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Asian control Conference

作者： Zhe Gao Xiaozhong Liao Bo Shan Hong Huang School of Automation Key Laboratory of Intelligent Control and Decisionof Complex Systems Beijing Institute of Technology Beijing China

This paper proposes a stability criterion for linear fractional-order systems with the commensurate order α satisfying 1

ISBN: (纸本)9781467357661

This paper proposes a stability criterion for linear fractional-order systems with the commensurate order α satisfying 1

关键词： Stability criteria Equations Numerical stability Mathematical model Educational institutions Automation

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Investigation of Best Robot Kicking

Investigation of Best Robot Kicking

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第三十二届中国控制会议

作者： Theophile Boue Chenguang Yang Hongbin Ma Phil Culverhouse School of Computing and Mathematics University of PlymouthPlymouth PL4 8AAUnited Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

ISBN: (纸本)9781479900305

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

关键词： Football Robot Robot World Cup Best Kick Motion control Compliance control Inverse Dynamics

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Cycle-slip Detection of GPS Carrier Phase with Methodology of SA4 Multi-wavelet Transform

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Chinese Journal of Aeronautics 2012年第2期25卷 227-235页

作者： HUO Guoping MIAO Lingjuan School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system （GPS）. In this paper, an algorithm based on length-4 symmetric/anti-symmetric （SA4） orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust （GHM）, Chui-Lian （CL） and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties （GMPs）, it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform.

关键词： satellite navigation cycle-slip detection orthogonal multi-wavelet good multi-filter properties singularity detection

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Low level saliency feature extraction method based on Hessian threshold

Low level saliency feature extraction method based on Hessia...

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Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Jiantao Pu Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is introduced firstly. Then the new method of finding low level visual saliency feature based on SURF is deduced. The new method pay attention to Hessian matrix threshold and extract image features through changing the Hessian threshold. The number of saliency feature points change with the change of Hessian threshold. The visual saliency feature points will become sparser when Hessian threshold becomes larger. When some certain extreme thresholds which are defined as Hessian threshold Nodes are reached, the retained feature points are remarkable discriminative and stable feature points which make up the best sparse saliency features set. The feature extraction, matching and object recognition experiments of robot vision are finished to verify the new method. Experiment results show that the method is very effective.

关键词： Feature extraction Visualization Robots Robustness Heuristic algorithms Object recognition Educational institutions

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Robot robust object recognition based on fast SURF feature matching

Robot robust object recognition based on fast SURF feature m...

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Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Xusheng Chen Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant features SURF (Speeded Up Robust Features) is introduced into the robot visual recognition field to solve scale changes, rotation, perspective changes, changes in illumination and other problems. A Speeded up SURF (SSURF) algorithm is proposed to meet the needs of robot visual identification. In SSURF algorithms, the main direction determination step of SURF algorithm is modified which make the search scope of the main direction becomes {-α, +α} (0 ≤ α ≤ 30°) from the original scope 360 According to compressed sensing ideas and interest points distribution histogram, the main scale search space is selected to improve the interest points searching step of SURF algorithm, so the interest points searching time-consuming is reduced. Matching the sample object and the scene using SSURF descriptor, and positioning the target position in the scene and giving ROI(region of interest). Experimental results in the autonomous mobile robot platform show that the proposed method significantly improves the speed of the robot to identify the target object, and proved robust to the scale changes, rotation, perspective changes, changes in illumination.

关键词： Feature extraction Robots Object recognition Robustness Vectors Image recognition Visualization

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Distributed Flocking of Second-order Multi-agent systems with Global Connectivity Maintenance

Distributed Flocking of Second-order Multi-agent Systems wit...

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American control Conference

作者： Yutian Mao Lihua Dou Hao Fang Jie Chen Tao Cai School of Automation and Key Laboratory of Complex System Intelligent Control and Decision (Ministry of Education) Beijing Institute of Technology Beijing 100081 P.R.China

ISBN: (纸本)9781479901777

This paper investigates the problem of connectivity-preserving flocking of multiple autonomous agents with second-order dynamics. First, the inverse power iteration algorithm is formulated in a completely distributed manner to estimate the algebraic connectivity, i.e., the second smallest eigenvalue of the group Laplacian, as well as the corresponding eigenvector. Furthermore, distributed gradient-based flocking algorithms that exploit decentralized eigenvalue/eigenvector estimation are developed both to steer the agent group to the desired flocking motion and to maintain the global connectivity of the underlying network during maneuvers. Different from the common potential/tension function method which keeps certain fixed edges all the time, the algorithm proposed in this paper guarantees the global connectivity which allows any existing edge to be broken, thus gives more freedom of motions for the agents. Finally, nontrivial simulations are performed to demonstrate the correctness and effectiveness of the theoretical results.

