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General control horizon extension method for nonlinear model predictive control

INDUSTRIAL & ENGINEERING CHEMISTRY RESEARCH 2007年第26期46卷 9179-9189页

作者： Zhang, Hai-Tao Li, Han-Xiong Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China City Univ Hong Kong Dept Mfg Engn & Engn Management Kowloon Hong Kong Peoples R China

In the nonlinear model predictive control (NMPC) field, it is well-known that the multistep control approach is superior to the single-step approach when examining high-order nonlinear systems. In the multistep control approach, however, the online minimization of a 2-norm square objective function over a control horizon of length M always requires solving a set of complex polynomial equations, for which no definite solution exists so far. Moreover, the complex nature of the receding horizon optimization also causes additional problems to its closed-loop stability analysis. With these two serious challenges in mind, using a Volterra-Laguerre model-based NMPC for discussion, we propose a general technique to extend the control horizon with the assistance of Groebner basis, which transforms the set of complex polynomial equations to a much simpler form. We prove the closed-loop stability of the algorithm in the sense that the input and output series are both mean-square-bounded. Finally, the efficiency of this improved algorithm is examined on an industrial constant-pressure water supply system. Compared to the conventional NMPC schemes, the proposed method with the control horizon extension has shown a great potential to control a wide range of nonlinear dynamic systems.

关键词： .Empirical always DERIVATION inputs Hong Kong Predictive control Volterra nonlinear model Ind Eng Chem Res control Horizon NMPC nonlinear process NARMAX multistep control

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Feature statistic analysis of ultrasound images of liver cancer

Feature statistic analysis of ultrasound images of liver can...

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Conference on Medical Imaging, Parallel processing of images, and Optimization Techniques

作者： Huang, Shuqin Ding, Mingyue Zhang, Songgeng Huazhong Univ Sci & Technol Inst Pattern Recognit & Artificial Intelligence State Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol State Key Lab Image Proc & Intelligent Control Dept Biomed Engn Coll Life Sci & TechnolBiomed Imaging Ctr Wuhan Peoples R China Beijing Tsinghua R&D Ind Inst Beijing 100085 Peoples R China

ISBN: (纸本)9780819469533

In this paper, a specific feature analysis of liver ultrasound images including normal liver, liver cancer especially hepatocellular carcinoma (HCC) and other hepatopathy is discussed. According to the classification of hepatocellular carcinoma (HCC), primary carcinoma is divided into four types. 15 features from single gray-level statistic, gray-level co-occurrence matrix (GLCM), and gray-level run-length matrix (GLRLM) are extracted. Experiments for the discrimination of each type of HCC, normal liver, fatty liver, angioma and hepatic abscess have been conducted. Corresponding features to potentially discriminate them are found.

关键词： ultrasound images liver cancer gray-level co-occurrence matrix single gray-level statistic gray-level run-length matrix feature analysis

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A genetic algorithm for solving multi-constrained function optimization problems based on KS function

A genetic algorithm for solving multi-constrained function o...

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IEEE Congress on Evolutionary Computation

作者： Xiao, Jianhua Xu, Jin Shao, Zehui Jiang, Congfeng Pan, Linqiang Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Hydropower & Informat Engn Wuhan 430074 Peoples R China

ISBN: (纸本)9781424413393

In this paper, a new genetic algorithm for solving multi-constrained optimization problems based on KS function is proposed. Firstly, utilizing the agglomeration features of KS function, all constraints of optimization problems are agglomerated to only one constraint. Then, we use genetic aligorithm to solve the optimization problem after the compression of constraints. Finally, the simulation results on benchmark functions show the efficiency of our algorithm.

关键词： Problem solving

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Robotic dynamic target recognition and tracking based on the monocular vision

Robotic dynamic target recognition and tracking based on the...

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26th Chinese control Conference, CCC 2007

作者： Lei, Liu Yongji, Wang Huazhong University of Science and Technology Intelligent and Complex System Laboratory Key Laboratory of Image Processing and Intelligent Control Ministry of Education

ISBN: (纸本)7900719229

Gather the information of the environment by the monocular vision. Using the H and S weight of the HSV color model, separate the target from the environment with a certain color, by a fast clustering algorithm for two-value image segmentation. Calculating the distance between the camera and target by the 3D reconstruction algorithm and sub-control strategy, and raise its veracity by laser information fusion. Furthermore, a vision servo system has been designed and utilized to achieve the robot's dynamic track. At last, some experiments were used to certification its availability.

关键词： Robot applications

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Robot map building based on fuzzy-extended DSmT

Robot map building based on fuzzy-extended DSmT

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5th International Symposium on Multispectral image processing and Pattern Recognition

作者： Li, Xinde Huang, Xinhan Wu, Zuyu Peng, Gang Wang, Min Xiong, Youlun Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Dept Control Sci & Engn Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Peoples R China

ISBN: (纸本)9780819469519

With the extensive application of mobile robots in many different fields, map building in unknown environments has been one of the principal issues in the field of intelligent mobile robot. However, information acquired in map building presents characteristics of uncertainty, imprecision and even high conflict, especially in the course of building grid map using sonar sensors. In this paper, we extended DSmT with Fuzzy theory by considering the different fuzzy T-norm operators (such as Algebraic Product operator, Bounded Product operator, Einstein Product operator and Default minimum operator)., in order to develop a more general and flexible combinational rule for more extensive application. At the same time, we apply fuzzy-extended DSmT to mobile robot map building with the help of new self-localization method based on delta neighboring field appearance matching(delta-NFAM), to make the new tool more robust in very complex environment. An experiment is conducted to reconstruct the map with the new tool in indoor environment, in order to compare their performances in map building with four T-norm operators, when Pioneer II mobile robot runs along the same trace. Finally, a conclusion is reached that this study develops a new idea to extend DSmT, also provides a new approach for autonomous navigation of mobile robot, and provides a human-computer interactive interface to manage and manipulate the robot remotely.

