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自动化学报 2013年第12期39卷 2160-2164页

作者：余瑶焦壮孙长银 School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Beijing Institute of Electronic System Engineering

This paper focuses on the admissibility condition for fractional-order singular system with order α∈(0, 1). The definitions of regularity, impulse-free and admissibility are given first, then a sufcient and necessary condition of admissibility for fractional-order singular system is established. A numerical example is included to illustrate the proposed condition.

关键词： Fractional-order singular systems regularity impulse-free admissibility

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Rationales of holonic manufacturing systems in leather industry

Rationales of holonic manufacturing systems in leather indus...

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6th International Conference on Industrial Applications of Holonic and Multi-Agent Systems, HoloMAS 2013

作者： GuţǍ, Sergiu-Adrian Dumitrache, Ioan McFarlane, Duncan Masood, Tariq Department of Automatic Control and Systems Engineering University Politehnica of Bucharest 313 Spl. Independentei RO-060042 Bucharest Romania Distributed Information and Automation Laboratory Institute for Manufacturing University of Cambridge 17 Charles Babbage Road Cambridge CB3 0FS United Kingdom

ISBN: (纸本)9783642400896

This paper presents an insight into leather manufacturing processes, depicting peculiarities and challenges faced by leather industry. An analysis of this industry reveals the need for a new approach to optimize the productivity of leather processing operations, ensure consistent quality of leather, mitigate the adverse health effects in tannery workers exposed to chemicals and comply with environmental regulation. Holonic manufacturing systems (HMS) paradigm represent a bottom-up distributed approach that provides stability, adaptability, efficient use of resources and a plug and operate functionality to the manufacturing system. A vision of how HMS might operate in a tannery is illustrated presenting the rationales behind its application in this industry. © 2013 Springer-Verlag.

关键词： Environmental regulations

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Development of a three degree-of-freedom testbed for an unmanned helicopter and attitude control design

Development of a three degree-of-freedom testbed for an unma...

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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail process control Educational institutions control design

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Autonomous hovering control for a quadrotor unmanned aerial vehicle

Autonomous hovering control for a quadrotor unmanned aerial ...

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Chinese control Conference (CCC)

作者： Fu Wang Bin Xian Guoping Huang Bo 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 300072 China

In this paper, an autopilot system for the quadrotor unmanned aerial vehicle (UAV) is developed by utilizing a digital signal processor (DSP) as the on-board micro-control unit (MCU). The hardware setup and the software are also developed for the autonomous flight control of the UAV. The main design procedure includes the controller board design, brushless DC motor driver design, sensor data processing software design, and flight control algorithm design. The control algorithm is developed based on the inner loop and outer loop control method. Proportional Derivative (PD) controllers are proposed for the attitude dynamics (inner loop) and position dynamics (outer loop) respectively. Autonomous hovering control is achieved via the control of roll angle, pitch angle, yaw angle and altitude of the UAV. Experiments results are included to demonstrate the hovering control performance.

关键词： Digital signal processing Pulse width modulation Electronic mail Unmanned aerial vehicles Educational institutions Digital signal processors Heuristic algorithms

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Estimation of Consistent Parameter Sets for Continuous-time Nonlinear Systems Using Occupation Measures and LMI Relaxations

Estimation of Consistent Parameter Sets for Continuous-time ...

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IEEE Annual Conference on Decision and control

作者： Stefan Streif Philipp Rumschinski Didier Henrion Rolf Findeisen Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke-University Magdeburg Germany LAAS-CNRS Universite de Toulouse France

ISBN: (纸本)9781467357159

Obtaining initial conditions and parameterizations leading to a model consistent with available measurements or safety specifications is important for many applications. Examples include model (in-)validation, prediction, fault diagnosis, and controller design. We present an approach to determine inner- and outer-approximations of the set containing all consistent initial conditions/parameterizations for nonlinear (polynomial) continuous-time systems. These approximations are found by occupation measures that encode the system dynamics and measurements, and give rise to an infinite-dimensional linear program. We exploit the flexibility and linearity of the decision problem to incorporate unknown-but-bounded and pointwise-in-time state and output constraints, a feature which was not addressed in previous works. The infinite-dimensional linear program is relaxed by a hierarchy of LMI problems that provide certificates in case no consistent initial condition/parameterization exists. Furthermore, the applied LMI relaxation guarantees that the approximations converge (almost uniformly) to the true consistent set. We illustrate the approach with a biochemical reaction network involving unknown initial conditions and parameters.

