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检索条件"机构=Hubei key Laboratory of Adavanced Control and Intelligent Automation for Complex Systems"

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A Demand Analysis Method Based on TAKAGI-SUGENO Fuzzy Model for Drinking Service

A Demand Analysis Method Based on TAKAGI-SUGENO Fuzzy Model ...

引用

第37届中国控制会议

作者： Man Hao Weihua Cao Zhentao Liu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

A demand analysis method based on TAKAGI-SUGENO（T-S） fuzzy model for drinking service is proposed to provide corresponding services according to users’ emotions and intentions in human-robot interaction,in which T-S fuzzy model is used to establish the relationship among human intention and human ***,the transformation of input and output is ***,fuzzy rules are formulated,and then fuzzy inference is applied to get user’s demand corresponding to emotion and *** proposal considers peoples fuzziness in inferring humans intention,which could help the robots to provide satisfied drinking service to *** validate the proposal,drinking service experiments are performed in a laboratory scenario using a humans-robots interaction system,from which the experimental results demonstrate the feasibility of the proposal.

关键词： Demand Analysis TAKAGI-SUGENO Model Drinking Service Human-Robot Interaction

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An Initiative Service Method with Regard to Degree of Sleepiness for Drinking Service Robot

An Initiative Service Method with Regard to Degree of Sleepi...

引用

第37届中国控制会议

作者： Zhen-Tao Liu Si-Han Li Wei-Hua Cao Man Hao Lin-Bo Xian School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

To ensure the efficiency of people’s work while working long hours,an initiative service method with regard to degree of sleepiness for drinking service robot is *** can recognize the degree of sleepiness and provide initiative service to increase the efficiency of people’s *** of sleepiness is defined as three levels by observer rating,which is supposed to be associated with human actions,environmental factors,and individual *** addition,a model of degree of sleepiness based on Finite State Machines（FSM） is *** relationship between human demands and degree of sleepiness is established through demand analysis model by which the initiative service with regard to degree of sleepiness for drinking service robot is *** on real initiative drinking service are performed in a multimodal emotional communication based on human-robot interaction（MEC-HRI） system,from which the experimental results show that the time of initiative service is 8 minutes earlier than that without initiative *** prospect,the proposal could be applied to other kinds of services such as health care,safety driving assistance,and other safety work assistance.

关键词： Service Robot Sleepiness Initiative Service Finite State Machines Human-Robot Interaction

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Quick and Effective Position control for Planar n-link Underactuated Manipulators Based on Optimization Algorithm

Quick and Effective Position Control for Planar n-link Under...

引用

第37届中国控制会议

作者： Pan Zhang Xuzhi Lai Yawu Wang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In this paper,a simple one-stage control strategy is developed based on optimization algorithm to quickly realize the position control of a planar n-link（n ≥ 3） underactuated manipulator with a passive first *** continuous control of a planar three-link underactuated manipulator with a passive first joint can be realized,and so can the planar n-link（n ≥ 3） ***,one problem that the number of the variables needing to be optimized will increase with the increase of the number of the links will ***,considering the planar three-link manipulator can be controlled to reach to any target position,we employ the differential evolution（DE） algorithm to optimize the angles of only two active links and the design parameters of the corresponding ***,the angles and the corresponding design parameters of other n — 3 active links are kept being *** this way,all link angles can simultaneously converge to their target *** a planar four-link underactuated manipulator with a passive first joint as an example,the simulation results verify the effectiveness and rapidity of the proposed strategy.

关键词： Planar underactuated manipulators First-order nonholonomic system Differential Evolution algorithm Position control One-stage control

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Tattoo Recognition Based on Triplet GAN

Tattoo Recognition Based on Triplet GAN

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第37届中国控制会议

作者： Cao Jiawang Zhu Yuan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

An important feature of the deep learning algorithm is that the hidden layer of the neural network is more dependent on more computing resources and a larger amount of data. In this paper, we use Triplet GAN method to identify human body images with tattoos using fewer data sample labels. The model achieved better results（0.9462） than the only Triplet（0.8352） and only GAN（0.9178） in the MNIST dataset, it also achieved higher recognition accuracy（77-82%） under the premise of saving the amount of data, compared with the traditional machine learning algorithm（54-84%）. We provide a new idea for tattoo image recognition applications in embedded computing units.

关键词： Tattoo Recognition Triplet GAN Embedded Computing Units

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Dissipativity Analysis for Markovian Jump Neural Networks With Time-Varying Delay via An Extended Relaxed Integral Inequality

Dissipativity Analysis for Markovian Jump Neural Networks Wi...

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第37届中国控制会议

作者： LIN Wen-Juan HE Yong School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper investigates the problem of the strictly(Q,S,R)-γ-dissipativity analysis for Markovian jump neural networks with a time-varying *** employing an appropriate Lyapunov-Krasovskii functional and using the extended relaxed integral inequality to estimate its derivative,a delay-dependent and mode-dependent condition that guarantee the considered Markovian jump neural networks strictly(Q,S,R)-γ-dissipative is ***,a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Neural networks (Q,S,R)-γ-dissipativity Lyapunov-Krasovskii functional Extended relaxed integral inequality

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Improving Training-based Reflectance Reconstruction via White-balance and Link Function

Improving Training-based Reflectance Reconstruction via Whit...

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第37届中国控制会议

作者： Li-Jun Zhang Jun Jiang Hui Jiang Jing-Jing Zhang Xing Jin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

An improved spectral reflectance reconstruction method is developed to transform camera RGB to spectral reflectance by inserting white balance and link function during the training-based method. The novelty in our method is the use of whitebalancing to normalize the scene illumination and link function to transform the reflectance, we use a radial basis function network to model the mapping between camera-specific RGB values and specific reflectance spectra. Experimental results indicate that the proposed method significantly outperforms currently existing methods in terms of spectral error and shape especially under the illumination not present in the training process.

