can deal with noise,shadow and occlusion as well as improve the matching speed compared with traditional matching *** the condition of heavy noise and occlusion that the matching method mentioned above can not find the correct position in condition of heavy noise and occlusion,we present an iterative correction image matching method,*** the above matching result as prior knowledge and achieve the correct matching position by correcting matching results *** analysis shows the feasibility of the presented method,and our experiments show its validity.

关键词： Image Matching Wavelet Decomposition Increment Sign Correlation Iterative Correction

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Robust Scene Matching Method Based on Sparse Representation

Robust Scene Matching Method Based on Sparse Representation

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第35届中国控制会议

作者： Sai Yang Bo Xiao Liping Yan Yuanqing Xia Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

This article presents two efficient scene matching methods based on sparse representation,which are robust to noise and *** process of searching for the correct matching position in the reference image can be considered as finding a certain atom in a dictionary to represent the vectorized sensed *** atoms that form the dictionary are vectorized blocks which represent all the possible matching *** also use two steps matching to speed up the running time,and further improve the performance to some *** demonstrate that our scene matching methods perform better than traditional methods due to the inherent robustness to corruption of sparse representation.

关键词： scene matching sparse representation visual navigation

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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World Congress on intelligent control and automation

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi Yisheng Lv State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries

ISBN: (纸本)9781467384155

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system, especially the similar cases recommendation. It can not only save the patients' waiting time, but also make use of the historical resources, for many cases with the same purpose have been solved perfectly. However, because of the diversity and non-standard of the patients' descriptions, the inquiry platform cannot find the cases with similar semantic easily. Most traditional retrieval methods require the overlap of two sentences, and this is not suitable with the diversity and non-standard descriptions. In this paper, we try to utilize the sentences' semantic representation in a continuous space to understand the cases, and then recommend the similar cases. We also incorporate it into query likelihood language models, trying to get better results. Our experimental data are all collected from a real internet inquiry platform, and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： Semantics Internet Medical services Context MONOS devices Optimization Information retrieval

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The Energy Consumption Analysis of Hydraulic Quadruped Robot based on Gait Parameters 34

The Energy Consumption Analysis of Hydraulic Quadruped Robot...

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第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

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An erlang-based simulation approach of Artificial Transportation systems

An erlang-based simulation approach of Artificial Transporta...

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International Conference on intelligent Transportation

作者： Songhang Chen Fenghua Zhu Fei-Yue Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao Shandong China

ISBN: (纸本)9781509018901

Artificial Transportation systems (ATS) can support a variety of computational experiments for different purposes, and have become important tools for transportation research. However, when the road network modeled in ATS is large or there are a lot of vehicles, ATS will run very slow or even cannot be started due to the memory limit of a standalone computer. With the acceleration of urbanization process and rapid increase of car ownership, it is necessary to find a high-performance computing method for running large-scale ATS. Therefore, the paper presents an Erlang-based approach to realize concurrent and distributed computing of ATS. To verify the feasibility, a prototype is built, and a performance test is conducted. The results show the method can achieve the efficiency utilization of computing resources.

关键词： Roads Computational modeling Object oriented modeling Computers Sociology Statistics

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Scene-specific pedestrian detection based on parallel vision

arXiv

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arXiv 2017年

作者： Zhang, Wenwen Wang, Kunfeng Qu, Hua Zhao, Jihong Wang, Fei-Yue School of Software Engineering Xi’an Jiaotong University Xi’an710049 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China School of Software Engineering Xi’an Jiaotong University Xi’an710049 China Department of Communication and Information Engineering Xi’an Jiaotong University Xi’an710049 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

As a special type of object detection, pedestrian detection in generic scenes has made a significant progress trained with large amounts of labeled training data manually. While the models trained with generic dataset work bad when they are directly used in specific scenes. With special viewpoints, flow light and backgrounds, datasets from specific scenes are much different from the datasets from generic scenes. In order to make the generic scene pedestrian detectors work well in specific scenes, the labeled data from specific scenes are needed to adapt the models to the specific scenes. While labeling the data manually spends much time and money, especially for specific scenes, each time with a new specific scene, large amounts of images must be labeled. What’s more, the labeling information is not so accurate in the pixels manually and different people make different labeling information. In this paper, we propose an ACP-based method, with augmented reality’s help, we build the virtual world of specific scenes, and make people walking in the virtual scenes where it is possible for them to appear to solve this problem of lacking labeled data and the results show that data from virtual world is helpful to adapt generic pedestrian detectors to specific scenes. Copyright © 2017, The Authors. All rights reserved.

关键词： Virtual reality

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of automation.

关键词： Genetic algorithms

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Attitude control of Multiple Rigid Bodies with Uncertainties and Disturbances

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 2-10页

作者： Yuanqing Xia Ning Zhou Kunfeng Lu Yong Li the School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology the Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm. © 2014 Chinese Association of automation.

关键词： Adaptive control systems Algorithms Attitude control Environmental regulations Graph theory Rigid structures Sliding mode control Synchronization

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Stability Analysis of Event-triggered Networked control systems with Time-Varying Delay 34

Stability Analysis of Event-triggered Networked Control Syst...

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第三十四届中国控制会议

作者： WANG Zhao SUN Jian CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Networked control systems(NCSs) are facing a great challenge from the limitation of network communication resources. Event-triggered control(ETC) is often used to reduce the amount of communications while still keeping a satisfactory performance of the system, by transmitting the state measurements only when an event-triggered condition is met. However,some network-induced problems would happen inevitably, such as communication delay. The delay can degrade the control performance significantly and can even lead to instability. In this paper, we study an NCS considering both ETC and time-varying delay, which is rare in the literature. We formulate the system as a discretized piecewise linear system with exponential uncertainty. Then the model is embedded in a polytopic approximation with better structure suitable for stability *** conditions are derived in terms of linear matrix inequalities(LMIs). Finally, the developed method is illustrated by a numerical example.

关键词： Networked control system,event-triggered control,time-varying delay,piecewise linear system,polytopic approximation,stability

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