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Neighborhood Interval Observer Based Coordination Control for Multi-agent Systems with Disturbances ⁎

IFAC-PapersOnLine 2020年第2期53卷 10994-10999页

作者： Xiaoling Wang Guo-Ping Jiang Wen Yang Housheng Su Xiaofan Wang College of Automation Nanjing University of Posts and Telecommunications Nanjing 210023 China and also with Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) Nanjing 210023 China Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai 200237 China School of Artifcial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Automation Shanghai University Shanghai 200072 China

This paper focuses on multi-agent systems with uncertain disturbances, in which only the bounding functions on the disturbances and the bounds on the initial state of each agent are known. By designing a neighborhood interval observer for this kind of multi-agent system, the estimation of the sum of the relative state of each agent associated with itself and its neighbors is frstly realized. Then, on the basis of these estimated information, local control algorithm is designed to drive the system to achieve bounded consensus.

关键词： Multi-agent system disturbance neighborhood interval observer bounded consensus

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Lighting effects, light distribution matters

Lighting effects, light distribution matters

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International Conference on Display Technology, ICDT 2019

作者： Xia, Ling Zhang, Tingting Liu, Xiaofeng Pont, Sylvia C. College of IoT Engineering Hohai University Changzhou Key Laboratory of Robotics and Intelligent Technology Jiangsu Key laboratory of Special Robot Technology Changzhou China Department of Industrial Design Perceptual Intelligence lab Delft University of Technology Delft Netherlands

ISBN: (纸本)9781510896161

The interaction between light and its surroundings (i.e. the geometry and materials) shapes the lighting distribution and determines the appearance of scenes and its visual experiences. In this study, we introduced the concept of light distribution solids by distinguishing luminance distribution solids and illuminance distribution solids. It is helpful to understand the spatial and formgiving lighting effects on objects’ appearance. Furthermore, this study together with our previous study (Xia, Pont et al. 2016, Xia, Pont et al. 2016) provide theoretical basis for the exploration of extracting photometry parameters out of HDR panoramic photographs of scenes. © 2019, John Wiley and Sons Inc. All rights reserved.

关键词： Luminance

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Formation Control for Multi-UAVs System Based on Event-triggered Mechanism

Formation Control for Multi-UAVs System Based on Event-trigg...

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第三十八届中国控制会议

作者： Lei Ji Chunxia Fan Yan Qiao Hao Xiang College of Automation & College Of Artificial Intelligence Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots Nanjing University of Posts and Telecommunications

The problem of formation control for multi-UAV systems is studied when the communication bandwidth is limited. By using combination position and velocity error, the formation control protocol with event-triggered mechanism is co-designed to reduce the amount of transmitted information over cyber network. Then the asymptotic stability criterion of the multi-UAV formation system is achieved by using the Lyapunov method. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed formation control scheme for multi-UAV systems.

关键词： Multi-unmanned aerial vehicles system(Multi-UAV system) Formation control Event-trigger Combination error

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Infer light diffuseness on light probes with different kinds of mesoreliefs

Infer light diffuseness on light probes with different kinds...

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16th China International Forum on Solid State Lighting & 2019 International Forum on Wide Bandgap Semiconductors (第十六届中国国际半导体照明论坛暨2019国际第三代半导体论坛)

作者： Yudi Wang Ling Xia Jinfeng Huang Ruipeng Xu Xiaofeng Liu College of IoT Engineering Hohai UniversityJiangsu Key Laboratory of Robotics and Intelligent Technology ChangzhouChina

ISBN: (数字)9781728157566

ISBN: (纸本)9781728157573

The appearance of objects varies enormously depending on light ***,the appearance of objects might be a cue to the light *** would provide a solution for lighting designers to guess-estimate the light diffuseness levels based on the appearance of a light ***,the question remains whether rough probe provides additional cues about light diffuseness comparing with the smooth *** the answer to the last question is yes,whether different kinds of roughness performs the ***,how the estimation of light diffuseness might be influenced by the illumination *** answer these questions,an appearance-matching experiment was performed,within which white spherical probes with four kinds of surface mesoreliefs were adopted and 5 illumination directions were *** results confirmed that observers' abilities to match the light diffuseness were improved by the use of probes with 3D texture,which means that observers can derive light diffuseness from the additional cues provided by the texture over the rough ***,the results showed that the roughness has no obvious effect on diffuseness perception at illumination direction of 90o or 120o owing to the much useful information provided by the terminator of the body shadow.

