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2018 Annual American control Conference, ACC 2018

作者： Fletscher, L.A. Barreiro-Gomez, J. Ocampo-Martinez, C. Maestre, J.M. Valencia Peroni, C. Facultad de Ingeniería Universidad de Antioquia UdeA Departamento de Ingeniería Electrónica y Telecomunicaciones Medellín Colombia New York University Abu Dhabi Learning Game Theory Laboratory United Arab Emirates Automatic Control Department Barcelona Spain School of Engineering Universidad de Sevilla System Engineering and Automation Department Seville Spain Universidad Nacional de Colombia Process and Energy Department Medellín Colombia

ISBN: (纸本)9781538654286

In this paper, a distributed control scheme based on population games is proposed. The controller is in charge of dealing with the energy consumption problem in a Heterogeneous Cellular Network (HetNet) powered by hybrid energy sources (grid and renewable energy) while guaranteeing appropriate quality of service (QoS) level at the same time. Unlike the conventional approach in population games, it considers both atomicity and non-anonymity. Simulation results show that the proposed population-games approach reduces grid consumption by up to about 12% compared to the traditional best-signal level association policy. © 2018 AACC.

关键词： Games Energy consumption Sociology Statistics Base stations Cellular networks Optimization"

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Intelligent interpreting system of high resolution remote sensing image based on convolutional network and super vector coding 68

Intelligent interpreting system of high resolution remote se...

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68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017

作者： Zheng, Zhihui Cong, Longjian Yang, Jiachen Qi, Chuntang Tang, Bo Xiao, Liping Wei, Haiping Zhou, Bin National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing100854 China School of Electrical Automation and Information Engineering Tianjin University Tianjin300072 China

ISBN: (纸本)9781510855373

The high resolution earth observation system project of China will coordinate the construction of high resolution geodetic systems based on satellites, stratospheric airships and aircraft, forming an all-weather, all-day, global coverage of ground-based observing capabilities. Intelligent interpretation of remote sensing images refers to the image detection, recognition and classification using computers, determining the object attributes or characteristics of the images. And then analyses and describes the various structures and relationships in the image, and explains the attributes, categories and relationships of the images, explains the variation of the various objects in time and space and the correspondence between them. In this paper, we propose a small object detection method based on deep Residual Network and Super-Vector coding. In our method, a variation of ResNet with fewer layers is defined to increase the resolution of the feature map and multi-level convolutional features are merged into an informative feature description for region proposal. Meanwhile, we extract histogram of oriented gradient (HOG) with SV coding from each region of interest, which assist convolutional features to complete object classification. We comprehensively evaluate the proposed method on our small-size object dataset. The experimental results show that our method outperforms top-performing methods on small object detection with higher accuracy and less time consuming. © 2018 International Astronautical Federation IAF. All rights reserved.

关键词： Object recognition

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Finite-time model-assisted active disturbance rejection control with a novel parameters optimizer for hypersonic reentry vehicle subject to multiple disturbances

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Aerospace Science and Technology 2018年 79卷 588-600页

作者： Yue Yu Honglun Wang Na Li Huiping Zhang Zikang Su Xingling Shao School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China School of Automation Beijing Institute of Technology Beijing 100081 China Beijing Aerospace Automatic Control Institute Beijing 100854 China Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education North University of China Taiyuan 030051 China National Key Laboratory for Electronic Measurement Technology School of Instrument and Electronics North University of China Taiyuan 030051 China

In this paper, a scheme which combines finite-time model-assisted active disturbance rejection control and novel greedy criterion-based salp swarm algorithm is developed for attitude tracking problem of hypersonic reentry vehicle with multiple disturbances. To simplify control structure, the control scheme is designed within the framework of active disturbance rejection control completely. To lessen tuning parameters, a sigmoid function-based tracking differentiator is employed to generate a more realizable attitude transient profile instead of utilizing conventional nonlinear tracking differentiator. Taking known model information as model-assisted term, finite-time model-assisted extended state observers are constructed to estimate the lumped disturbance in attitude and angular rate loop with employment of function fal . To achieve rapid response and strong robustness, finite-time model-assisted control laws are derived by utilizing function fhan . Finally, a novel greedy criterion-based salp swarm algorithm is used to optimize control parameters in finite-time model-assisted control laws to achieve optimal solution that minimizes the tracking error and energy consumption. Comparative simulations are conducted to illustrate the effectiveness of the proposed scheme.

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Interdependent order allocation in the two-echelon supply chain using agent-based negotiation 36

Interdependent order allocation in the two-echelon supply ch...

