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Chinese Automation Congress (CAC)

作者： Liguo Tan Yaohua Zhang Jianwen Huo Shenmin Song Special Construction Headquarters for Large Science Projects and Space Basic Science Research Center Harbin Institute of Technology Harbin China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China College of Information Engineering Southwest University of Science and Technology Mianyang China

To solve the problem of long time-consuming and low success rate of UAV path planning in the complex blockage environment, we combine the RRT algorithm with the driver's visual behavior and propose a RRT UAV path planning method simulating driver's visual behavior in this paper. We use the RRT algorithm with fast search capability to expand the nodes and incorporate the UAV's partial constraints into the path planning algorithm. The driver's visual behavior is used to provide visual guidance points for the UAV. Finally, the greedy method is used to process the obtained paths to get a shorter and smoother path. The simulation results show that the proposed algorithm can quickly find a feasible path in complex environment space, which can be used for UAV path planning.

关键词： Visualization Path planning Turning Simulation Vehicles Heuristic algorithms Legged locomotion

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Correction to: Efficient removal of Cd(II) from aqueous environment by potassium permanganate-modified eucalyptus biochar

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Biomass Conversion and Biorefinery 2021年第1期14卷 91-91页

作者： Mo, Zhenlin Shi, Qingliang Zeng, Honghu Lu, Ze Bi, Jianhong Zhang, Hua Rinklebe, Jörg Lima, Eder C. Rashid, Audil Shahab, Asfandyar Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin China School of Architecture and Civil Engineering Institute of Foundation Engineering Water- and Waste-Management Laboratory of Soil- and Groundwater-Management University of Wuppertal Wuppertal Germany Department of Environment Energy and Geoinformatics Sejong University Seoul Republic of Korea Institute of Chemistry Federal University of Rio Grande do Sul (UFRGS) Porto Alegre Brazil Faculty of Sciences Department of Botany University of Gujrat Gujrat Pakistan

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Application of QGA-BP network in objective evaluation of speech jamming effect 15

Application of QGA-BP network in objective evaluation of spe...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Mo, Jiaqing Xue, Wei Zhao, Songbo Li, Ningning Xu, Liang Li, Dahua Gao, Qiang School of Information Science and Engineering Xinjiang University Urumqi830046 China Beijing Aerospace Propulsion Institute Beijing100076 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781538660720

In order to overcome the shortcomings of traditional BP (Back Propagation) in the process of evaluation for continuous speech jamming effect, a method based on QGA (Quantum Genetic Algorithm) is proposed to optimize the BP network for objective evaluation of speech jamming effect. The MFCC feature of continuous speech data under different distortion conditions are extracted by the Mel cepstrum, which are set to the model inputs in the QGA-BP method. Then the QGA is used to optimize the weight and threshold of BP neural network from multiple spots. A QGA-BP model is constructed to accomplish the mapping from the input to the Mean Opinion Score (MOS). Representative speech data is used to verify this method, and the results show that the convergence speed of QGA-BP model is improved compared with the traditional BP network. Meanwhile, the convergence error can be effectively controlled within 4%, and the model correlation coefficient and the standard deviation are closer to the ideal parameters. © 2018 IEEE.

关键词： Genetic algorithms

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Power Consumption Model of a Circulating Wet Runner Pump

Power Consumption Model of a Circulating Wet Runner Pump

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control Technology and Applications (CCTA),

作者： Benedikt Meier Martin Oettmeier Jens O. Fiedler Torsten Bertram Wilo SE Dortmund Germany Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

In this paper the power consumption model of a circulating wet runner pump is presented. Such a model provides several advantages since it can be used for example to detect issues during operation of the pump. For instance, dry running which might damage the bearings of the pump can be detected based on deviations between the measured power and the power predicted by the model. Furthermore, based on the power model the volume flow which passes the pump can be determined without a volume flow sensor and thus save costs. As the overall power consumption of the pump is influenced by different components such as electrical and friction losses, models of the individual components which have an influence on the power consumption are presented. Then, the components are combined to one overall power consumption model and the model parameters are identified by measurements. Finally, the model is validated by comparison of the dynamic behaviour of the model with the actual measured power consumption.

关键词： Power demand Mathematical model Friction Permanent magnet motors Magnetic hysteresis Hydraulic systems Iron

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Sustainable research software hand-over

arXiv

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arXiv 2019年

作者： Fehr, Jörg Himpe, Christian Rave, Stephan Saak, Jens Institute of Engineering and Computational Mechanics University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstr. 1 Magdeburg39106 Germany Institute for Computational and Applied Mathematics University of Münster Einsteinstrasse 62 Münster48149 Germany

Scientific software projects evolve rapidly in their initial development phase, yet at the end of a funding period, the completion of a research project, thesis, or publication, further engagement in the project may slow down or cease completely. To retain the invested effort for the sciences, this software needs to be preserved or handed over to a succeeding developer or team, such as the next generation of (PhD) students. Comparable guides provide top-down recommendations for project leads. This paper intends to be a bottom-up approach for sustainable hand-over processes from a developer's perspective. An important characteristic in this regard is the project's size, by which this guideline is structured. Furthermore, checklists are provided, which can serve as a practical guide for implementing the proposed *** Codes 68N30, 97N80, 97P99 Copyright © 2019, The Authors. All rights reserved.

