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control method on serial type pump-valve coordinated electro-hydraulic servo system

Journal of Beijing Institute of Technology 2016年第1期25卷 100-107页

作者：谢文汪首坤王军政吴建 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.

关键词： pump-valve coordinated grey prediction adaptive robust control efficiency

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Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot slidingand reduce impingement

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Journal of Beijing Institute of Technology 2016年第1期25卷 91-99页

作者：马立玲杨超峰王立鹏王军政 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this ***,the foot trajectory is designated as the improved composite cycloid foot ***,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the *** with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this ***,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are *** validity of the proposed algorithm is confirmed through the co-simulation and *** results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.

关键词： landing angle gait planning foot trajectory friction cone sliding impingement

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Localization and mapping in urban area based on 3D point cloud of autonomous vehicles

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Journal of Beijing Institute of Technology 2016年第4期25卷 473-482页

作者：王美玲李玉杨毅朱昊刘彤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points （ICP） algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles＇ importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles＇ poses, which would decrease particle numbers, increase algorithm speed and restrain particles＇ impoverishment. The calculation of particles＇ importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.

关键词： simultaneous localization and mapping （SLAM） Rao-Blackwellized particle filter （ RB-PF） VoxelGrid filter ICP algorithm Gaussian model urban area

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Optimal switching integrity attacks in cyber-physical systems

Optimal switching integrity attacks in cyber-physical system...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guangyu Wu Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781538629024

In this paper, an optimal switching data integrity attack schedule method is presented. It is assumed that an attacker is able to inject false data to partial actuators of a healthy system at each instant. Optimal switching attack represents a growing class of cyber-physical attacks that aim to damage a target system via a controlled switching of attacked units. A feedback attack law is proposed to maximize a weighted quadratic performance. Two switching conditions are designed to obtain the optimal sequence of the attacked actuators via the Maximum Principle. Finally, numerical results are provided to illustrate the effectiveness of the proposed method.

关键词： Switches Actuators Cyber-physical systems Jamming Optimal control system performance

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A threshold segmentation method for non-uniform illumination image based on brightness equalization

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IOP Conference Series: Materials Science and Engineering 2019年第5期569卷

作者： Hui Guo Peng Chen Shun Huang Cong Hu Lijun Zhang School of Automation China University of Geosciences Wuhan 430074 China Hubei key laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan 430074 China

In the process of image acquisition, non-uniform illumination images are common due to poor lighting, surface reflection, or a combination of these two factors. In order to improve the quality of image segmentation, an image threshold segmentation method is proposed for non-uniform illumination images. First, the brightness of different regions in the image is compensated to make the brightness background of the whole image consistent. Second, the gradation histogram of the processed image is obtained and simulated into Gaussian distribution curve, then the inflection points of the curve are calculated. Finally, the two inflection points are set as thresholds to segment the image after brightness equalization. This method eliminates the influence of non-uniform illumination to a certain extent and gets a better segmentation effect. Experiments were carried out on images containing several different types of non-uniform illumination. The results demonstrate that the proposed method outperforms the compared enhancement algorithms in threshold segmentation.

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Image retrieval based on convolutional neural network and linear discriminate analysis

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IOP Conference Series: Materials Science and Engineering 2019年第5期569卷

作者： Wei Xia Cong Hu Xianghui Cheng Peng Chen Xing Jin School of Automation China University of Geosciences Wuhan 430074 China Hubei key laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan 430074 China

Image retrieval is a hot research topic in the field of computer vision image processing, and the user queries the image database for similar images and produces a list of recommendations. The paper firstly sets forth the research status of image retrieval, then the convolution neural network is briefly introduced. Due to the traditional image retrieval and recommendation system use manual extraction of image features is relatively cumbersome, and the retrieval accuracy is not high research status, the paper proposes an image retrieval method based on the improved convolutional neural network and linear discriminate analysis. Caltech256 and CIFAR-10 datasets were trained using the model in this paper, experimental, results show that the proposed method can effectively improve the performance of retrieval.

