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Real-time vehicle tracking for traffic monitoring systems

High Technology Letters 2016年第3期22卷 248-255页

作者：胡硕 Zhang Xuguang Wu Na Key Laboratory of Industrial Computer Control Engineering of Hebei Province Institute of Electrical EngineeringYanshan University Key Laboratory of Measurement Technology & Instrumentation of Hebei Province Institute of Electrical EngineeringYanshan University

A real-time vehicle tracking method is proposed for trattlC monitoring system at roau mte^cc- tions, and the vehicle tracking module consists of an initialization stage and a tracking stage. Li- cense plate location based on edge density and color analysis is used to detect the license plate re- gion for tracking initialization. In the tracking stage, covariance matching is employed to track the license plate. Genetic algorithm is used to reduce the computational cost. Real-time image tracking of multi-lane vehicles is achieved. In the experiment, test videos are recorded in advance by record- ers of actual E-police systems erage false detection rate and at several different city intersections. In the tracking module, the av- missed plates rate are 1.19%, and 1.72%, respectively.

关键词： traffic monitoring system covariance matching genetic algorithms vehicle tracking

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Motion control of Underactuated Mechanical System via Singular Perturbations 41

Motion Control of Underactuated Mechanical System via Singul...

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第41届中国控制会议

作者： ZHOU Zhen GENG Chenchen CUI Ruogeng XIAO Jinzhuang WANG Hongbin College of Electronic Information Engineering Hebei University Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this work,a novel two-time-scale control structure is proposed to perform the motion control problem of the underactuated mechanical *** allows us to analyze the system dynamics in each time scale ***,the underactuated mechanical system is divided into the actuated and the unactuated parts,since that the singular perturbations theorem could be applied ***,in order to facilitate the different speed of convergence,a small positive constant is designed in the auxiliary control variable of actuated *** the low gains can make sure that the actuated states can converge to the desired position in its domain ***,the PD controller with high gains in contrast could have a fast speed,meanwhile the reference trajectory is settled for the unactuated ***,the final controller constructed by incorporating the characteristics of system model has a low *** results on the underactuated system are given to verify the efficacy of the strategy.

关键词： Underactuated mechanical systems Decoupled control Singular perturbations Motion cotrol

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Flatness intelligent control via improved least squares support vector regression algorithm

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Journal of Central South University 2013年第3期20卷 688-695页

作者：张秀玲张少宇赵文保徐腾 Key Laboratory of Industrial Computer Control Engineering of Hebei Province (Yanshan University) National Engineering Research Centre for Equipment and Technology of Cold Strip Rolling

To overcome the disadvantage that the standard least squares support vector regression(LS-SVR) algorithm is not suitable to multiple-input multiple-output(MIMO) system modelling directly,an improved LS-SVR algorithm which was defined as multi-output least squares support vector regression(MLSSVR) was put forward by adding samples' absolute errors in objective function and applied to flatness intelligent *** solve the poor-precision problem of the control scheme based on effective matrix in flatness control,the predictive control was introduced into the control system and the effective matrix-predictive flatness control method was proposed by combining the merits of the two *** experiment was conducted on 900HC reversible cold *** performance of effective matrix method and the effective matrix-predictive control method were compared,and the results demonstrate the validity of the effective matrix-predictive control method.

关键词： least squares support vector regression multi-output least squares support vector regression flatness effective matrix predictive control

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A Novel Method for Flatness Pattern Recognition via Least Squares Support Vector Regression

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Journal of Iron and Steel Research International 2012年第3期19卷 25-30页

作者： ZHANG Xiu-ling, ZHANG Shao-yu, TAN Guang-zhong, ZHAO Wen-bao (key lab.ratory of industrial computer control engineering of hebei province, National engineering Research Center for Equipment and Technology of Cold Strip Rolling, Yanshan University, Qinhuangdao 066004, hebei, China) Key Laboratory of Industrial Computer Control Engineering of Hebei Province National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University Qinhuangdao 066004 Hebei China

To adapt to the new requirement of the developing flatness control theory and technology, cubic patterns were introduced on the basis of the traditional linear, quadratic and quartic flatness basic patterns. Linear, quadratic, cubic and quartic Legendre orthogonal polynomials were adopted to express the flatness basic patterns. In order to over- come the defects live in the existent recognition methods based on fuzzy, neural network and support vector regres- sion （SVR） theory, a novel flatness pattern recognition method based on least squares support vector regression （LS-SVR） was proposed. On this basis, for the purpose of determining the hyper-parameters of LS-SVR effectively and enhan- cing the recognition accuracy and generalization performance of the model, particle swarm optimization algorithm with leave-one-out （LOO） error as fitness function was adopted. To overcome the disadvantage of high computational complexity of naive cross-validation algorithm, a novel fast cross-validation algorithm was introduced to calculate the LOO error of LDSVR. Results of experiments on flatness data calculated by theory and a 900HC cold-rolling mill practically measured flatness signals demonstrate that the proposed approach can distinguish the types and define the magnitudes of the flatness defects effectively with high accuracy, high speed and strong generalization ability.

关键词： flatness pattern recognition least squares support vector regression cross-validation

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Finite-time neural network adaptive control of under-actuated robots 4

Finite-time neural network adaptive control of under-actuate...

