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American Control Conference

作者： Ping Wang Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479932757

This paper is concerned with the H_∞ consensus control problem in undirected networks of autonomous agents with nonlinear dynamics, subject to parameter uncertainties and external disturbances. With the consideration of time-varying delays arising from communication among agents, a distributed protocol is proposed using the local delayed state information. Then, by defining an appropriate controlled output function, the consensus problem under the proposed protocol is converted into an H_∞ control problem. Based on robust H_∞ theory, sufficient conditions are derived to make all agents achieve consensus with desired H_∞ performance. Moreover, the feedback matrix in the proposed protocol is determined by solving two linear matrix inequalities (LMIs) with the same dimensions as a single agent. Finally, a numerical simulation is provided to demonstrate the effectiveness of our theoretical results.

关键词： Multi-agent systems Protocols Nonlinear dynamical systems Uncertain systems Linear matrix inequalities Robustness Delay effects

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Cooperative Bicircular Target Tracking Using Multiple Unmanned Aerial Vehicles

Cooperative Bicircular Target Tracking Using Multiple Unmann...

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IEEE Annual Conference on Decision and Control

作者： Yueqian Liang Yingmin Jia Junping Du Fumitoshi Matsuno Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China Department of Mechanical Engineering and Science Kyoto University Kyoto 606-8501 Japan

ISBN: (纸本)9781467360890

This paper investigates the problem of tracking a moving target using multiple fixed-wing unmanned aerial vehicles (UAVs) under a new bicircular formation. This new formation for cooperative standoff target tracking is first developed by maximizing the amount of Fisher information. Guidance vector fields are designed, and based on them, a cooperation approach is proposed to adapt the unknown target velocity and achieve the cooperative bicircular tracking. Speed and heading rate are firstly controlled to track the guidance vector fields separately for each UAV, then the speed is further adjusted to maintain the desired angular separation between the UAVs. Simulation experiments are given to verify the effectiveness of the proposed approach.

关键词： bicircular Target tracking vehicle

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Output feedback tracking control for spacecraft relative translation subject to input constraints and partial loss of control effectiveness

Output feedback tracking control for spacecraft relative tra...

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American Control Conference

作者： Lin Zhao Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479932757

In this paper, an adaptive output feedback tracking control scheme is proposed for spacecraft formation flying (SFF) in the presence of external disturbances, uncertain system parameters, input constraints and partial loss of control effectiveness. The proposed controller incorporates a pseudo-velocity filter to account for the unmeasured relative velocity, and the neural network (NN) technique is implemented to approximate the desired nonlinear function and bounded external disturbances. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated nonlinear function, a switch function is employed to generate a switching between the adaptive NN control and the robust controller. Moreover, a fault tolerant part is included in the controller to compensate the partial loss of actuator effectiveness fault. It is shown that the derived controller not only guarantees the tracking error in the closed-loop system to be uniformly ultimately bounded (UUB) but also ensures the control input can rigorously enforce actuator magnitude constraints. Simulation results are provided to demonstrate the effectiveness of the proposed method.

关键词： SFF UUB NN

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Super-resolution for surveillance facial images via shape prior and residue compensation

International Journal of Multimedia and Ubiquitous Engineeri...

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International Journal of Multimedia and Ubiquitous engineering 2013年第6期8卷 47-58页

作者： Lu, Tao Hu, Ruimin Jiang, Junjun Zhang, Yanduo He, Wei Hubei Province Key Laboratory of Intelligent Robot College of Computer Science and Engineering Wuhan Institute of Technology Wuhan 430073 China National Engineering Research Center on Multimedia Software Wuhan University Wuhan 430072 China Transportation Engineering Institute of Minjiang University Fuzhou 350001 China

Super-resolution (SR) methods are widely used to enhance the resolution of input images such as low-resolution (LR) remote or surveillance images. The key problem of SR algorithm is to introduce a proper prior for high-resolution (HR) image reconstruction. Usually pixel feature based similarity measure is used as prior. While in real surveillance applications, images are often disturbed by noise so that it is not enough to only use the prior from pixel domain to achieve satisfied high-resolution. In this paper, a two-phase based face hallucination approach via shape prior (SP) is proposed. Firstly, the Active Appearance Model (AAM) is used as shape prior to reconstruct the global face. Then the high frequency information as detailed inartificial facial features of HR face image is compensated to the global face. Experiments show that the proposed algorithm improves the subjective and objective quality of the input LR facial images and outperform many states-of-the-art superresolution methods. © 2013 SERSC.

