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Unsupervised robust recursive least-squares algorithm for impulsive noise filtering

Science China(Information Sciences) 2013年第4期56卷 203-212页

作者： CHEN Jie MA Tao CHEN WenJie PENG ZhiHong School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision(Beijing Institute of Technology) Ministry of Education

A robust recursive least-squares(RLS) adaptive filter against impulsive noise is proposed for the situation of an unknown desired *** minimizing a saturable nonlinear constrained unsupervised cost function instead of the conventional least-squares function,a possible impulse-corrupted signal is prevented from entering the filter’s weight updating ***,a multi-step adaptive filter is devised to reconstruct the observed "impulse-free" noisy sequence,and whenever impulsive noise is detected,the impulse contaminated samples are replaced by predictive *** on simulation and experimental results,the proposed unsupervised robust recursive least-square adaptive filter performs as well as conventional RLS filters in "impulse-free" circumstances,and is effective in restricting large disturbances such as impulsive noise when the RLS and the more recent unsupervised adaptive filter fails.

关键词： unsupervised adaptive filtering impulsive noise suppression recursive least-squares algorithm

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An ANN strategy for luminance control of LED in response to power system frequency

An ANN strategy for luminance control of LED in response to ...

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International Conference on Power system Technology (POWERCON)

作者： Liqiang Gao Zhongkang Wei Xiaodong Chu Wen Zhang Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education (Shandong University) Jinan China Zhongkang Wei is with State Grid Jibei Electric Power Company Beijing China

ISBN: (纸本)9781479950331

controllable load can actively participate in power balance control, which will have positive impact on power system operation. Lighting load takes a significant proportion in the electricity demand. Many features of Light emitting diodes (LEDs), small size, high luminous efficiency and long lifetime, make them very attractive for use in lighting. An Artificial Neural Network (ANN) control strategy is designed for LED luminance control in response to power system frequency. The pulse width modulation (PWM) dimming method is used to realize luminance control of LED. In order to regulate the LED power demand in response to frequency measurement signal, the ANN control strategy adjusts the ratio between the on-time and off-time of the PWM dimming signal of LED. Simulations are conducted to verify the effectiveness of the proposed the ANN control strategy.

关键词： Light emitting diodes Power system stability Artificial neural networks Frequency control Pulse width modulation Biological neural networks

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A new flexible controller for a humanoid robot that considers visual and force information interaction

A new flexible controller for a humanoid robot that consider...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Gan Ma Qiang Huang Zhangguo Yu Xuechao Chen Weimin Zhang Junyao Gao Libo Meng Yun-Hui Liu IRI Beijing Institute of Technology Beijing China Ministry of Education Key Laboratory of Biomimetic Robots and Systems China Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and Decision of Complex System China

To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two approaches do not consider the interaction between the visual controller and force controller. Specifically, the first approach does not consider the interaction between the controllers. The second approach only considers the effect of the output of the visual controller on the force controller, while the effect of the force controller on the visual controller is not considered. This study presents a design for a new flexible controller for a humanoid robot that considers the interaction of visual and force information. The advantages of the proposed method are that it simultaneously incorporates the functions of a visual servo controller and a flexible controller as well as its ability to consider the interaction of visual and force information when a humanoid robot is operating.

关键词： Robot kinematics Visualization Force Cameras Humanoid robots Robot vision systems

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New method of sparse visual saliency feature extraction and application in unmanned vehicle environment sensing

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Information Technology Journal 2013年第20期12卷 5914-5921页

作者： Du, Ming-Fang Wang, Jun-Zheng Li, Jing Cao, Hai-Qing Key Laboratory of Complex System Intelligent Control Decision Beijing Institute of Technology Ministry of Education 100081 Beijing China

A new method based on Hessian matrix threshold of finding local low-level saliency features is proposed in this study after the standard local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is analyzed. In this method, the number of saliency feature points can change with the change of Hessian threshold. The saliency feature points will become sparser when Hessian threshold becomes larger. When a certain extreme threshold which is defined as Hessian Threshold Node is reached, the retained discriminative feature points are remarkable stability characteristics, also make up the best sparse saliency features set. This method is applied in the unmanned vehicle environment sensing system to help extract the before going vehicle's saliency feature and realize object tracking and obstacle detection. Experiment results show that this is an quick and robust method to determine saliency feature points quantitatively and is very suitable for the occasion which has strong demand on real-time. © 2013 Asian Network for Scientific Information.

关键词： Object detection

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Research of networked fire control system simulation based on component technology

Research of networked fire control system simulation based o...

