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Adaptive dynamic inversion robust control for BTT missile based on wavelet neural network

Adaptive dynamic inversion robust control for BTT missile ba...

MIPPR 2009 - Pattern Recognition and Computer Vision: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Li, Chuanfeng Wang, Yongji Deng, Zhixiang Wu, Hao Department of Control Science and Engineering Huazhong University of Science and Technology 1037 Luoyu Road Wuhan 430074 China Luoyang Institute of Science and Technology 90 Wangcheng Avenue Luoyang 471023 China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control 1037 Luoyu Road Wuhan 430074 China

ISBN: (纸本)9780819478078

A new nonlinear control strategy incorporated the dynamic inversion method with wavelet neural networks is presented for the nonlinear coupling system of Bank-to-Turn(BTT) missile in reentry phase. The basic control law is designed by using the dynamic inversion feedback linearization method, and the online learning wavelet neural network is used to compensate the inversion error due to aerodynamic parameter errors, modeling imprecise and external disturbance in view of the time-frequency localization properties of wavelet transform. Weights adjusting laws are derived according to Lyapunov stability theory, which can guarantee the boundedness of all signals in the whole system. Furthermore, robust stability of the closed-loop system under this tracking law is proved. Finally, the six degree-of-freedom(6DOF) simulation results have shown that the attitude angles can track the anticipant command precisely under the circumstances of existing external disturbance and in the presence of parameter uncertainty. It means that the dependence on model by dynamic inversion method is reduced and the robustness of control system is enhanced by using wavelet neural network(WNN) to reconstruct inversion error on-line. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Lyapunov functions

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High performance word level sequential and parallel coding methods and architectures for bit plane coding

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Science in China(Series F) 2008年第4期51卷 337-351页

作者： XIONG ChengYi TIAN JinWen LIU Jian College of Electronic Information Engineering South-Central University for Nationalities Wuhan 430074 China Institute of Pattern Recognition & Artificial Intelligence Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science & Technology Wuhan 430074 China

This paper introduced a novel high performance algorithm and VLSI architectures for achieving bit plane coding （BPC） in word level sequential and parallel mode. The proposed BPC algorithm adopts the techniques of coding pass prediction and parallel ＆ pipeline to reduce the number of accessing memory and to increase the ability of concurrently processing of the system, where all the coefficient bits of a code block could be coded by only one scan. A new parallel bit plane architecture （PA） was proposed to achieve word-level sequential coding. Moreover, an efficient high-speed architecture （HA） was presented to achieve multi-word parallel coding. Compared to the state of the art, the proposed PA could reduce the hardware cost more efficiently, though the throughput retains one coefficient coded per clock. While the proposed HA could perform coding for 4 coefficients belonging to a stripe column at one intra-clock cycle, so that coding for an NxN code-block could be completed in approximate N2/4 intra-clock cycles. Theoretical analysis and experimental results demonstrate that the proposed designs have high throughput rate with good performance in terms of speedup to cost, which can be good alternatives for low power applications.

关键词： bit plane coding high performance word-level sequential multi-word parallel

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An improved landweber method for restoration of a aero-optically degraded images

An improved landweber method for restoration of a aero-optic...

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International Conference on Computer Science and Software Engineering, CSSE 2008

作者： Wenxia, Yang Chao, Cai Mingyue, Ding Chengping, Zhou Key Laboratory for Image Processing and Intelligence Control of the Ministry of Education Institute of IPRAI Huazhong University of Science and Technology Wuhan 430074 China Department of Mathematics Wuhan University of Technology Wuhan 430070 China

ISBN: (纸本)9780769533360

Aero-optic effects cause distortions, including blurring, vibration, deformation and spatial shifting, of the objects in the image obtained by the infra-red sensor. Contributions of this paper are in the following two aspects. First, the correctness of the theoretical point spread function (PSF) representing the aero-optic effects, which had been derived in our previous research, is validated experimentally. Second, in order to restore the aero-optically degraded images, an improved Landweber iteration method is proposed, where, instead of being fixed, the relaxation factor is updated adaptively at each iteration. Experiments have been carried out and results demonstrate that the proposed method introduces improved restoration results with better convergence. © 2008 IEEE.

关键词： image reconstruction

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Needle segmentation using 3D quick randomized hough transform

Needle segmentation using 3D quick randomized hough transfor...

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1st International Conference on Intelligent Networks and Intelligent Systems, ICINIS 2008

作者： Qiu, Wu Ding, Mingyue Yuchi, Ming Institute for Pattern Recognition and Artificial Intelligence Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan Hubei China Department of Biomedical Engineering School of Life Science and Technology Huazhong University of Science and Technology Wuhan Hubei China

ISBN: (纸本)9780769533919

A quick 3D needle segmentation algorithm for 3D US data is described in this paper. The algorithm includes the 3D Quick Randomized Hough Transform (3DGHT), which is based on the 3D Randomized Hough Transform and coarse-fine searching strategy. We tested it with water phantom. The results show that our algorithm works well in 3D US images with angular deviation less than 1 and position deviation less than 1mm, and the computational time of segmentation with 35MB data is within 1s. © 2008 IEEE.