关键词： underlying desired agents

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Distributed Efficient Charging Coordinations for Electric Vehicles under Progressive Second Price Auction Mechanism

Distributed Efficient Charging Coordinations for Electric Ve...

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IEEE Annual Conference on decision and control

作者： Suli Zou Zhongjing Ma Xiangdong Liu School of Automation BIT Beijing China School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781467357159

We designed a distributed charging coordination method for electric vehicles over a multi-time interval with the so-called progressive second price (PSP) auction mechanism which was proposed by Lasar and Semret in order to efficiently allocate the divisible resources among multi agents. The incentive compatibility holds for the auction games under the PSP mechanism. However due to the cross-elastic correlation among the different charging instants, the marginal valuation of an individual agent at each instant is determined by both the demand at this instant and the total demand at the whole interval. This phenomena makes the underlying auction games distinct from those studied in the literature. As a main contribution of the paper, we showed that the efficient bid profile over the multi-time interval is a Nash equilibrium of the auction systems.

关键词： Plug-in electric vehicles Efficient charging coordinations Auction Progressive second price auction Mechanism Game theory Nash equilibrium

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Design and Kinetic Analysis of a Biomimetic Underwater Vehicle with Two Undulating Long-fins

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Acta Automatica Sinica 2013年第8期39卷 1330-1338页

作者： WEI Qing-Ping Shuo WANG Xiang DONG Liu-Ji SHANG Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 China

A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

关键词： Autonomous underwater vehicle biomimetic robot fish kinematic modeling robot control

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Variable Support-Weight Approach for Correspondence Search Based on Modified Census Transform

Variable Support-Weight Approach for Correspondence Search B...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Huajian Zhu Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781467321969

The computation of stereo depth is a very important field of computer vision. Aiming at solving the problem of low accuracy of traditional Census-based stereo matching algorithm, a variable support-weight approach for visual correspondence search based on modified Census transform is proposed in this paper. On the basis of analyzing defects of the traditional Census transform, a modified Census transform algorithm using average value of minimum evenness sub-area as a reference instead of the center pixel intensity as a reference is raised which enhances robustness of the algorithm. The matching accuracy is improved by weighting the average value and the standard deviation of Hamming distances in a block. The experiment results indicate that the proposed approach works better than traditional ones. Accurate disparities can be obtained even in the depth discontinuities regions.

关键词： stereo matching variable support-weight modified Census transform minimum evenness sub-area

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Dynamic image stabilization precision test system based on the Hessian matrix

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Science China(Information Sciences) 2012年第9期55卷 2056-2074页

作者： LI Jing ,WANG JunZheng,WANG ShouKun,MA LiLing & SHEN Wei key laboratory of complex System intelligent control and decision,School of Automation,Beijing Institute of Technology,Beijing 100081,China 1. Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

Dynamic image stabilization precision of an optical image-stable device is a key technical ***,a fast dynamic image stabilization precision test system for an optical image-stable device is developed.A large-aperture collimator with a designed cross divisional board is used to simulate the infinity *** image-stable device is installed on the motion simulator with six degrees of freedom which is used to simulate the moving state of the *** CCD camera installed behind the eyepiece lens of the image-stable device acquires images rapidly and in real *** local energy maxima center of the cross light spot can be acquired accurately through the proposed algorithm using the Hessian *** addition,to deal with the CCD non-uniformity,an adaptive non-uniformity correction algorithm based on bi-dimensional empirical mode decomposition is *** actual test results for the proposed method show that the test error of dynamic image stabilization is less than 0.7,and the time for the frame image acquisition and processing is less than 10 ms,which demonstrates the effectiveness of the test system.

关键词： image stabilization precision adaptive non-uniformity correction empirical mode decomposition local energy maxima Hessian matrix

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