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control system design for micro AUV based on open source hardware

Control system design for micro AUV based on open source har...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Wang, Chenguang Hu, Zhiqiang Yang, Yi Geng, Lingbo Wang, Ling Department of Control Theory and Engineering Shenyang Ligong University Shenyang Liaoning Province China Department of Ocean Robotics Shenyang Institute of Automation Shenyang Liaoning Province China Department of Electric Automation Shenyang Ligong University Shenyang Liaoning Province China

ISBN: (纸本)9781538680698

This paper mainly introduces the the control system of micro AUV based on open source hardware. The control system is the most important part of the AUV and its performance has a direct impact on the stability and reliability of AUV. Due to the small size and limited energy, micro AUV puts more restrictions on the volume and power consumption of the control system. In this paper, we choose the BeagleBone Black, the open source hardware, as the main controller, the rich peripheral interface of it facilitates data acquisition and centralized processing of the vehicle. Arduino, another type of open source hardware, is used as the node controller of the control system. Compared with the traditional hardware design, this architecture has the advantages of small volume, low power consumption, low cost, short period of development and maintenance, and it also had good performance in data processing and real-time control. The experimental results showed that the control system based on this architecture run effectively. © 2018 IEEE.

关键词： control systems

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Online Calibration of a Camera System in Road Traffic Scenarios for the Validation of Automated Driving Functionalities

Online Calibration of a Camera System in Road Traffic Scenar...

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AmE 2018 - Automotive meets Electronics;9th GMM-Symposium

作者： Manuel Schmidt Till Nattermann Karl-Heinz Glander Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University ZF TRW Automated Driving & Integral Cognitive Safety

In this contribution, we introduce an algorithm that allows the estimation of a transformation between two sensor systems. The primary system consists of non-imaging sensors like for example lidar and radar or even a fused combination of these. A camera always represents the secondary system. The algorithm aims at automating the process of calibration entirely during driving. This way, much flexibility and robustness are guaranteed. Changing the placement of the camera remains possible without the need to do a cumbersome manual calibration.

关键词： Cameras Automation Road traffic Sensor systems Automobile driving radar quadratic system algorithms primary system

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Consensus for A Class of Singular Multi-agent Systems Based on Pseudo Predictive control 36

Consensus for A Class of Singular Multi-agent Systems Based ...

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第36届中国控制会议

作者： Chang-Jiang Li Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering University of South Wales

ISBN: (纸本)9781538629185

This paper investigates causal consensus problem of a class of singular（descriptor） multi-agent systems with network delays,fixed *** the studied systems,different from traditional open-loop prediction approach,a pseudo predictor based on closed-loop artificial system is proposed to predict the future *** the time-varying delay,a data-receiving policy is proposed to turn it into constant *** protocol is proposed based on predicted state to synchronize the agents’ *** and sufficient conditions are derived for the existence of the proposed protocol to solve the considered consensus problem.A numerical example demonstrates the effectiveness of compensation for networked delays using the provided consensus algorithm.

关键词： Variable delay pseudo predictor networked singular multi-agent system

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Advances in bioremediation of cadmium-contaminated soils

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IOP Conference Series: Earth and Environmental Science 2020年第1期508卷

作者： Xinshuai Wang Guo Yu Hua Lin Pingping Jiang Yan Zhang Yan Liu Ziwei Wang Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin China Guilin Drainage Engineering Management Office Guilin China Guilin Environmental Protection Science Research Institute Guilin China

Cadmium not only threatens the normal growth of plants, but also causes serious harm to human health through the food chain. In order to reduce the impact of cadmium pollution on the ecological environment, contaminated soil must be treated. This paper summarizes the current situation of soil Cd pollution in China, the main areas and sources of Cd pollution. We also analyze the characteristics of soil Cd pollution, introduces and reviews the physical and chemical technology, bioremediation technology, ecological remediation and combined remediation technology currently used to treat soil Cd pollution, in order to provide scientific reference for further research in this field.

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Optimal Consensus Protocols Based on the LQR Perspective 36

Optimal Consensus Protocols Based on the LQR Perspective

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第36届中国控制会议

作者： Yuxin Wei Guo-Ping Liu Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering University of South Wales

ISBN: (纸本)9781538629185

This paper investigates the optimal consensus problems of both continuous-time and discrete-time multiagent systems based on the proposed global cost *** on the LQR perspective and the the proposed global cost functions,we derive the optimal consensus protocols and the optimal topologies for both the continuous-time and discrete-time multiagent systems *** results shows that the optimal topologies correspond to global cost functions with different parameters choices,the complete directed graph and connected undirected graph cases are given in the *** examples are given to validate the theoretical results.

关键词： Consensus optimal control LQR topology

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