关键词： Pixels

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Distributed adaptive two-stage Kalman filter for target tracking in the presence of unknown dynamic bias

Distributed adaptive two-stage Kalman filter for target trac...

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Chinese Control Conference (CCC)

作者： Cui Zhang Yingmin Jia Junping Du Jun Zhang The Seventh Research Division Beihang University (BUAA) Beijing P. R. China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing University of Posts and Telecommunications Beijing P. R. China School of Electronic and Information Engineering Beihang University (BUAA) Beijing P. R. China

This paper is concerned with the problem of tracking target with multiple sensors in the presence of unknown dynamic bias. A suboptimal adaptive two-stage Kalman filter (ATKF) is designed with two reduce-order filters to estimate the target state and the dynamic bias in parallel when the bias model information is incomplete. Moreover, a distributed adaptive two-stage Kalman filter (DATKF) is developed for multi-sensor system based on the ATKF. The effectiveness of the ATKF and the DATKF are illustrated by the Monte Carlo simulation results.

关键词： Kalman filters Mathematical model Adaptation models Equations Sensor fusion Vectors

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An efficient routing algorithm based on mutual information in unstructured P2P networks

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Journal of Computational Information Systems 2013年第17期9卷 7011-7019页

作者： Gong, Weihua Yang, Lianghuai Chen, Jiujun Pei, Xiaobing School of Computer Science and Technology Zhejiang University of Technology Hangzhou 310023 China Key Laboratory of Visual Media Intelligent Process Technology of Zhejiang Province Hangzhou 310023 China School of Software Engineering Huazhong University of Science and Technology Wuhan 430074 China

Resource searching is the first and foremost challenge in unstructured P2P networks. Although having received a lot of attentions during past few years, many proposed search methods still can't avoid some serious drawbacks such as high cost and low effciency in dynamic P2P environment. To resolve these weaknesses, this paper proposes an e?cient Query Routing Tree (QRT) algorithm based on maximum mutual information to improve the performance of resource searching, which has tightly associated the resource contents of peers with the logical links of P2P network. The primary benefits are that our proposed QRT algorithm can make the query messages forwarded more effectively in similar peers and hit more target resources faster. The experimental results show that our proposed QRT algorithm can decrease the search cost more effectively and maintain higher targets hit rate compared to Flooding, k-RW and APS algorithms, and the QRT algorithm is also proved to conduct high searching performance with better scalability in unstructured P2P networks. © 2013 Binary Information Press.

关键词： Forestry

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Stochastic Bounded Real Lemma for Switched Stochastic Systems with Average Dwell Time

Stochastic Bounded Real Lemma for Switched Stochastic System...

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IEEE Annual Conference on Decision and Control

作者： Hongji Ma Yingmin Jia Junping Du Fumitoshi Matsuno Department of Systems and Control LIMB Beihang University (BUAA) Beijing 100191 China Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Kyoto 615-8540 Japan

ISBN: (纸本)9781467360890

This paper addresses the H_∞ performance and H_∞ control of switched stochastic linear systems subject to average dwell-time switching. At first, a sufficient condition is presented to guarantee the switched stochastic system to achieve a weighted H_∞ performance under the condition that all subsystems are asymptotic mean square stable. Further, the disturbance attenuation property of the considered systems is investigated when both stable and unstable subsystems are included. It is shown that if the active time of unstable subsystems is properly allocated, a stochastic bounded real lemma (SBRL) can be established based on the solvability of linear matrix inequalities (LMIs). As an application of the obtained SBRL, the robust control problem is settled for a class of switched stochastic systems with (x,u,v)-dependent noises, and the state-feedback H_∞ controller is developed.

关键词： dwell time stochastic systems SUB-SYSTEM attenuation characteristic Stochastic Lemma effective time Bounded computability Controllers

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Dynamic feature extraction for facial expression recognition based on optical flow

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Information Technology Journal 2013年第23期12卷 7305-7311页

作者： Jia, Xibin Liu, Shuangqiao Powers, David M. W. Beijing Municipal Key Laboratory for Multimedia and Intelligent Software Technology Beijing University of Technology Beijing 100124 China College of Computer Science Beijing University of Technology Beijing 100124 China School of Computer Science Engineering and Mathematics Flinders University of South Australia Adelaide 5042 Australia