关键词： Probes Lighting Observers Rough surfaces Surface roughness Three-dimensional displays

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The Effect of Lighting on Stereo Vision Test with Random-Dot Stereogram

The Effect of Lighting on Stereo Vision Test with Random-Dot...

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16th China International Forum on Solid State Lighting & 2019 International Forum on Wide Bandgap Semiconductors (第十六届中国国际半导体照明论坛暨2019国际第三代半导体论坛)

作者： Jinfeng Huang Tingting Zhang Yudi Wang Jinwei Xie Xiaofeng Liu Jiangsu Key Laboratory of Robotics and Intelligent Technology College of IoT EngineeringHohai UniversityChangzhouChina

ISBN: (数字)9781728157566

ISBN: (纸本)9781728157573

Depth perception is the ability of people to evaluate the relative and absolute *** practitioners such as pilots,car drivers,athletes,tailors,and seafarers,always require better stereo vision and good depth perception ability to achieve high efficiency and good ***,the lighting environment is another important factor that influence their working *** paper investigated the influence of ambient luminance and screen brightness on depth perception based on Random-Dot *** the experiment,we set three ambient illumination and three screen brightness to *** found depth perception of the participants was influenced by screen brightness(16 Lux,8 Lux and 1.5 Lux),but not influenced by ambient illumination(124 Lux,20 Lux,2 Lux).Hence,we could conclude that the ambient illumination of 124 Lux,20 Lux,2 Lux is a safe lighting that does not influence depth perception and it is not suitable for operators to work with the screen brightness of 16 Lux,8 Lux and 1.5 Lux.

关键词： Brightness Visualization Fluorescent lamps Stereo image processing Correlation

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Adaptive Fault Tolerant Control for a Quadrotor Under Actuator Faults

Adaptive Fault Tolerant Control for a Quadrotor Under Actuat...

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第三十八届中国控制会议

作者： Xian Wang Jing Zhao Juan Qian Fei Xie Jiang Fu College of Automation College of Artificial Intelligence Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots School of Electrical and Automation Engineering Nanjing Normal University Nanjing University of Science and Technology

A novel fault tolerant control scheme for actuator fault which may occur on an underactuated system of quadrotor aircraft using a backstepping sliding mode technique is addressed. Firstly, a nonlinear observer is designed to estimate fault information. Secondly, a backstepping terminal sliding mode fault tolerant control scheme is proposed. The fault can be accurately estimated information under different fault factors, and further compensated via fault tolerant controller(FTC). Finally,the experimental simulation results show excellent fault-tolerant performance.

关键词： Fault Tolerant Control Nonlinear Observer Backstepping Sliding Mode Control Underactuated system

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Using NSGA-Ⅲ for optimising biomedical ontology alignment

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CAAI Transactions on Intelligence Technology 2019年第3期4卷 135-141页

作者： Xingsi Xue Jiawei Lu Junfeng Chen College of Information Science and Engineering Fujian University of TechnologyFuzhouFujianPeople’s Republic of China Intelligent Information Processing Research Center Fujian University of TechnologyFuzhouFujianPeople’s Republic of China Fujian Provincial Key Laboratory of Big Data Mining and Applications Fujian University of TechnologyFuzhouFujianPeople’s Republic of China Fujian Key Laboratory for Automotive Electronics and Electric Drive Fujian University of TechnologyFuzhouFujianPeople’s Republic of China College of IOT Engineering Hohai UniversityChangzhouJiangsuPeople’s Republic of China

To support semantic inter-operability between the biomedical information systems, it is necessary to determine the correspondences between the heterogeneous biomedical concepts, which is commonly known as biomedical ontology matching. Biomedical concepts are usually complex and ambiguous, which makes matching biomedical ontologies a challenge. Since none of the similarity measures can distinguish the heterogeneous biomedical concepts in any context independently, usually several similarity measures are applied together to determine the biomedical concepts mappings. However, the ignorance of the effects brought about by different biomedical concept mapping’s preference on the similarity measures significantly reduces the alignment’s quality. In this study, a non-dominated sorting genetic algorithm (NSGA)-III-based biomedical ontology matching technique is proposed to effectively match the biomedical ontologies, which first utilises an ontology partitioning technique to transform the large-scale biomedical ontology matching problem into several ontology segment-matching problems, and then uses NSGA-III to determine the optimal alignment without tuning the aggregating weights. The experiment is conducted on the anatomy track and large biomedic ontologies track which are provided by the Ontology Alignment Evaluation Initiative (OAEI), and the comparisons with OAEI’s participants show the effectiveness of the authors’ approach.