关键词： Hough transforms

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Method of boundary extraction based on schrödinger equation 21

Method of boundary extraction based on schrödinger equation

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2008 21st ISPRS International Congress for Photogrammetry and Remote Sensing

作者： Lou, Liantang Zhan, Xin Fu, Zhongliang Ding, Mingyue School of Remote Sensing and Information Engineering Wuhan University Wuhan430072 China School of Science Wuhan Institute of Technology Wuhan430073 China Institute for Pattern Recognition and Artificial Intelligence Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China

To overcome the main drawbacks of global minimal for active contour models (L. D. Cohen and Ron Kimmel) that the contour is only extracted partially for low SNR images, Method of boundary extraction based on Schrödinger Equation is proposed. Our Method is based on computing the numerical solutions of initial value problem for second order nonlinear Schrödinger equation by using discrete Fourier Transformation. Schrödinger transformation of image is first given. We compute the probability P(b,a) that a particle moves from a point a to another point b according to I-Type Schrödinger transformation of image and obtain boundary of object by using quantum contour model.

关键词： Initial value problems

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A Particle Filtering Algorithm for Tracking Moving Target under Clutter

A Particle Filtering Algorithm for Tracking Moving Target un...

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7th World Congress on Intelligent control and Automation (WCICA 2008), vol.13

作者： Guocheng Liu Yongji Wang Chinese Education Ministry Key Laboratory for Image Processing & Intelligent Control Huazhong University of Science and Technology Wuhan China

On visual tracking, a particle filter algorithm was presented to track a moving target under clutter environment which can deal with rotation, scale changes, variations in the light source and partial occlusions. So it can track the target with robustness. The proposed method was based on particle filter, integrated with color histogram in the measurement model, and the system model was second order autoregressive process. The algorithm took into account the latest observations and the tracked target can be rigid or non-rigid. Also the method can run in real-time. The experimental results confirm that the method is effective even when the monocular camera is moving and the target object is partially occluded in a clutter background.

关键词： Particle filter Visual tracking Color histogram

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Unsupervised texture image segmentation using multiobjective evolutionary clustering ensemble algorithm

Unsupervised texture image segmentation using multiobjective...

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Congress on Evolutionary Computation

作者： Xiaoxue Qian Xiangrong Zhang Licheng Jiao Wenping Ma Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education Institute of Intelligence Information Processing Xidian University Xi'an China

Multiobjective evolutionary clustering approach has been successfully utilized in data clustering. In this paper, we propose a novel unsupervised machine learning algorithm namely multiobjective evolutionary clustering ensemble algorithm (MECEA) to perform the texture image segmentation. MECEA comprises two main phases. In the first phase, MECEA uses a multiobjective evolutionary clustering algorithm to optimize two complementary clustering objectives: one based on compactness in the same cluster, and the other based on connectedness of different clusters. The output of the first phase is a set of Pareto solutions, which correspond to different tradeoffs between two clustering objectives, and different numbers of clusters. In the second phase, we make use of the meta-clustering algorithm (MCLA) to combine all the Pareto solutions to get the final segmentation. The segmentation results are evaluated by comparing with three known algorithms: K-means, fuzzy K-means (FCM), and evolutionary clustering algorithm (ECA). It is shown that MECEA is an adaptive clustering algorithm, which outperforms the three algorithms in the experiments we carried out.

关键词： Evolutionary computation

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Data Fusion and Efficient Algorithm for Moving Target Tracking

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IFAC Proceedings Volumes 2008年第2期41卷 2406-2411页

作者： Guocheng Liu Yongji Wang Chinese Education Ministry Key Lab. for Image Processing and Intelligence Control Department of Control Science and Engineering Huazhong University of Science and Technology P.R. China (Tel: 0086-27-68772267

The principle of target tracking and data fusion techniques are discussed. To resolve high uncertainty that exists in sensors of mobile robots, one multi-sensor data fusion algorithm is presented. The algorithm is based on particle filter techniques, fuses the information coming from multiple sensors and merges different state space models. So it can be used to eliminate system and measurement noise and estimate value of position and headings of mobile robot. On simulation experiments, we compare different cases such as single sensors and multi-sensor data fusion, the results demonstrate the feasibility and effectiveness of this algorithm and exhibits good tracking performance.

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Modeling and Simulation of System Dynamics for Cold Test

Modeling and Simulation of System Dynamics for Cold Test

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International Symposium on Intelligent Information Technology Application, IITA

作者： Li Wei Chen Xi Luo Jie Xu Wen Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

A transient, six-cylinder diesel engine model for cold test has been developed for analyzing the engine fault through the engine torque curve. The model is based on physically working cycle, thermodynamic theory and dynamics mechanism. The simulation of this model, implemented on Matlab/Simulink, can not only achieve engine faults detection before hot test, but also indicate different causes of engine faults, such as initial phase change, intake valve closing-time delay, and so on. It is shown that the diesel engine model for cold test proves its significance to improving cold test technology.

关键词： System testing Diesel engines Mathematical model Torque Vehicle dynamics Thermodynamics Combustion Predictive models Information analysis Fault detection

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Camera modeling and distortion calibration for mobile robot vision

Camera modeling and distortion calibration for mobile robot ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Gang Peng Xinhan Huang Jian Gao Cheng Li Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

To control the mobile robot with the surrounding information is the essential method to realize the intelligence and automatic moving. The vision information is the most important way to perceive the environment for the mobile robot. This paper presents an essential camera calibration technique for mobile robot, which is based on Pioneer II experiment platform. The technique includes transformation of coordinates system for vision system, the model and principle of image formation, camera distortion calibration. Because of non-linear distortion of camera, algorithm with optimizing operators is presented to improve calibration precision. We verify the validity and feasibility of the algorithm through experiment.

关键词： Cameras Calibration Optical distortion Robot vision systems Mathematical model Pixel Optical imaging

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