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Collision Avoidance Maneuver Design Based on Equidistance Interpolation

Collision Avoidance Maneuver Design Based on Equidistance In...

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IEEE Conference on Decision and Control

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu 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 Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust Vision measurement Switch control law The specified trajectory Equidistance interpolation

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Robust L_(2) - L_(infinity) Consensus Control of the Second-order Multi-agent Systems with Time-delay

Robust L_(2) - L_(infinity) Consensus Control of the Second-...

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IEEE Conference on Decision and Control

作者： Yan Cui Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University 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 Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L_(2) - L_(infinity) control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the convergence to consensus of the network under fixed or switching topology. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.

关键词： Topology Europe

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Gaussian mixture PHD filter for multiple maneuvering extended targets tracking

Gaussian mixture PHD filter for multiple maneuvering extende...

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IEEE Conference on Decision and Control

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu 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 Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.

关键词： Maneuvering Filters shape parameter extended target Gauss Subset numerical example

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Two alternative approaches to stochastic discrete-time iterative learning control systems

Two alternative approaches to stochastic discrete-time itera...

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IEEE Conference on Decision and Control

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu 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 Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper aims to address the robust convergence problem that arises from discrete-time iterative learning control (ILC) systems subject to random disturbances. Two alternative approaches are considered in order to achieve the perfect output tracking of the stochastic discrete-time ILC systems in the sense of both expectation and variance, which use the tracking error and the input error for analysis, respectively. It is shown that the convergence results of two approaches to ILC can be established by developing some statistical expressions in super-vector forms. Moreover, it is demonstrated that the convergence results of two approaches to ILC are not always equal, and they can keep the same only in the case where the controlled plants are square.

关键词： Iterative learning control discrete-time systems random disturbances

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Column Formation Control of Multi-robot Systems with Input Constraints

Column Formation Control of Multi-robot Systems with Input C...

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IEEE Conference on Decision and Control

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu 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 Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.

关键词： Column formation control multi-robot systems leader-follower input constraints elliptic approximation

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Solar energy for soil conditioning

Solar energy for soil conditioning

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IEEE EUROCON-International Conference on Computer As A Tool

作者： PawLat, Joanna Diatczyk, JarosLaw Komarzyniec, Grzegorz Gisewski, Tomasz Stryczewska, Henryka D. Ebihara, Kenji Mitsugi, Fumiaki Aoqui, Shinichi Nakamiya, Toshiyuki Faculty of Electrical Engineering and Computer Science Lublin University of Technology Nadbystrzycka Street 38A 20-618 Lublin Poland Environment and Energy Laboratory Ohtemon 1-4-15-404 Chuouku Fukuoka City Fukuoka 810-0074 Japan Graduate School of Science and Technology Kumamoto University Kurokami 2-39-1 Kumamoto 860-0082 Japan Department of Software Science Sojo University 4-22-1Ikeda Kumamoto 860-0082 Japan Department of Electronics and Intelligent Tokai University Toroku 9-1-1 Kumamoto 862-8652 Japan

ISBN: (纸本)9781424474868

Constant increase of energy consumption by growing population and shortening of natural resources will impose greater limitations of electric energy consumption by various treatment technologies. Shifting from large-scale treatment facilities powered from conventional sources to autonomic, small, and medium size installations supplied from renewables is one of the possible solutions. Results of ozone soil treatment are presented. PV panels supplied, on-site installation for soil treatment is proposed. © 2011 IEEE.

关键词： Solar energy

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Shape representation of human anatomy using spherical harmonic basis function

Shape representation of human anatomy using spherical harmon...

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International Conference on Computer Sciences and Convergence Information Technology (ICCIT)

作者： Tomoko Tateyama Megumi Okegawa Shinya Kohara Xianhua Han Shuzo Kanasaki Akira Furukawa Huiyan Jiang Kiyoshi Murata Yen-Wei Chen Intelligent Image Processing Laboratory College of Information Science and Engineering Ritsumeikan University Shiga Japan The Graduate School of Human Health Sciences Tokyo Metropolitan university Tokyo Japan Department of Radiology Koseikai Takeda Hospital Kyoto Japan Software College Northeastern University China Department of Radiology Shiga University of Medical Science Shiga Japan

In medical imaging research, the three-dimensional (3-D) shape representation and analysis of anatomic structures using only a few parameters is an important issues, and can be applied to computer assisted diagnosis, surgical simulations, visualization, and many other medical applications. This paper proposes the representation of the shape surfaces of a simply connected 3-D object using spherical harmonic (spharm) functions, which can provide an approximate global description of the shape using only a few spharm parameters. Spharms are obtained from several partial differential equations used in physics, such as the Laplace, Helmholtz, and Schrodinger equations, in which spherical coordinates are used. In this study, we aim to develop a 3D representation of human anatomy, such as the liver and spleen, with fewer parameters by using spharm functions. Furthermore, the experimental results show that the shape of the liver and spleen can be accurately represented with only a few spharm parameters.

关键词： Shape Liver Computational modeling Solid modeling Educational institutions Harmonic analysis Biomedical imaging

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Strong Barrier Coverage Using Directional Sensors with Arbitrarily Tunable Orientations

Strong Barrier Coverage Using Directional Sensors with Arbit...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Dan Tao Xu-Fei Mao Shao-Jie Tang Hai-Tao Zhang Hua-Dong Ma Hai-Jiang Xie School of Electronic and Information Engineering Beijing Jiaotong University Beijing China Beijing Key Laboratory of Intelligent Telecommunication Software and Multimedia Beijing University슠of Posts and슠Telecommunications Beijing China Department of Computer Science Illinois Institute of Technology Chicago IL USA Department of Computer Science and Technology XiAn JiaoTong University XiAn China

Barrier coverage is an important problem for sensor networks to fulfill some given sensing tasks. Barrier coverage guarantees the detection of events happened crossing a barrier of sensors. In majority study of barrier coverage using sensor networks, sensors are assumed to have an isotropic sensing model. However, in many applications such as monitoring an area using video camera, the sensors have directional sensing model. In this paper, we investigate strong barrier coverage using directional sensors, where sensors have arbitrarily tunable orientations to provide good coverage. We investigate the problem of finding appropriate orientations of directional sensors such that they can provide strong barrier coverage. By exploiting geographical relations among directional sensors and deployment region boundaries, we first introduce the concept of virtual node to reduce the solution space from continuous domain to discrete domain. We then construct a directional barrier graph (DBG) to model this barrier coverage question such that we can quickly answer whether there are directional sensors' orientations that can provide strong barrier coverage over a given belt region. If the belt region is strong barrier covered, we then develop energy-efficient solutions to find strong barrier path(s) that will approximately minimize the total or the maximum rotation angles of all directional sensors. Extensive simulations are conducted to verify the effectiveness of our solution.

关键词： Sensors Belts Clocks Numerical models Educational institutions Cameras Complexity theory

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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Gaussian Mixture PHD Smoother for Jump Markov Models in Multiple Maneuvering Targets Tracking

Gaussian Mixture PHD Smoother for Jump Markov Models in Mult...

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2011 American Control Conference (ACC)

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.

关键词： Target tracking Approximation methods Markov processes Covariance matrix Smoothing methods Radar tracking Computational efficiency

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