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World Congress on Intelligent control and automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning System Data acquisition Process control Attitude control Servers automation

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A Simplified Minimum Enclosing Ball based Fast Incremental Support Vector Machine (SVM) Algorithm for Person Detection and Tracking

A Simplified Minimum Enclosing Ball based Fast Incremental S...

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World Congress on Intelligent control and automation

作者： Suiwu Zheng Hong Qiao Lihao Jia Toshio Fukuda State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Micro-Nano Systems Engineering Nagoya University

ISBN: (纸本)9781467313971

In order to meet the requirements of stable person detection and tracking techniques in dynamic visual system, we propose a simplified minimum enclosing ball based fast incremental support vector machine (SVM) algorithm for person detection and tracking. Based on the simplified minimum enclosing ball (MEB) method, we propose a simplified and fast incremental algorithm to compute the MEB. By utilizing the equivalence between MEB and the dual problem in SVM, we achieve the online and incremental adjustment of the SVM classifier coefficients. The proposed method do not need to solve the quadratic programming problem. It is fast for training. Moreover, it can achieve the online update of classifiers for object tracking with small sample size. Finally, the efficiency of the proposed incremental SVM is validated by detection experiments on dynamic pedestrians tracking system.

关键词： Person Detection Incremental Support Vector Machine

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Color object tracking in five degrees of freedom stereo vision system

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content Technology and its Applications 2012年第20期6卷 43-52页

作者： Xin, Du Xiaoguang, Zhao Yu, Huang Jingjing, Ye School of Electrical Engineering Beijing Jiaotong University Beijing China State Key Lab. of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

From the view of combination of stereo vision and robot control, an active stereo vision for object tracking and location system is built to work on flexible manufacturing system. A method based on local HSV image and shape of object to recognize object is used for robot tracking. After the color segment, use the knowledge of shape of objects to recognize objects. And a technique for camera calibration based on plane square is proposed. It only requires the camera to observe a square at two (or more) different unknown orientations. Use the result of object recognize and camera calibration the robot can position and track the object. At the last of the paper, the results of object tracking experiments prove that the method is correct.

关键词： Stereo vision

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Dissipativity-based Distributed Nonlinear Predictive control for Cascaded Systems

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IFAC Proceedings Volumes 2012年第15期45卷 439-444页

作者： P. Varutti B. Kern R. Findeisen P.Varutti B.Kern and R.Findeisen are with the Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Otto-von-Guericke University Magdeburg 39016 Magdeburg Germany

Developing centralized controllers for large-scale systems, e.g. complex chemical processes, electrical power networks, is an important, yet challenging problem. Typically, it would be of advantage if one could divide the problem into smaller parts (or subproblems), and to opt for a decentralized or distributed alternative. On the other hand, due to physical interconnections between subsystems, it is often complicated to find such a solution. Additionally, performance loss or even instability of the overall system can arise if the decentralization is not done properly. It is, therefore, fundamental to develop suitable distributed/decentralized techniques in order to avoid these issues. In this paper, we propose a decentralized dissipativity-based nonlinear model predictive control strategy for cascades of physically interconnected systems, e.g cascades of hydroelectric power plants, multi-cell batteries. Under mild assumptions, we prove that the control method guarantees overall stability by independently enforcing stability of the local subsystems. This allows for efficient decentralized solutions. Furthermore, the local controllers only exchange limited information and no model of the neighbor systems is required, facilitating decoupled local controller design. Two interconnected water tanks are used to demonstrate the effectiveness of our approach.

关键词： distributed control nonlinear predictive control dissipativity-based control continuous time systems

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Human behavior model and its application on performance management in a chemical plant workshop

Human behavior model and its application on performance mana...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Han, Feng Liu, Xiwei Shang, Xiuqin Cheng, Changjian Li, Bo Fan, Dong Olefine Plant SINOPEC Qilu Petrochemical Co. Ltd. Zibo China School of Chemical Engineering Beijing University of Chemical Technology Beijing China State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China

ISBN: (纸本)9781467324007

To investigate the influences of performance management rules on human behavior in a chemical plant workshop, we construct an artificial workshop. It mainly contains human behavior model, workshop environment model including the definition of work position performance management rules and production events, and their interaction rules. The human behavior model is built based on DISC (Dominance, Influence, Steadiness, Compliance) behavior model and the Agent technology. A platform for workshop human behavior computing is finally created for computational experiments on performance management and decision-making. The platform can be used as a support for refined management in the chemical plant. © 2012 IEEE.