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2014 4th International Conference on Mechanical engineering, Industry and Manufacturing engineering, MEIME 2014

作者： Wu, Zhong Qiang Liu, Li Ling Zhao, Li Ru Key lab of industrial computer control engineering of Hebei province Yanshan University China

ISBN: (纸本)9783038353256

The finite-time neural network adaptive control of under-actuated robot is investigated, and a kind of multistep control strategy is used. First the transformation of dynamics model is made, and the passive joints are driven to desire positions by the coupling among joints, then the passive joints are locked. When the passive joints are locked to other operating point, the system becomes the one with structure uncertain. Combining the theory of finite-time control with neural network adaptive control, a finite-time neural network adaptive controller is got which can make the position tracking of joint rapidly. The simulation shows the effectiveness of the controller. © (2014) Trans Tech Publications, Switzerland.

关键词： Robots

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Compound control for speed and tension multivariable coupling system of reversible cold strip mill

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Journal of Central South University 2015年第2期22卷 529-538页

作者：方一鸣刘乐李建雄常茹 Key Laboratory of Industrial Computer Control Engineering of Hebei Province(Institute of Electrical Engineering Yanshan University) National Engineering Research Center for Equipment and Technology of Cold Strip Rolling(Yanshan University)

To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.

关键词： reversible cold strip mill speed and tension system decoupling invariance principle compound control extended state observer global sliding mode control

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Stereo vision robot obstacle detection based on the SIFT

Stereo vision robot obstacle detection based on the SIFT

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Global Congress on Intelligent Systems

作者： Shao, Nuan Li, Hui-Guang Liu, Le Zhang, Zhan-Ling College of Electrical Engineering Yanshan University Key Lab. of Industrial Computer Control Engineering of Hebei Province Qinhuangdao 066004 China

ISBN: (纸本)9780769543048

This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According to the characteristics of the model, we proposed the binocular stereo vision calibration method based on parallel optical axis;Finally, the pixel coordinates of matching points are extracted with SIFT feature matching algorithm and completed the distance detection of the obstacle. The experimental results demonstrated the feasibility and effectiveness of the method. © 2010 IEEE.

关键词： Stereo vision

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Passivity-Based control of Tower Vibration of Offshore Wind Turbines 34

Passivity-Based Control of Tower Vibration of Offshore Wind ...

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第三十四届中国控制会议

作者： REN Lina YANG Huanhuan LIU Shuangshuang LIU Fucai Key Lab of Industrial Computer Control Engineering of Hebei Yanshan University

ISBN: (纸本)9781467374439

Considering the influence of the tower vibration such as fore-aft/ side-to-side in the offshore wind turbine, the Passivity-based control(PBC) method is proposed to suppress the tower vibration based on the offshore Permanent Magnet Synchronous Generator(PMSG). The PCH model of the tower is established and the energy compensation of the system is adopted to increase the damping of the tower. In comparison with PID controller, the PBC method not only suppresses the vibration of the tower effectively while reduce the fatigue load of tower, but also reduces the influence of maximum capture of wind energy and the drive-train torsional vibration, stabilizing the output power of the generator. The effectiveness and superiority of the PBC method proposed is verified by the theoretical analysis and the simulations by comparing with PID.

关键词： Permanent Magnet Synchronous Generator(PMSG) fore-aft tower vibration side-to-side tower vibration PCH model Passivity-Based control(PBC) PID

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Fault search based on grey fuzzy multi-attribute decision-making

Fault search based on grey fuzzy multi-attribute decision-ma...

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2011 International Conference on Fluid Power and Mechatronics, FPM 2011

作者： Yao, Chengyu Dang, Zhen Chen, Dongning Lv, Shijun Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China

ISBN: (纸本)9781424484522

In order to overcome the characteristics of uncertainty and incomplete information of fault attribute in searching for fault, a new fault search method based on the fault tree and grey fuzzy multi-attribute decision-making is proposed in this paper. Firstly, utilizing fault tree analysis (FTA) method to determine the initial fault alternative, fault probability and search cost of the fault alternative are considered as fault attributes simultaneously, the attribute value of fault alternative is described as grey fuzzy numbers, calculating the attribute weight by the information entropy method. Then, the grey relational grade between the fault alternative and the ideal alternative is calculated base on grey relational analysis method, and relative closeness of fault alternative is achieved. Finally, according to the relative closeness determine the search order of all fault alternatives. An engineering example of the hydraulic suspension system of a certain type truck is adopted to demonstrate the feasibility and accuracy of the proposed method. © 2011 IEEE.

关键词： Fault tree analysis

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A Stackelberg Game for Spectrum Leasing in Cooperative Cognitive Radio Networks

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International Journal of Automation and computing 2013年第2期10卷 125-133页

作者： Xiao-Cheng Wang Xin-Ping Guan Qiao-Ni Han Zhi-Xin Liu Kai Ma Institute of Electrical Engineering Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University

According to the property-rights model of cognitive radio, primary users （PUs） who own the spectrum resource have the right to lease part of spectrum to secondary users （SUs） in exchange for appropriate profit. In this paper, we propose a pricing-based spectrum leasing framework between one PU and multiple SUs. In this scenario, the PU attempts to maximize its utility by setting the price of spectrum. Then, the selected SUs have the right to decide their power levels to help PU s transmission, aiming to obtain corresponding access time. The spectrum leasing problem can be cast into a stackelberg game, where the PU plays the seller-level game and the selected SUs play the buyer-level game. Through analysis based on the backward induction, we prove that there exists a unique equilibrium in the stackelberg game with certain constraints. Numerical results show that the proposed pricing-based spectrum leasing framework is effective, and the performance of both PU and SUs is improved, compared to the traditional mechanism without cooperation.

关键词： Cognitive radio spectrum leasing power control cooperative transmission pricing stackelberg game

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