关键词： Reflectance reconstruction Training-based White-balance Link function Radial basis function network

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On overvoltage intrusion detection system for substations

On overvoltage intrusion detection system for substations

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第37届中国控制会议

作者： Tao Zhao Yongbo Li Jing Rao Zhongzhao Xie Zijia Hu School of Automation China University of Geoscience Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In the modern power system, overvoltage phenomenon occurs frequently. Overvoltage generation will cause electrical equipment breakdown, explosion, and other accidents. These accidents not only cause unnecessary economic losses but also seriously affect the operation of power system. The popularization and application of on-line monitoring technology for UHV AC and DC transmission lines provide a guarantee for the safe operation of the power grid. Monitoring the overvoltage intrusion of UHV substations and accurately recording the parameters of overvoltage intrusion is of great significance to the study of overvoltage and the protection of over-voltage in substations. Based on the analysis of the principle of a monitoring system, this paper puts forward the mathematical model of a monitoring system. According to the basic functions of a monitoring system, it puts forward the overall design plan combining the upper computer and the lower computer, and the key problems to be solved in the monitoring system. Including the board design and the high speed data acquisition board based on FPGA design of control system based on STM32, and the automatic variable rate compression technology, GPS timing and Timekeeping Technology, overvoltage invasion wave trigger judgment, high speed data acquisition and cache technology and based on TCP protocol according to the number of batch transmission.

关键词： overvoltage on-line monitoring automatic transmission rate compression trigger judgment

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Image Jacobian Matrix Estimation based on Fuzzy Adaptive Robust Kalman Filter

Image Jacobian Matrix Estimation based on Fuzzy Adaptive Rob...

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第37届中国控制会议

作者： Zhenzhu Liu Xinmei Wang Zhenjiang Feng Zhongzhao Xie Shuai Ke School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Aiming at the problem of image Jacobian matrix estimation, this paper proposes a method to get the motion state estimation of the object feature point at the current time by using the combination of robust Kalman filter and fuzzy adaptive method from the image feature space, and the estimation of the image Jacobian matrix can be obtained. Firstly, an adaptive robust decorrelation Kalman filter algorithm with colored measurement noise is proposed by reconstructing process equation and measurement equation and combining the mathematical characteristics of the standard Kalman filter noise. Secondly, by monitoring if the ratio between theoretical residual and actual residual is near 1, the fuzzy inference system constantly adjust the weighted measurement noise covariance and recursively correct the measurement noise covariance of the adaptive Kalman filter, and thus be able to estimate the position and velocity of the object feature point at the current time in the image space more accurately, then the estimation of image Jacobian matrix can be achieved accurately under unknown dynamic environment. The feasibility and superiority of the proposed method can be verified by the simulation and experimental results.

关键词： Image Jacobian Matrix Estimation Robust Kalman Filter Fuzzy Adaptive

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A Safety Assessment Method Based on Online Sequential Extreme Learning Machine（OS-ELM） in Deep Drilling Process

A Safety Assessment Method Based on Online Sequential Extrem...

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第37届中国控制会议

作者： Yupeng Li Weihua Cao Chao Gan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Accurate and timely assessment of drilling system is key for achieving safety and efficiency in deep drilling. In this paper, an online assessment model is proposed by applying online sequential extreme learning machine（OS-ELM）. The model has been tested through the actual drilling data for drilling system safety assessment and accidents early warning. By analyzing the mechanism characteristics of accidents, well logging parameters are chosen as the input and accident types are chosen as the output. Owing to the OS-ELM is capable of updating network parameters based on new arriving data without retraining historical data, the model can be updated online for specific formation accidents information to make it more adaptable to a particular environment. The numerical test results show that, comparing with other widely used assessment techniques like support vector machines（SVM） and back propagation（BP）, the proposed model has a higher accuracy and shorter recognition time.

关键词： safety assessment extreme learning machine deep drilling online learning

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Research on Digital Hearing Aid Speech Enhancement Algorithm

Research on Digital Hearing Aid Speech Enhancement Algorithm

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第37届中国控制会议

作者： Junlei Song Yuan Meng Junming Cao Jin Fang Kaifeng Dong Fang Jin Wenqin Mo School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

The microphone array speech enhancement algorithm（MASEA）, the minimum mean square error algorithm for short-time logarithmic spectrum estimation based on voice activity detection（VAD-LSA-MMSE）, and the Wiener filtering algorithm based on voice activity detection（VAD-Wiener） are currently the three most commonly used speech enhancement algorithms. Among them, the MASEA algorithm has some disadvantages such as poor noise reduction effect. VAD-LSA-MMSE algorithm has some disadvantages of relying on high SNR and introducing music noise, thereby reducing the intelligibility. The VAD-Wiener algorithm has some disadvantages such as higher SNR requirements. Aiming at the shortcomings of these three speech enhancement algorithms, based on the VAD algorithm and the MASEA algorithm, this paper proposed a new speech enhancement algorithm by combining the characteristics of Wiener filtering algorithm and LSA-MMSE algorithm. The new speech enhancement algorithm is a VAD-based microphone array speech enhancement algorithm（VAD-MASEA）. VAD-MASEA is better than the other three algorithms in noise reduction, speech enhancement and voice intelligibility, and has the characteristics of adapting to a lower SNR environment. This paper used MATLAB to carry out experimental research, including the new algorithm and the three existing algorithms were simulated and compared the signal waveforms of the four algorithms. Experimental results show that the proposed VAD-MASEA algorithm overcomes the high SNR requirement and can be used in low SNR environments and obtain highly intelligible enhanced signals.

关键词： Voice enhancement Wiener filtering VAD-LSA-MMSE

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