关键词： Chemical plants

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Comparison of sensor configurations for mass flow estimation of turbocharged diesel engines

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2012年 418卷 303-326页

作者： Polóni, Tomáš Rohal'-Ilkiv, Boris Alberer, Daniel Del Re, Luigi Johansen, Tor Arne Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781447122203

The increasing demands on quality of power, emissions and overall performance of combustion engines lay new goals for the hardware and the software development of control systems. High-performance embedded controllers open the possibilities for application of numerical methods to solve the problems of modeling and control of combustion engines. Algorithms for estimation of state and parameters are essential components of many advanced control, monitoring and signal processing engine applications. A widely applicable estimator is given by the Extended Kalman Filter (EKF) which defines a finite memory recursive algorithm suited for real-time implementation, where only the last measurement is used to update the state estimate, based on the past history being approximately summarized by the a priori estimate of the state and the error covariance matrix estimate. The proposed EKF uses an augmented air-path state-space model to estimate unmeasurable mass flow quantities. The EKF algorithm based on the augmented state-space model considerably reduces the modeling errors compared to the open loop estimator simulation and compared to the EKF without the augmentation which is demonstrated on a standard production Diesel engine data. The experimental validation of the observed state quantities is performed against the measured pressures and turbocharger speed data. The estimated mass flow quantities are indirectly validated through the air compressor flow that is directly validated against air mass flow sensor data. Two two-sensor setups are considered in this study. In the first experiment the intake manifold pressure and the turbocharger speed is used. The second experiment uses the intake manifold pressure and the exhaust manifold pressure as the measurement information for the EKF. The second experiment gives more precise mass flow estimate in term of less bias on the estimates, but more variance due to the high frequency exhaust manifold pressure variations caused by the

关键词： Mass transfer

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Voltage quality improvement in islanded microgrids supplying nonlinear loads

Voltage quality improvement in islanded microgrids supplying...

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2012 3rd Power Electronics, Drive Systems and Technologies Conference, PEDSTC 2012

作者： Dehghani, Mohammad T. Vahedi, Abolfazl Savaghebi, Mehdi Guerrero, Josep M. Department of Power Engineering Saveh Branch Islamic Azad University Saveh Iran Center of Excellence for Power System Automation and Operation Iran University of Science and Technology Iran Department of Electronics Engineering Karaj Branch Islamic Azad University Karaj Iran Department of Automatic Control and Industrial Informatics Technical University of Catalonia Spain Institute of Energy Technology Aalborg University Denmark

ISBN: (纸本)9781467301114

The aim of this paper is to improve voltage quality at the terminals of distributed generators (DGs) in an islanded microgrid. To achieve this goal, it is proposed to include separate voltage and current control loops for the fundamental and harmonics frequencies. This way, it is not necessary to consider additional controllers to provide voltage harmonic compensation. The proposed control system can be implemented in a very simple way. The control structure of every single DG unit consists of active and reactive power droop controllers and voltage and current control loops. Simulation results are provided in order to show the effectiveness of the proposed control approach. © 2012 IEEE.

关键词： Harmonic analysis

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A Quantitative Performance Evaluation Index for Image Fusion: Normalized Perception Mutual Information

A Quantitative Performance Evaluation Index for Image Fusion...

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Chinese control Conference

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

ISBN: (纸本)9781467325813

Information entropy based criteria are analyzed and the Normalized Mutual Information(NMI) that is presented in the field of image registration is revised to Normalized Mutual Information Entropy (NMIE) to meet the need of the evaluation of image fusion algorithms, Then, through analysis to NMIE and some human perception based criteria, and by analyzing the essence of image fusion techniques systematically, a new index, Normalized Perception Mutual Information (NPMI), is defined in view of information transmission as well as edge preservation, and is used to evaluate the performance of image fusion algorithms, The experiments are done to three groups of images, namely, the remote sensing images corrupted by noises, the multifocus images and the medical images obtained by CT and MRI, respectively. Compared with other indices including the root mean square error (RMSE), space frequncy (SF), space visibility (SV), entropy, the collective cross entropy (CCE), information deviation (ID), and the edge information preservation value (EIPV), etc., NPMI is shown to be the only one that is effective in all the eases in the evaluation of the performances of the fused images or the image fusion algorithms, which illustrates the feasibility and effectiveness of the presented algorithm.

关键词： Image fusion Performance evaluation Mutual information Human perception Normalized perception mutual intonation

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Adaptive control based on hierarchical sliding mode for under-actuated systems

Adaptive control based on hierarchical sliding mode for unde...

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Qian, Dianwei Liu, Xiangjie Yi, Jianqiang School of Control and Computer Engineering North China Electric Power University Beijing 102206 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467312776

In this paper, an adaptive control law based on hierarchical sliding mode is addressed for under-actuated systems with 2 degrees of freedom. By capturing the physical nature, the class of systems can be considered to be made up of two subsystems so that the hierarchical structure of the sliding surfaces with double layers is constructed. From such kind of hierarchical structure, the adaptive law and the control law are deduced from Lyapunov direct method. The asymptotic stability of all the sliding surfaces is proven by Barbalat's lemma and Lasalle's invariance principle. Simulation results show the feasibility of this method. © 2012 IEEE.

关键词： Asymptotic stability

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Neural and Fuzzy Dynamic Programming for Under-actuated Systems

Neural and Fuzzy Dynamic Programming for Under-actuated Syst...

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International Joint Conference on Neural Networks

作者： Dongbin Zhao Yuanheng Zhu Haibo He State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Electrical Computer and Biomedical Engineering University of Rhode Island

ISBN: (纸本)9781467314886

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： Adaptive dynamic programming Fuzzy control Neural network Underactutaed system Cart-pole plant Pendubot

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