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第36届中国控制会议

作者： Jian Wang Huimin Miao System Engineering Institute School of AutomationHuazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Hubei Province Key Laboratory of Systems Science in Metallurgical Process Wuhan University of Science and Technology

ISBN: (纸本)9781538629185

Nowadays,many researches study the negotiation-based order allocation problem in the supply chain environment,aiming to improve the efficiency of the allocation and the profits of the supply chain *** competition and cooperation in supplier’s side are mainly addressed because of independent *** this paper,we analyze an interdependent order allocation problem in a two-echelon supply *** supply chain consists of a manufacturer echelon and a supplier *** to the interdependence,both the competition and cooperation in the manufacturer echelon are *** agent-based negotiation algorithm is developed to support the order allocation process and the conflicts *** show in experiments that orders under various supply chain contexts can be successfully allocated through the algorithm.

关键词： Supply chain system order allocation agent-based negotiation

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Bilateral teleoperation of multiple robots under scheduling communication

arXiv

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arXiv 2018年

作者： Li, Yuling Liu, Kun He, Wei Yin, Yixin Johansson, Rolf Zhang, Kai School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education Beijing100083 China School of Automation Beijing Institute of Technology Beijing100081 China Department of Automatic Control Lund University P.O. Box 118 Lund22100 Sweden

In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the masterslave synchronization, Round-Robin scheduling protocol and TryOnce-Discard scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under Round-Robin and Try-Once-Discard scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results. Copyright © 2018, The Authors. All rights reserved.

关键词： Remote control

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Distributed Least Squares Solver for Network Linear Equations

arXiv

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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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A continuous-time formulation for refinery production scheduling problems involving operational transitions in mode switching

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Chinese Journal of Chemical engineering 2016年第8期24卷 1020-1031页

作者： Lei Shi Yongheng Jiang Ling Wang Dexian Huang Institute of Process Control Engineering Department of Automation Tsinghua University Tsinghua National Laboratory for Information Science and Technology Tsinghua University

In the refinery scheduling, operational transitions in mode switching are of great significance to formulate dynamic nature of production and obtain efficient schedules. The discrete-time formulation meets two main challenges in modeling: discrete approximation of time and large size of mixed-integer linear problem(MILP).In this article, a continuous-time refinery scheduling model, which involves transitions of mode switching, is presented due to these challenges. To reduce the difficulty in solving large scale MILPs resulting from the sequencing constraints, the global event-based formulation is chosen. Both transition constraints and production transitions are introduced and the numbers of key variables and constraints in both of the discrete-time and continuous-time formulations are analyzed and compared. Three cases with different lengths of time horizons and different numbers of orders are studied to show the efficiency of the proposed model.

关键词： Refinery scheduling Operational transitions Continuous-time representation

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Exploration research of thinking innovation based on PCST theory and knowledge graph

Exploration research of thinking innovation based on PCST th...

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Chinese automation Congress (CAC)

作者： Xuejuan Huang Lina Wang Jun Ruan Songling Wu Dehua Li School of Sports Engineering and Information Technology Wuhan Sports University Wuhan P.R. China National Laboratory of Aerospace Intelligent Control Technology Beijing Aerospace Automatic Control Institute Beijing P.R. China School of Information Engineering Wuhan University of Technology Wuhan P.R. China School of Automation Huazhong University of Science and Technology Wuhan P.R. China

Thinking innovation is one of important driving forces to promote scientific and technological progress. Information technology can help humans to brainstorm as many potential ideas and methods as possible for given problems so as to inspire their creative thinking. Knowledge graph provides a structural method to storage human prior knowledge described by concepts and relationships between them in a graph way. The frame and models of Probability Construction Space Theory(PCST) explained the mechanism of human creative thinking and procedure of new ideas generation. Our research work explores generation of new potential methods of detecting and perception geophysical information through simulating the creative thinking of new ideas of aircraft guidance based on the combination of theory and technology of knowledge graph and PCST. One experiment software system has been built to verify feasibility of this novel cognitive model and simulation method presented in our research work.

关键词： Technological innovation Software systems Brain modeling Cognition Atmospheric modeling Computational modeling Sports

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Finite-Time decoupling direct control for hypersonic reentry vehicle with multiple disturbances via second-order ADRC

Finite-Time decoupling direct control for hypersonic reentry...

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2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

作者： Yu, Yue Wang, Honglun Li, Na Zhang, Huiping Liu, Chang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China School of Automation Beijing Institute of Technology and Beijing Aerospace Automatic Control Institute Beijing 100081 China

ISBN: (纸本)9781538637432;9781538637425

In this paper, a novel finite-Time decoupling direct control (FDDC) scheme is proposed for attitude tracking problem of hypersonic reentry vehicle (HRV) based on second-order active disturbance rejection control (SADRC). Unlike traditional control method which separates control system into outer-loop attitude control and inner-loop angular rate control, attitude is controlled by control actuator straightforward with single loop. Firstly, the attitude tracking problem is converted to the decoupling control problem of a three-input and three-output cross coupling system. In each channel, a SADRC controller, which is composed of tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (NLSEF), is designed to track attitude command of the corresponding channel in a finite-Time sense. Finally, the obtained virtual control input is transformed into actual control input, which acts on the HRV model. Simulations are conducted to verify the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： decoupling control extended state observer (ESO) finite-Time second-order active disturbance rejection control (SADRC)

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