关键词： ontology ontologies transform together Ontology complex context effects

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LED Visible Light Localization Based on Illuminance Analysis

LED Visible Light Localization Based on Illuminance Analysis

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Chenting Gu Xiaofeng Liu Yongsheng Ou Chao Liu Hao Tao Tianyun Shi HoHai University Nanjing China Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China Key Laboratory of Special Robots Changzhou China Changzhou Key Laboratory of Robots and Intelligent Technology Changzhou China College of IoT Engineering Hohai University Changzhou China Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China China Ship Development and Design Center Wuhan Tian-yun Shi China Academy of Railway Sciences Corporation Limited Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

LED based positioning technology has recently become a popular choice due to the low cost, convenience for maintenance and strong adaptability to the environment. In this paper, we introduce an illuminance-distance analysis method with a rolling shutter camera, for a low-cost indoor positioning system to improve robustness in the case of insufficient LEDs. Firstly, the binary threshold method is used to decode the light signals. Then the gray value information of image is extracted to analyze the depth of LEDs, using the illuminance attenuation theorem. It provides potential solution to the position of devices with the camera by combining depth information, image and camera intrinsic. Our proposed method reduced the minimum number of LEDs observed by the camera from three to two, using only the camera. We evaluated the proposed method with real scene data and demonstrated the effectiveness of illumination-distance model based localization.

关键词： Light emitting diodes Cameras Receivers Light sources robots Mathematical model Image sensors

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Adaptive Sliding Mode Controller Design with Disturbance for Quadrotor

Adaptive Sliding Mode Controller Design with Disturbance for...

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2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

作者： Wang, Xian Zhao, Jing Xie, Fei Fu, Jian Jiang, Sen Nanjing University of Posts and Telecommunications Jiangsu Engineering Laboratory Internet of Things and Intelligent Robots Nanjing210023 China Nanjing Normal University School of Electrical and Automation Engineering Nanjing210042 China

ISBN: (纸本)9781538611715

An adaptive PID sliding mode control method for 6 degree-of-freedom quadrotor is proposed in this paper. Firstly, the dynamic model of quadrotor UAV is introduced. Then the model is divided into two parts which include the position subsystem and attitude subsystem. Data that attitude subsystem required are generated from position subsystem. Secondly, the controller is designed based on PID sliding surface and the control gains of which can be estimated online. The stability of the control system was demonstrated by using Lyapunov stability theory. Finally, the simulation is carried out and simulation results show the effectiveness of the proposed method. © 2018 IEEE.

关键词： Sliding mode control

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Adaptive sliding mode backstepping control for near space vehicles considering engine faults

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Journal of Systems engineering and Electronics 2018年第2期29卷 343-351页

作者： ZHAO Jing JIANG Bin XIE Fei GAO Zhifeng XU Yufei College of Automation Engineering Nanjing University of Posts and TelecommunicationsNanjing 210023China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China School of Electrical and Automation Engineering Nanjing Normal UniversityNanjing 210046China Jiangsu Province 3D Printing Equipment and Manufacturing Key Lab Nanjing 210042China Shanghai Institute of Satellite Engineering Shanghai 200240China Jiangsu Engineering Laboratory for Internet of Things and Intelligent Robots Nanjing 210023China

A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backstepping with the sliding mode control strategy could guarantee the system’s stability and track desired signals under external disturbances and engine faults. Firstly, attitude mode description and the engine faulty model are given. Secondly, a nominal control law is ***, a sliding mode observer is given later in order to estimate both the information of engine faults and external disturbances. An adaptive sliding mode technology based on the previous nominal control law is developed via updating faulty parameters. Finally,analyze the system’s fault-tolerant performance and reliability through experiment simulation, which verifies the proposed design of fault-tolerant control can tolerate engine faults, as well as the strong robustness for external disturbance.

关键词： fault tolerant control adaptive sliding mode(ASM) engine fault near space vehicle(NSV)

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