关键词： INITIAL CONDITIONS Decision problem Occupations safety specification System dynamics Licence Consistent linear programming Unknown parameterization

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Reaction Kinetic Form for Lumped process System Models

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IFAC Proceedings Volumes 2013年第14期46卷 48-53页

作者： Katalin M. Hangos Gábor Szederkényi Antonio A. Alonso Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary (Bio)Process Engineering Group IIM-CSIC Spanish National Research Council C/Eduardo Cabello 6 36208 Vigo Spain

The class of isotherm lumped process systems with constant overall mass in each of its balance volumes is considered in this paper. It is shown that the convection and transfer mechanisms can be described by a mass action law chemical reaction network (MAL CRN) with only linear kinetics where the in- and outflow terms are represented using the zero complex. This gives rise to a convection and transfer reaction sub-graph that connects atomic complexes consisting of the components in the balance volumes of the system. The real chemical reactions in each of the balance volumes can be described by their own CRNs, where the chemical reaction sub-graphs may be disconnected from the convection and transfer reaction sub-graph when nonlinear reactions occur. In the case of chemical reactions with a finite number of steady state points, the underlying linear dynamical system enables us to construct a dynamically similar linear overall reaction graph for the whole process system. The resulting overall reaction graph can be used for structural stability analysis by applying its graph theoretical properties.

关键词： process control Chemical variables control Modelling Graph theoretic models Structural stability

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning System Electronic mail Algorithm design and analysis MATLAB

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Sufficient and Necessary Condition of Admissibility for Fractional-order Singular System

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Acta automatica Sinica 2013年第12期39卷 2160-2164页

作者： Yao YU Zhuang JIAO Chang-Yin SUN School of Automation & Electrical Engineering University of Science and Technology Beijing Beijing 100083 China Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Beijing 100083 China Beijing Institute of Electronic System Engineering Beijing 100854 China

This paper focuses on the admissibility condition for fractional-order singular system with order α ∈ (0, 1). The definitions of regularity, impulse-free and admissibility are given first, then a sufficient and necessary condition of admissibility for fractional-order singular system is established. A numerical example is included to illustrate the proposed condition.

关键词： Fractional-order singular systems regularity impulse-free admissibility

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Fine-grained image classification using color exemplar classifiers

Fine-grained image classification using color exemplar class...

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14th Pacific-Rim Conference on Multimedia, PCM 2013

作者： Zhang, Chunjie Xiong, Wei Liu, Jing Zhang, Yifan Liang, Chao Huang, Qingming School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences P.O. Box 2728 Beijing China National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783319037301

The use of local features has demonstrated its effectiveness for many visual applications. However, local features are often extracted with gray images. This ignores the useful information within different color channels which eventually hinders the final performance, especially for fine-grained image classification. Besides, the semantic information of local features is too weak to be applied for high-level visual applications. To cope with these problems, in this paper, we propose a novel fine-grained image classification method by using color exemplar classifiers. For each image, we first decompose it into multiple color channels to take advantage of the color information. For each color channel, we represent each image with a response histogram which is generated by exemplar classifiers. Experiments on several public image datasets demonstrate the effectiveness of the proposed color exemplar classifier based image classification method. © Springer International Publishing Switzerland 2013.

关键词： Image classification

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Nonlinear system identification with multiple and correlated scheduling variables *

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IFAC Proceedings Volumes 2013年第32期46卷 319-324页

作者： Lei Chen Biao Huang Fei Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi 214122 P.R. China Department of Chemical and Materials Engineering University of Alberta Edmonton AB T6G 2G6 Canada

This paper is concerned with identification of nonlinear systems with multiple and correlated scheduling variables. Multiple auto regressive exogenous (ARX) models are identified on different process operating conditions, and a normalized exponential function as the probability density function associated with each of the local ARX models taking effect is then used to combine all the local models to represent the complete dynamics of a nonlinear system. The parameters of the local ARX models and the exponential functions are estimated simultaneously under the framework of the expectation maximization (EM) algorithm. A numerical example is applied to demonstrate the proposed identification method.

关键词： System identification Nonlinear process Multiple models Expectation maximization algorithm Multiple scheduling variables

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