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Assessment and prediction of leakage degree of expansion joints in underground network heating pipe network based on LS-SVM and ARIMA model

Assessment and prediction of leakage degree of expansion joi...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jiao Shang-bin Fan Le Wu Peng-yue Qiao Lei Jin Yong-ze Shen Qian-kun Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Xi'an Thermal Power Research Institute Co. Ltd Xi'an China

The study shows that the leakage of the expansion joints in the underground heating primary pipe network will lead to the fluctuation of soil temperature and conductivity around the leakage point. Based on the online monitoring of changes of physical quantities around the expansion joint, this paper established the assessment model of temperature and conductivity as the input parameters and the degree of expansion joints leakage as the output parameters, which took the radial basis function as kernel function and made use of PSO algorithm to achieve the optimization of the kernel function parameters. Then, the temperature and conductivity were predicted based on the ARIMA model, and the LS-SVM assessment of expansion joint leakage was realized according to the prediction results. Both simulation and field experiments show that the prediction model based on ARIMA has higher accuracy, which has identified the foundation for on-line prediction and accurate assessment of the expansion joint leakage in the underground heating primary pipe network.

关键词： Predictive models Heating systems Monitoring Prediction algorithms Conductivity Classification algorithms Optimization

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Distributed Full Order Sliding Mode control for Finite-Time Attitude Synchronization and Tracking of Spacecraft

Distributed Full Order Sliding Mode Control for Finite-Time ...

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Chinese control Conference (CCC)

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China School of Automation Huazhong University of Science and Technology Wuhan People's Republic of China

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group members. Modified Rodrigues parameters are used for attitude representation. A two layer sliding mode surface with fast non-singular terminal sliding mode surface (FNTSMS) as the inner layer and terminal sliding mode surface (TSMS) as the outer layer is used to create a full order sliding mode surface. The proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader's time varying attitude. Finite-time stability of the closed loop system is guaranteed by Lyapunov-based stability method. Simulation results are presented to validate the performance of the proposed control strategy.

关键词： Space vehicles Attitude control Synchronization Sliding mode control Decentralized control Symmetric matrices Stability analysis

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Crowdsensing game with demand uncertainties: A deep reinforcement learning approach

arXiv

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arXiv 2018年

作者： Zhan, Yufeng Xia, Yuanqing Zhang, Jiang Li, Ting Wang, Yu School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Lab Department of Computer Science University of North Carolina at Charlotte CharlotteNC28223 United States

Currently, explosive increase of smartphones with powerful built-in sensors such as GPS, accelerometers, gyroscopes and cameras has made the design of crowdsensing applications possible, which create a new interface between human beings and life environment. Until now, various mobile crowdsensing applications have been designed, where the crowdsourcers can employ mobile users (MUs) to complete the required sensing tasks. In this paper, emerging learning-based techniques are leveraged to address crowdsensing game with demand uncertainties and private information protection of MUs. Firstly, a novel economic model for mobile crowdsensing is designed, which takes MUs' resources constraints and demand uncertainties into consideration. Secondly, an incentive mechanism based on Stackelberg game is provided, where the sensing-platform (SP) is the leader and the MUs are the followers. Then, the existence and uniqueness of the Stackelberg Equilibrium (SE) is proven and the procedure for computing the SE is given. Furthermore, a dynamic incentive mechanism (DIM) based on deep reinforcement learning (DRL) approach is investigated without knowing the private information of the MUs. It enables the SP to learn the optimal pricing strategy directly from game experience without any prior knowledge about MUs' information. Finally, numerical simulations are implemented to evaluate the performance and theoretical properties of the proposed mechanism and approach. Copyright © 2018, The Authors. All rights reserved.

关键词： Deep learning

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A Modified system Model and its Application on SINS/GPS Integrated system

A Modified System Model and its Application on SINS/GPS Inte...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Xuan Xiao Xiang Guo Yuan Liang Chao Shi Songtian Shang Hong Hu School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538604915

Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial Navigation system (SINS)/Global Positioning system (GPS), the model construction is affected by a certain error sources. The most significant one is computational errors, which are caused by improper reference frame and the absence of true values. To solve the problem, this paper presents a modified system model which reduce the impact of computational errors by selecting computational frame as reference coordinate frame and removing all true values. Simulation results have demonstrated that modified system model effectively improves the performance of Kalman filter in SINS/GPS integrated system.

关键词： Kalman filters systems modelling Integrated system strapdown inertial navigation system Error Sources Modified

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