检索结果-内蒙古大学图书馆

第35届中国控制会议

作者： Liping Yan Sai Yang Shuo Li Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

By combining wavelet transform and increment sign correlation with iterative correction,we present a robust image matching method,which effectively reduced ***,by decomposing the sensed image and the reference image with wavelet,smooth images are generated in coarse *** the use of increment and decrement information of adjacent pixels,smooth images are encoded into binary images,and the matching position can be found by use of the cross correlation *** decomposition can effectively remove noise and greatly improve the real-time performance of matching algorithm while increment sign correlation method is not sensitive to the gray level of *** combination of wavelet transform and increment sign correlation can deal with noise,shadow and occlusion as well as improve the matching speed compared with traditional matching *** the condition of heavy noise and occlusion that the matching method mentioned above can not find the correct position in condition of heavy noise and occlusion,we present an iterative correction image matching method,*** the above matching result as prior knowledge and achieve the correct matching position by correcting matching results *** analysis shows the feasibility of the presented method,and our experiments show its validity.

关键词： Image Matching Wavelet Decomposition Increment Sign Correlation Iterative Correction

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Identification for Switched systems

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IFAC-PapersOnLine 2015年第28期48卷 514-519页

作者： Hu, Qiong Fei, Qing Ma, Hongbin Wu, Qinghe Geng, Qingbo State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

For a class of unstable discrete-time multi-variable switched systems with parametric uncertainty, an identification scheme is developed in this paper. Specifically, the identification algorithm is derived to identify the parameter vectors of potential subsystems based on the idea of least geometric mean squares. Furthermore, an neural network classifier is put forward for partition of the identified subsystems. Finally, feasibility and effectiveness of the proposed identification scheme are verified by numerical simulations, which show that the desirable identification performance is guaranteed with the proposed scheme. © 2015

关键词： Parameter estimation Computational fluid dynamics Geometric mean Identification algorithms Identification scheme Multi variables Neural network classifier Parameter vectors Parametric uncertainties Switched system

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The Energy Consumption Analysis of Hydraulic Quadruped Robot based on Gait Parameters 34

The Energy Consumption Analysis of Hydraulic Quadruped Robot...

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第三十四届中国控制会议

作者： ZONG Xiaoyan Wang Shoukun Wang Junzheng Chen Guangrong Zhang Xiaoling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

The optimization of the energy consumption is one of the most important problems that face the designers of mobile robots. This implies that it is significant to analyze the energy consumption of hydraulic quadruped robot under different gait parameters. In this paper, the kinematics and dynamics models of a hydraulic quadruped robot are established firstly. Then, the length of step, the height of step, the height of center of mass, and the duty ratio of gait cycle are set as the primary research points about the energy consumption of mobile robot. In addition, the energy consumptions of the feet with and without mechanical springs are compared and analyzed. In order to get the visual observation of energy cost in the hydraulic quadruped robot during a waking cycle and the best set of locomotion variables that achieve the energy optimization, related simulations are done for gait parameters. Finally, the results provide a recommendation for the gait planning of the hydraulic quadruped robot, that is, the quadruped robot should walk with a relatively long step length, a relatively low height of step, a relatively high height of center of mass, and a relatively small duty ratio of gait cycle.

关键词： Hydraulic quadruped robot Kinematics Dynamics Gait parameters Energy consumption

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PSSE Redux: Convex relaxation, decentralized, robust, and dynamic approaches

arXiv

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arXiv 2017年

作者： Kekatos, Vassilis Wang, Gang Zhu, Hao Giannakis, Georgios B. Bradley Department of Electrical and Computer Engineering Virginia Tech BlacksburgVA24061 United States Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Illinois UrbanaIL61801 United States

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Attitude Calculating for a New Strap-down Inertial Navigation System Based on Angular Accelerometers

Attitude Calculating for a New Strap-down Inertial Navigatio...