关键词： DSmT PCR information fusion delta neighboring field appearance matching map reconstruction

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IHS and support value integrated approach to improve pansharpening quality of QuickBird image

IHS and support value integrated approach to improve panshar...

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MIPPR 2007: Multispectral image processing

作者： Zheng, Sheng Yang, Changeai Liu, Jian Tian, Jinwen Electronics and Information Engineering Department Huazhong University of Science and Technology Wuhan 430074 China Institute of Intelligent Vision and Image Information Best College of Electrical Engineering and Information Technology China Three Gorges University Yichang 443002 China State Education Commission Key Laboratory for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819469519

image fusion is an important tool in remote sensing, since many Earth observation satellites provide both high-resolution panchromatic (Pan) and low-resolution multispectral (MS) images. To date, many image fusion techniques have been developed. However, the available algorithms can hardly produce a satisfactory fusion result for IKONOS and QuickBird images. Among the existing fusion algorithms, the IHS technique is the most widely used one, and the wavelet fusion is the most frequently discussed one in recent publications because of its advantages over other fusion techniques. But the color distortion of these two techniques is often obvious. The support value fusion technique demonstrates some advantages over the conventional methods. This study presents a new fusion approach that integrates the advantages of both the IHS and the support value techniques to reduce the color distortion of QuickBird fusion results. Different QuickBird images have been fused with this new approach. Visual and statistical analyses prove that the concept of the proposed extended fast IHS (eFIHS) and support value integration is promising, and it does significantly improve the fusion quality compared to conventional IHS (eFIHS) and wavelet fusion techniques.

关键词： image fusion

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Color image filtering based on impulsive noise detection

Color image filtering based on impulsive noise detection

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MIPPR 2007: Automatic Target Recognition and image Analysis;and Multispectral image Acquisition

作者： Li, Dehua Jin, Lianghai Yao, Xingzhong Xiong, Caiquan State Key Lab. for Image Processing and Intelligent Control Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China Second Artillery Command College Wuhan 430012 China School of Computer Science Hubei University of Technology Wuhan 430068 China

ISBN: (纸本)9780819469502

This paper introduces a new class of switching vector median filter. The proposed algorithm first uses four directional masks to analyze the color difference between the central pixel and its neighborhood pixels in the RGB color space and classify each color pixel into noisy pixel or noise-free one, and then employs the standard vector median filtering operations in the detected noisy locations to restore the corrupted pixels and leave the noise-free ones unchanged. The simulation results show that the proposed method excellently suppresses impulsive noise as well as preserving the image details well, and significantly outperforms the existing vector filtering solutions in terms of both the objective measures and the perceptual visual quality.

关键词： Color image processing

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Research on the stability of two-dimensional bilinear systems

Research on the stability of two-dimensional bilinear system...

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2nd IEEE Conference on Industrial Electronics and Applications (ICIEA 2007)

作者： Fan, Huijin Wen, Changyun Xie, Wenxiang Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Seagate Technol Inter Singapore 118249 Singapore

ISBN: (纸本)9781424407361

In this paper, we present some results on the bounded-input bounded-output (BIBO) stability of two-dimensional (2-D) recursive bilinear systems. Sufficient conditions are derived, which enable us to define a subset to which system input signals should be confined so that the system output is bounded by a constant related to the system initial values and coefficients. Simple examples are presented to illustrate the results.

关键词： Set theory

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An evolutionary neural network based tracking control of a human arm in the sagittal plane

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2nd International Symposium on Intelligence Computation and Application (ISICA 2007)

作者： Liu, Shan Wang, Yongji Zhu, Quanmin Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Image Proc & Intelligent Control Wuhan 430074 Hubei Peoples R China Univ West England Fac Comp Engn & Math Sci Bristol BS16 1QY Avon England

ISBN: (纸本)9783540745808

In this paper trajectory tracking control of a human arm moving in sagittal plane is investigated. The arm is described by a musculoskeletal model with two degrees of freedom and six muscles, and the control signal is applied directly in muscle space. To design the intelligent controller, an evolutionary diagonal recurrent neural network (EDRNN) is integrated with proper performance indices, which a genetic algorithm (GA) and evolutionary program (EP) strategy are effectively combined with the diagonal neural network (DRNN). The hybrid GA with EP strategy is applied to optimize the DRNN structure and a dynamic back-propagation algorithm (DBP) is used for training the network weights. The effectiveness of the control scheme is demonstrated through a simulated case study.

关键词： trajectory tracking control evolutionary diagonal recurrent neural network genetic algorithm evolutionary program dynamic back-propagation musculoskeletal model

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Robotic dynamic target recognition and tracking based on the monocular vision

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26th Chinese control Conference

作者： Liu Lei Wang Yongji Huazhong Univ Sci & Technol Wuhan Hubei Peoples R China Minist Educ Intelligent & Complex Syst Lab Wuhan Hubei Peoples R China Minist Educ Key Lab Image Proc & Intelligent Control Wuhan Hubei Peoples R China

ISBN: (纸本)9787811240559

关键词： HSV color model image segmentation clustering algorithm 3D reconstruction vision servo system

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