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Robot map building in unknown dynamic environment based on hybrid dezert-smarandache model

Information Technology Journal 2009年第3期8卷 284-292页

作者： Peng, Li Xinhan, Huang Min, Wang Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

In this study, a new method of information fusion DSmT (Dezert-Smarandache Theory) which is extended from Bayesian Theory and Dempster-Shafer Theory (DST) is introduced to solve the problem of robot map building in an unknown dynamic environment. The grid map method is adopted and a sonar sensor mathematical model is constructed based on DSmT. Meanwhile a few of general basic belief assignment functions (gbbaf) are constructed to deal with the uncertain and imprecise, sometimes even high conflicting information obtained by sonar sensors with the application of hybrid DSm model in the system and consideration of characteristics of sonar sensors. At last, Pioneer II mobile robot is used to carry out experiments of map building. The 2D general basic belief assignment (gbba) maps are structured and then correlative 3D gbba maps are built by openGL. The comparison of created ichnography with the real map testified the validity of hybrid DSm model for fusing imprecise information and map building proposed by this research. © 2009 Asian Network for Scientific Information.

关键词： Information fusion

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Robust flocking for non-identical second-order nonlinear multi-agent systems

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Autonomous intelligent Systems 2021年第1期1卷 81-90页

作者： Xiuxian Li Housheng Su Li Li Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study Tongji UniversityShanghai 200092China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China

This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.

关键词： Flocking Multi-agent systems Second-order nonlinear systems Non-identical dynamics

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Sonar grid map building of mobile robots based on DSmT

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Information Technology Journal 2006年第2期5卷 267-272页

作者： Li, Xinde Huang, Xinhan Wang, Min Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

The research of self-location and map building among some entirely unknown environments is an important and popular subject of intelligent mobile robots. Someone compared it to the problem of chicken and egg. But the application of Sonar sensors with some advantages such as cheapness, simple-operation and convenient-disposal resulted in uncertain and imprecise knowledge acquired. Aimed to this, a new method of information fusion recently developed from Bayesian theory and Dempster-Shafer theory was applied and on the base of experiment, according to sonar's metrical characteristic, the general basic belief assignment functions were constructed for modeling of static environment. Finally, grid map of 3D building on-line for mobile robot was used to compare from the real environment by the experiment. By analyzing the result of comparison, the validity of this method was fully verified. © 2006 Asian Network for Scientific Information.

关键词： Mobile robots

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Disturbance Observer-Based Data Driven Model Predictive Tracking control of Linear Systems

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IEEE Access 2023年 11卷 88597-88608页

作者： Farbood, Mohsen Echreshavi, Zeinab Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel Shiraz University of Technology Department of Electrical and Electronics Engineering Shiraz71557-13876 Iran University of Zanjan Department of Electrical Engineering Zanjan45371-38791 Iran National Yunlin University of Science and Technology Douliou Graduate School of Intelligent Data Science Yunlin640301 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces a new data-driven MPC structure based on two offline and online parts to achieve the robust and constrained performance in an optimal scheme. In the first step, according to the model matching condition, an offline data-driven controller is designed to reach the tracking performance. In addition, to reduce the effects of the external disturbance, a data-driven-based disturbance observer is presented to estimate the external disturbance. Therefore, the robustness against the external disturbances is achieved in an offline procedure. Then, a data-driven model predictive control (MPC) is structured based on a data-driven-based model of a stabilized system. In other words, the overall controller is configured such that the limitations of the system states and control input are considered in the control design process. Moreover, by employing the move blocking strategy, the online computational burden of the suggested controller is greatly reduced. To further improve of the feasibility problem, an ellipsoidal terminal (ET) constraint is considered. The rows number of the blocking matrix influences on the ET set which leads to feasibility enhancement. So, the main contributions of the presented data-driven controller are feasibility improvement and reducing online computational burden in an optimal and constrained scheme which are illustrated in the simulation section. © 2013 IEEE.

关键词： Linear systems

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Optimizing Polynomial-Time Solutions to a Network Weighted Vertex Cover Game

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 512-523页

作者： Jie Chen Kaiyi Luo Changbing Tang Zhao Zhang Xiang Li the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004 Yuxi Middle School Taizhou 317399China IEEE the College of Physics and Electronics Information Engineering Zhejiang Normal UniversityJinhua 321004China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004China the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433 the Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201210China

Weighted vertex cover(WVC)is one of the most important combinatorial optimization *** this paper,we provide a new game optimization to achieve efficiency and time of solutions for the WVC problem of weighted *** first model the WVC problem as a general game on weighted *** the framework of a game,we newly define several cover states to describe the WVC ***,we reveal the relationship among these cover states of the weighted network and the strict Nash equilibriums(SNEs)of the ***,we propose a game-based asynchronous algorithm(GAA),which can theoretically guarantee that all cover states of vertices converging in an SNE with polynomial ***,we improve the GAA by adding 2-hop and 3-hop adjustment mechanisms,termed the improved game-based asynchronous algorithm(IGAA),in which we prove that it can obtain a better solution to the WVC problem than using a the ***,numerical simulations demonstrate that the proposed IGAA can obtain a better approximate solution in promising computation time compared with the existing representative algorithms.

关键词： Game-based asynchronous algorithm(GAA) game optimization polynomial time strict Nash equilibrium(SNE) weighted vertex cover(WVC)

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Embedded autopilot for accurate waypoint navigation and trajectory tracking: Application to miniature rotorcraft UAVs

Embedded autopilot for accurate waypoint navigation and traj...

