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Unsupervised robust adaptive filtering against impulsive noise

Journal of systems Engineering and Electronics 2012年第1期23卷 32-39页

作者： Tao Ma Jie Chen Wenjie Chen Zhihong Peng School of Automation Beijing Institute of Technology Beijing 100081 R R. China Key Laboratory of Complex System Intelligent Control and Decision （Ministry of Education） Beijing Institute of Technology Beijing 100081 P. R. China

An implementation of adaptive filtering, composed of an unsupervised adaptive filter （UAF）, a multi-step forward linear predictor （FLP）, and an unsupervised multi-step adaptive predictor （UMAP）, is built for suppressing impulsive noise in unknown circumstances. This filtering scheme, called unsupervised robust adaptive filter （URAF）, possesses a switching structure, which ensures the robustness against impulsive noise. The FLP is used to detect the possible impulsive noise added to the signal, if the signal is ＂impulse-free＂, the filter UAF can estimate the clean sig- nal. If there exists impulsive noise, the impulse corrupted samples are replaced by predicted ones from the FLP, and then the UMAP estimates the clean signal. Both the simulation and experimental results show that the URAF has a better rate of convergence than the most recent universal filter, and is effective to restrict large disturbance like impulsive noise when the universal filter fails.

关键词： adaptive filtering unsupervised form impulse insen- sitive switching structure.

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Probabilistic model based image retrieval using hypothesis testing

Probabilistic model based image retrieval using hypothesis t...

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International Conference on Information Engineering and Applications, IEA 2011

作者： Li, Bo Liu, Guoping School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing China Advanced Control and Network Technology Research Unit University of Glamorgan Glamorgan United Kingdom

ISBN: (纸本)9781447123859

The content based image retrieval (CBIR) is aimed to find the most similar images from a collection of images or a database to the query image according to the visual or semantic similarity. Current image retrieval algorithms mainly focus on feature selection and learning distance metric. Other methods are also proposed to promote the performance such as relevance feedback. But as a whole their performance still can not reach the expectation for application. This paper presents a new framework for image retrieval by introducing the hypothesis testing heory. The rest of this paper is organized as follows: Section II introduces the motivation of the proposed approach and the hypothesis testing problem in image retrieval. Section III is the main part of the paper and in this section the concepts of background model, image model, test ratio and feature extraction that compose the framework are introduced and discussed. Section IV shows the relevant experimental results of the algorithm. © 2012 Springer-Verlag London Limited.

关键词： Semantics

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Three-dimensional deployment optimization of sensor network based on an improved Particle Swarm Optimization algorithm

Three-dimensional deployment optimization of sensor network ...

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World Congress on intelligent control and Automation (WCICA)

作者： Xiao-yan Lian Juan Zhang Chen Chen Fang Deng Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing China

Compared with the traditional two-dimensional (2D) deployment form, three-dimensional (3D) deployment of sensor network has greater research significance and practical potential to satisfy the detecting needs of targets with complex properties. In this paper, a method for 3D deployment optimization of sensor network based on an improved Particle Swarm Optimization (PSO) algorithm is proposed. Many factors such as coverage scale, detection probability and resource utilization are synthetically considered to optimize the sensor network's overall detection performance. To evaluate the network's performance, four indexes are presented and the 3D deployment space is divided into different height levels. Accordingly, the mathematical model is formulated by weighting the performance indexes and height levels due to their importance degrees. In order to solve the optimization problem, an algorithm called WCPSO is carried out, which has a dynamic inertia weight and adaptable acceleration constants. Verified by the simulation results, the presented 3D deployment optimization method effectively improves the sensor network's detection performance. The method in this paper can provide guidance and technical reference in future application of relevant research.

关键词： Optimization Indexes Mathematical model Acceleration Algorithm design and analysis Resource management Performance analysis

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Teleoperation of humanoid motion using 3G communication network

Teleoperation of humanoid motion using 3G communication netw...

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IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

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Design and Stability Analysis of Nonlinear Networked control systems with Random Delay Based on Neural Network

Design and Stability Analysis of Nonlinear Networked Control...

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24th Chinese control and decision Conference (CCDC)

作者： Chai, Runqi Dong, Lijing Zhang, Baihai North China Univ Technol Coll Sci Beijing 100041 Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Key Lab Intelligent Control & Decision Complex Sy Beijing 100081 Peoples R China

ISBN: (纸本)9781457720727

Design and stability analysis of nonlinear networked control system with random network delay in both feedback and forward channels are concerned in this paper. A new control strategy, which consists of control prediction generator and time delay compensator, was developed to compensate for the time delay in an active way. Neural Network (NN) was employed to generate predictive state vector, then through the controller, predictive control vector can be achieved. To illustrate the performance of the proposed scheme for uncertain nonlinear system, numerical simulations are carried out. The results show the feasibility and efficiency of the control strategy.

关键词： Nonlinear Networked control system (NNCS) predictive control and Neural Network (NN)

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Decentralized Valley-fill Charging control of Large-population Plug-in Electric Vehicles

Decentralized Valley-fill Charging Control of Large-populati...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongjing Ma School of Automation Beijing Institute of Technology (BIT) and the Key Laboratory of Complex System Intelligent Control and Decision (BIT) Ministry of Education

Optimal charging control of large-population autonomous plug-in electric vehicles (PEVs) in power grid can be formulated as a class of constrained non-linear timevariant optimization problems. To overcome the computational complexity of this class of optimization problems, the author and his collaborators proposed a game-based decentralized control method such that individual agents update their best charging strategies simultaneously with respect to a common electricity price signal which is determined by the total demand in the grid. Due to the heterogeneity of individual PEVs, the game systems converge to a nearly valley-fill NE strategy with nontrivial deviation costs due to the heterogeneity property of individual PEV charging characteristics. In this paper the author proposed a novel algorithm to implement the optimal decentralized valley fill strategies for the charging problems of the PEV population which is composed of disjoint homogeneous subpopulations. The author introduces a cost which penalizes against the deviation of strategy of individual agent in a subpopulation from the average value of the subpopulation. It can be shown that in case that the update algorithm converges, the system reaches the optimal valley-fill equilibrium strategy where the introduced agent deviation cost vanishes. Simulation examples are used to illustrate the results developed in this paper.

关键词： Decentralized charging control Plug-in electric vehicles (PEVs) Valley-fill (VF) Nash equilibrium (NE)

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Synchronization of Networked Multi-agent system with Delayed Information from Neighbors

Synchronization of Networked Multi-agent System with Delayed...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Lijing Dong Senchun Chai Baihai Zhang School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing 100081

—In this paper, a synchronization of discrete multi-agent systems with random network delays was studied. By employing the graph and matrix theory, a model based predictive control algorithm is proposed to achieve leader-following consensus in a network of agents. Furthermore, a consensus protocol is developed based on this strategy. Numerical simulation examples are provided to illustrate the effectiveness of the theoretical results.

关键词： Multi-agent Synchronization and Time Delay

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Image mosaicing algorithm for dynamic scenes using multi-scaled PHOG feature and optimal seam

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2012年第4期25卷 624-631页

作者： Zou, Li-Hui Chen, Jie Zhang, Juan Lu, Jing-Hua Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education School of Automation Beijing Institute of Technology Beijing 100081 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China

Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.

关键词： Graphic methods

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Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent systems

Distributed Quadratic Stabilization of Uncertain Linear Mult...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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