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Chinese control Conference (CCC)

作者： Chunlei Sun Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing School of Automation Beijing Institute of Technology Beijing

The research of networked fire control system simulation plays an important role in modern warfare. Federates of simulation systems based on High Level Architecture (HLA) have a poor reusability. In order to improve their reusability, the idea of componentization was used to divide federates into several smaller reusable modules by analyzing the internal information flow of the federates. By component technology, three types of small components which have better reusability were designed, including common components, special components and communication components. These components can be used to build a multiple complex models which can be combined with new simulation frameworks to form defense simulation systems for different attacking targets. A simulation task was designed to verify the flexibility and reusability of the designed components and to improve the function of the federates, which effectively improved development efficiency of simulation systems.

关键词： Fires control systems Target tracking Load modeling Process control Analytical models Object oriented modeling

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The vibration mechanism caused by external disturbance and suppression method of the rolling mill system

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Energy education Science and Technology Part A: Energy Science and Research 2013年第4期31卷 2623-2626页

作者： Gao, Yan Jin, Baoquan Zhang, Hongjuan Taiyuan University of Technology College of Electrical and Power Engineering Taiyuan 030024 China Taiyuan University of Technology Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan 030024 China

The rolling mill screw down system has complex control, large loading force, more disturbance factors, and complex disturbance relationships. The action of responding extreme frequency or external disturbances can cause the mill vibrating seriously, affect the quality of products or even cause great destruction. Based on the study of the external disturbance induced vibration mechanism of rolling mill, PID control based on low pass filter is used to suppress the vibration, and achieved content results in the united simulation of AMESim-MATLAB/Simulink. © Sila Science. All Rights Reserved.

关键词： Low pass filters

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Second-order time-varying sliding mode control for reentry vehicle

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International Journal of intelligent Computing and Cybernetics 2013年第3期6卷 272-295页

作者： Jie Geng Yongzhi Sheng Xiangdong Liu Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of TechnologyMinistry of EducationBeijingPeople’s Republic of China

Purpose-The purpose of this paper is to design a global robust and continuous control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach-First,feedback linearization is applied to the model of reentry vehicle,resulting in three independent uncertain *** a new second-order time-varying sliding function is proposed,based on which a continuous second-order time-varying sliding mode control(SOTVSMC)law is proposed for each *** global robustness and convergence performance of the closed-loop reentry vehicle control system under the proposed control law are ***-Simulation is made for a reentry vehicle through the assumption that there is external disturbance to aerodynamic moment and the aerodynamic parameters as well as the atmospheric density are *** results verify the validity and robustness of the proposed ***/value-The SOTVSMC attitude controller based on feedback linearization is proposed for the reentry *** advantages of the proposed SOTVSMC are ***,the global second order sliding mode is established,which implies that the closed-loop system is global robust against matched parameter uncertainties and disturbances in ***,the chattering problem is significantly alleviated.

关键词： Flight control Nonlinear control Real-time systems Robust control Variable structure control

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Analysis and Testing of Delay in HLA-based Distributed Simulation system

Analysis and Testing of Delay in HLA-based Distributed Simul...

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第25届中国控制与决策会议

作者： Chen Chen Lu Chao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

Time is a significant concept in distributed *** the increment of simulation system scale, working efficiency of simulation system will go down very sharply due to the restrictions of time management tactics and time sequence coupling. Therefore, it is necessary to study the characteristics of delay in simulation system to improve its working effeciency. Aiming at HLA-based distributed simulation system, causes of simulation delay is analysed and principles of delay testing is explained. A method which employs synchronization point setting and an effective wall clock time querying approach is put forward. Statistics and analysis of message interaction delay is executed on the software platform of pRTI 1.3 version. The measurement of delay lays an important data foundation for time management algorithms.

关键词： Distributed Simulation system, Delay Testing, High Level Architecture, Synchronization Point.

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The SDRE based Second Order Integral Sliding Mode control for Attitude of Reentry Vehicle

The SDRE based Second Order Integral Sliding Mode Control fo...

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第三十二届中国控制会议

作者： GENG Jie SHENG Yongzhi LIU Xiangdong WANG Liang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479900305

In this paper,a state dependent Riccati equation-based second order integral sliding mode control(SSOISMC) algorithrn is proposed for the reentry vehicle with a strong conpling,nonlinearity and ***,the state dependent Riccati equation(SDRE) controller is developed to approach the attitude controller for the nonlinear reentry vehicle without uncertainties. Then the second order integral sliding mode control theory is proposed to combine sliding mode with SDRE,and it is applied to reentry vehicle with parameter variations or external *** achievement of the second order sliding phase is *** the proposed control law,the optimal performance index is achieved and the uncertainties are rejected,furthermore, the chattering is ***,simulation is made through the assumption that aerodynamic parameters and atmospheric density are *** validity and robustness of the proposed strategies are verified by simulation results.

关键词： Flight vehicle control State dependent Riccati equation(SDRE) Second order integral sliding mode

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