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IEEE International Conference on Information and Automation

作者： Meiling Wang Xin Zheng Tong Liu Tonglei Wang Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Institute of Automatic Control Equipment Beijing China

ISBN: (纸本)9781509041039

This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this new structure of GFINS, a new mathematical model is developed to determine the general three-dimensional motion of body segments. The mathematical model is mainly based on the direction cosine matrix. A second-order differential equation which is represented by angular acceleration should be calculated to solve this problem using the fourth order Runge-Kutta method combining with the interpolation method. Furthermore, the final result of this approach is shown by applying the mathematical model to some simulation data generated by the trajectory generator. The simulation results indicate that the mathematical model has a good performance.

关键词： angular accelerometer attitude updating direction cosine matrix GFINS

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Dynamic multi-team antagonistic games model with incomplete information and its application to multi-UAV

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 74-84页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

At present, the studies on multi-team antagonistic games (MTAGs) are still in the early stage, because this complicated problem involves not only incompleteness of information and conflict of interests, but also selection of antagonistic targets. Therefore, based on the previous researches, a new framework is proposed in this paper, which is dynamic multi-team antagonistic games with incomplete information (DMTAGII) model. For this model, the corresponding concept of perfect Bayesian Nash equilibrium (PBNE) is established and the existence of PBNE is also proved. Besides, an interactive iteration algorithm is introduced according to the idea of the best response for solving the equilibrium. Then, the scenario of multiple unmanned aerial vehicles (UAVs) against multiple military targets is studied to solve the problems of tactical decision making based on the DMTAGII model. In the process of modeling, the specific expressions of strategy, status and payoff functions of the games are considered, and the strategy is coded to match the structure of genetic algorithm so that the PBNE can be solved by combining the genetic algorithm and the interactive iteration algorithm. Finally, through the simulation the feasibility and effectiveness of the DMTAGII model are verified. Meanwhile, the calculated equilibrium strategies are also found to be realistic, which can provide certain references for improving the autonomous ability of UAV systems. © 2014 Chinese Association of Automation.

关键词： Genetic algorithms

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Attitude control of Multiple Rigid Bodies with Uncertainties and Disturbances

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 2-10页

作者： Yuanqing Xia Ning Zhou Kunfeng Lu Yong Li the School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology the Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm. © 2014 Chinese Association of Automation.

关键词： Adaptive control systems Algorithms Attitude control Environmental regulations Graph theory Rigid structures Sliding mode control Synchronization

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Solving the uncertain multi-objective multi-stage weapon target assignment problem via MOEA/D-AWA

Solving the uncertain multi-objective multi-stage weapon tar...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin Lihua Dou Zhihong Peng School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R.China

ISBN: (纸本)9781509006243

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is with uncertainties, namely the uncertain MWTA (UMWTA) problem, and is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the assumption that each element of the kill probability matrix follows four different probability distributions. In order to tackle the two challenges, i.e., multi-objective and the uncertainty, the multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment (MOEA/D-AWA) and the Max-Min robust operator are adopted to solve the problem efficiently. Then comparison studies between the MOEA/D-AWA and a single objective solver used for a relaxed formulation on solving both certain and uncertain instances of two different scaled MWTA problems which include four uncertain scenarios are conducted. Numerical results show that MOEA/D-AWA outperforms the single objective solver on solving both certain and uncertain multi-objective MWTA problems discussed in this paper. Comparisons between the results of the certain and uncertain formulation also indicate the necessity of the robust formulation of practical problems.

关键词： Weapons Uncertainty Discrete wavelet transforms Optimization Robustness decision making Evolutionary computation

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Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

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Journal of Beijing Institute of Technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

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Autonomous landing of a quadrotor on an UGV

Autonomous landing of a quadrotor on an UGV

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IEEE International Conference on Mechatronics and Automation

作者： Mengyin Fu Kuan Zhang Yang Yi Chao Shi Nanjing University of Science and Technology Nanjing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509023974

This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based navigation method are proposed, and the former method acquires the visual feedback from the camera attached to the quadrotor, while the latter strategy is used when the visual feedback is absent. For achieving more precise and stable performance in visually guided landing process, we design a specific landing marker that can provide different features as the distance between the quadrotor and landing target changes. Meanwhile, the corresponding detection and recognition algorithms are raised. Finally, a simulation experiment is carried out to validate the proposed vision algorithms and control strategies.

关键词： Visualization Cameras Unmanned aerial vehicles Mathematical model Land vehicles Navigation Servosystems

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