Understanding facial expressions is a fundamental problem in affective computing that has the potential to impact both sides of a conversation with a computational agent. Currently static approaches based on techniques such as Gabor transformation represent the state of the art for identifying facial expressions but remain rather slow and unreliable. In this study we introduce and compare a dynamic technique based on optical flow versus this static Gabor baseline, as well as integrating information about static and dynamic facial characteristics into novel fused models. Rather than requiring complex Machine Learning, a simple and fast template model based on K-Means uses a Hidden Markov Model to provide context. The system is trained and evaluated on distinct subsets of the Cohn-Kanade database of adult faces which provides classifications into six basic expressions. Experimental results show that the dynamic expression feature extraction based on the optical flow for facial expression recognition has considerably improved recognition rate. Fusion of the optical flow dynamic expression features with Gabor static expression feature also increases recognition rate somewhat versus the static baseline but the hybrids tested are not competitive with the pure dynamic model. © 2013 Asian Network tor Scientific Information.

关键词： Hidden Markov models

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Sparse learning for face recognition with social context

Sparse learning for face recognition with social context

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4th International Conference on Intelligence Science and Big Data engineering, IScIDE 2013

作者： Gui, Jie Mi, Jian-Xun Lei, Ying-Ke Wang, Hong-Qiang State Key Laboratory of Software Engineering Wuhan University 430072 China Hefei Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui China State Key Laboratory for Novel Software Technology Nanjing University China Bio-Computing Research Center Shenzhen Graduate School Harbin Institute of Technology Shenzhen Guangdong Province China Electronic Engineering Institute Hefei Anhui 230037 China

ISBN: (纸本)9783642420566

Face recognition in uncontrolled environments, such as large pose variations, and extreme ambient illumination and expressions is a challenging task for traditional face recognition methods. Some recent works show that context information such as clothes and social relationships is very important for solving the problem. Furthermore, sparse representation-based method is very robust for face occlusion and pixel contamination. In this paper, the authors propose a sparse learning framework for face recognition with social context. First, sparse representation based dimensionality reduction method is used to find the low dimension representation of the face images. Second, sparse representation based classification is utilized to classify test face images as known label and unknown label. Third, for test images classified as unknown label, social context descriptor is constructed according to co-existence information. Finally, based on social context descriptor and the low dimension representation of the test images classified as unknown label, sparse representation based clustering is adopted to perform face recognition. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Face recognition

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Weight balancing on boundaries and Skeletons 14

Weight balancing on boundaries and Skeletons

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30th Annual Symposium on Computational Geometry, SoCG 2014

作者： Barba, Luis Cheong, Otfried De Carufel, Jean-Lou Dobbins, Michael Gene Fleischer, Rudolf Kawamura, Akitoshi Korman, Matias Okamoto, Yoshio Pach, János Tang, Yuan Tokuyama, Takeshi Verdonschot, Sander Wang, Tianhao Boursier FRIA du FNRS ULB Brussels Belgium School of Computer Science Carleton University Ottawa Canada Department of Computer Science KAIST Daejeon Korea Republic of GAIA POSTECH Pohang Korea Republic of IIPL and SCS Fudan University Shanghai China CS GUtech Muscat Oman Department of Computer Science University of Tokyo Tokyo Japan National Institute of Informatics Tokyo Japan JST ERATO Kawarabayashi Project Japan Department of Communication Engineering and Informatics University of Electro-Communications Tokyo Japan EPFL Lausanne Switzerland Rényi Institute Budapest Hungary Software School Shanghai Key Laboratory of Intelligent Information Processing Fudan University Shanghai China Graduate School of Information Sciences Tohoku University Sendai Japan

ISBN: (纸本)9781450325943

Given a polygonal region containing a target point (which we assume is the origin), it is not hard to see that there are two points on the perimeter that are antipodal, i.e., whose midpoint is the origin. We prove three generalizations of this fact. (1) For any polygon (or any bounded closed region with connected boundary) containing the origin, it is possible to place a given set of weights on the boundary so that their barycenter (center of mass) coincides with the origin, provided that the largest weight does not exceed the sum of the other weights. (2) On the boundary of any 3-dimensional bounded polyhedron containing the origin, there exist three points that form an equilateral triangle centered at the origin. (3) On the 1-skeleton of any 3-dimensional bounded convex polyhedron containing the origin, there exist three points whose center of mass coincides with the origin. Copyright 2014 ACM.

关键词： Computational geometry

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