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2009 IEEE International Conference on robotics and Automation, ICRA '09

作者： Kendoul, Farid Zhenyu, Yu Nonami, Kenzo Robotics and Control Lab. Department of Electronics and Mechanical Engineering Chiba University 263-8522 Chiba City Japan State Key Laboratory of Rail Traffic Control and Safety Beijing JiaoTong University China

ISBN: (纸本)9781424427895

In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft a lightweight/portable and inexpensive Guidance, Navigation and control system (GN&C) was developed. To compensate for the weaknesses of the low-cost equipment, we put our efforts in obtaining a reliable model-based nonlinear controller. The GN&C system was implemented on a small four rotor helicopter which has undergone an extensive program of flight tests resulting in various flight behaviors under autonomous control from takeoff to landing. Flight test results that demonstrate the operation of the GN&C algorithms on a real MAV arepresented. © 2009 IEEE.

关键词： Navigation

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Algorithm for elliptic curve diffie-hellman key exchange based on DNA tile self-assembly

Algorithm for elliptic curve diffie-hellman key exchange bas...

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作者： Cheng, Zhen Huang, Yufang Chen, Zhihua Shi, Xiaolong Xu, Jin Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology 430074 Wuhan China School of Electronics Engineering and Computer Science Peking University 100871 Beijing China

DNA tile self-assembly is a promising paradigm for nanotechnology. Recently, many researches show that computation by DNA tile self-assembly maybe scalable. In this paper, we propose the algorithm for elliptic curve Diffie-Hellman key exchange based on DNA tile self-assembly. First we give the DNA tile self-assembly model to compute the scalar multiplication, then we can successfully implement the Diffie-Hellman key exchange over elliptic curve by extracting the result strand of the scalar multiplication. Copyright © 2010 American Scientific Publishers. All rights reserved.

关键词： Self assembly

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Requirement-Oriented TT&C Method for Satellite Based on BDS-3 Short-Message Communication System

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Space(Science & Technology) 2023年第1期3卷 311-324页

作者： Chao Li Peijie Liu Shiyuan Fu Yiwen Jiao Wei Zhang Department of Electronic and Optical Engineering Space Engineering UniversityBeijingChina Key Laboratory of Intelligent Space TT&C and Operation(Space Engineering University) Ministry of EducationBeijingChina State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System LuoyangChina Xi’an Satellite Control Center Xi’anChina

With the increasing number of satellites being launched in China,the demand for Telemetry,Tracking,and Command(TT&C)resources is also *** of the global coverage and resource requirements of TT&C management,this paper proposes a TT&C scheme based on the Global Short-Message Communication System(GSMCS)of the BeiDou-3 Navigation Satellite System(BDS-3).The system composition,workflow,and functions of satellite TT&C are analyzed using the GSMCS of *** the coverage analysis of the Medium Earth Orbit(MEO)constellation of BDS-3,scheme’s applicability is pointed out,and the correctness of the analysis results is verified via *** value range of the link distance is derived by calculating the range of the distance variation between any 2 satellites in the BDS-3 MEO constellation and combining the intersatellite routing *** calculation results show that the response time range of the autonomous request management application of in-orbit satellites based on the GSMCS of BDS-3 is 1.407 to 2.448 *** can meet the requirements of TT&C service.

关键词： Message Command service

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Efficient Deep Learning Modalities for Object Detection from Infrared Images

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Computers, Materials & Continua 2022年第8期72卷 2545-2563页

作者： Naglaa F.Soliman E.A.Alabdulkreem Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Ahmed Sedik Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafr el-sheikhEgypt

For military warfare purposes,it is necessary to identify the type of a certain weapon through video stream tracking based on infrared(IR)video *** vision is a visual search trend that is used to identify objects in images or video *** military applications,drones take a main role in surveillance tasks,but they cannot be confident for longtime ***,there is a need for such a system,which provides a continuous surveillance task to support the drone *** a system can be called a Hybrid Surveillance System(HSS).This system is based on a distributed network of wireless sensors for continuous *** addition,it includes one or more drones to make short-time missions,if the sensors detect a suspicious *** paper presents a digital solution to identify certain types of concealed weapons in surveillance applications based on Convolutional Neural Networks(CNNs)and Convolutional Long Short-Term Memory(ConvLSTM).Based on initial results,the importance of video frame enhancement is obvious to improve the visibility of objects in video *** accuracy of the proposed methods reach 99%,which reflects the effectiveness of the presented *** addition,the experimental results prove that the proposed methods provide superior performance compared to traditional ones.

关键词： Deep learning object detection military applications OFDM SPIHT IoT

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Algorithmic tile assembly for solution of the maximum clique problem

Algorithmic tile assembly for solution of the maximum clique...

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作者： Huang, Yufang Xu, Jin Cheng, Zhen Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China School of Electronics Engineering and Computer Science Peking University Beijing 100871 China

The maximum clique problem has diverse applications in the field of pattern recognition, computer vision, information processing etc. The connection between self-assembly and computation has implied that the tile assembly can perform arithmetical computation. Approaches to algorithmic self- assembly require the use of DNA nanostructures, called tiles, which have efficient computational power, and convenient input and output mechanisms. We present a theoretical tile assembly model for the maximum clique problem. We take some transformation to the maximum clique problem and convert it into the 0-1 programming problem. By use of the huge parallelism inherent in the arithmetic tile assembly, it outputs a reporter strand which includes the solution to the problem. It is proved that this method can be extended to the maximum independent set problem and 0-1 programming problem. The arithmetic tile assembly model proposed here can give the answer by use of 0(2n2 + 2mn+ 12n) tile types in time linear with the input size. Copyright © 2010 American Scientific Publishers. All right resered.

关键词： Computational complexity

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