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作者： Lu, Jinghua Chen, Jie Zhang, Juan Zou, Lihui School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9783902661937

The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat some structures and artifacts as general edge features, and introduce the edge information into the mean shift segmentation algorithm in both clustering and the fusion steps. Considering the medical images as two dimensional signals, the general edge can be detected and described with its local spatial frequency properties. The segmentation results show the improvement in preserving the completeness of details while sketching the overall structures. © 2011 IFAC.

关键词： Image segmentation

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Online path planning for UAV using an improved differential evolution algorithm

Online path planning for UAV using an improved differential ...

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作者： Zhang, Xing Chen, Jie Xin, Bin Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9783902661937

This paper presents a 3D online path planning algorithm for unmanned aerial vehicle (UAV) flying in partially known hostile environment. In order to provide a smooth fight route for UAV, the algorithm adopts B-Spline curve to describe UAV's path whose control points are optimized by an improved differential evolution algorithm. The planner gradually produces a smooth path for UAV from starting location to its target. Regarding path planning performance, the proposed improved diferential evolution based planner is compared with its three competitors which are based on classical differential evolution, genetic algorithm and particle swarm optimization, respectively. Numerical simulation demonstrates that the proposed UAV path planner not only produces high-quality feasible flight routes for UAV, but also obviously outperforms its competitors. © 2011 IFAC.

关键词： Motion planning

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3D multi-constraint route planning for UAV low-altitude penetration based on multi-agent genetic algorithm

3D multi-constraint route planning for UAV low-altitude pene...

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作者： Wu, Jin-Ping Peng, Zhi-Hong Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education China

ISBN: (纸本)9783902661937

Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method. © 2011 IFAC.

关键词： Military applications

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The new field power device based on super capacitor and it's application

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Binggong Xuebao/Acta Armamentarii 2012年第SUPPL2期33卷 417-422页

作者： Bai, Yong-Qiang Jin, Tian-Xu Wang, Hai-Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China Harbin Jurong New Power Co. Ltd. Harbin 150078 Heilongjiang China

Based on special demand of field power for artillery electric drive system and analysis of the existing power system, a new design of hybrid power device with super capacitor is proposed to replace the traditional battery, which is more suitable to the field requirements, and has more energy efficiency, greater power ratio, and energy ratio. The design criteria and formula are presented. Test results show that the hybrid device, compared with the traditional power device, has the advantages of high efficiency, high energy volume ratio, high weight ratio, strong environmental adaptability, and good lower temperature performances, and can meet the demand of power device in the field condition.

关键词： Energy efficiency

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Adaptive control of 6-DOF parallel manipulator

Adaptive control of 6-DOF parallel manipulator

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作者： Jin, Qinglong Chen, Wenjie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator system's parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the system. Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions. © 2011 Chinese Assoc of Automati.

关键词： Adaptive control systems

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Virtual realization of dynamic path planning in target-creator based on Vega/HLA

Virtual realization of dynamic path planning in target-creat...

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作者： Zhu, Wenbin Zhang, Juan Yu, Haixin Peng, Zhihong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

The importance of testing for multi-targets detecting and tracking algorithms accelerates the current technologies of target-creator system which provides multiple and various targets. Traditional target-creator systems are mostly based on the physical devices or video stream. Based on the need of building virtual environment and realizing system integration, VR technology and HLA technology are applied to improve the efficiency. With VR technology, three-dimensional models and visual scenes are built effectively and method of dynamic path planning is put forward. Through HLA technology, targets position information will be interacted real time, so algorithm evaluation is available by comparing real positions and detection results. In this paper, a virtual target-creator system based on Vega/HLA is designed which cuts down the outlay and time of the experiment. © 2011 Chinese Assoc of Automati.

关键词： Motion planning

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Analysis of the problem of saturation of ice with air bubbles

Analysis of the problem of saturation of ice with air bubble...

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21st International Conference on Port and Ocean Engineering under Arctic Conditions 2011, POAC 2011

作者： Goncharov, Vadim K. Klementieva, Natalia Yu. Qin, Jian-Min Department of Oceantechnics and Marine Technology St.-Petersburg State Marine Technical University Saint-Petersburg Russia Krylov Shipbuilding Research Institute Ice Laboratory Saint-Petersburg Russia Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education Taiyuan University of Technology Taiyuan Shanxi China

Results of the analysis of published measurements of the air bubbles content in sea ice are presented. The study of interrelation of porosity (gas content) and salinity of ice was carried out and it was revealed their probably significant correlation. Possible mechanisms of saturation of the lower ice layer with gas bubbles are considered. Simulation of the bubbles containing methane floating up from seabed sediments and natural gas deposits has shown that the increased content of gas bubbles in the lover layer of ice cover can be connected with these sources. Recommendations for development of researches of the given problem are stated. Copyright © (2011) by Port and Ocean Engineering under Arctic Conditions (POAC 2011).

关键词： Sea ice

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大电网恢复适应性分区方法

大电网恢复适应性分区方法

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2012年中国智能电网学术研讨会

作者： LIU Yu-tian 刘玉田 TAN Bing-xue 谭冰雪 Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education of China(Sh 电网智能化调度与控制教育部重点实验室(山东大学) 山东济南 250061 Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education of China(Sh 电网智能化调度与控制教育部重点实验室(山东大学) 山东济南 250061 杭州市电力局浙江杭州310009

针对大电网并行恢复分区问题，提出了一种适应性分区方法。以复杂网络中的社团划分理论为基础，将分区过程分为凝聚与分裂两个阶段。凝聚阶段主要处理黑启动过程对分区的特殊要求，将黑启动电源与附近重要发电厂及恢复节点聚合，形成初... 详细信息

针对大电网并行恢复分区问题，提出了一种适应性分区方法。以复杂网络中的社团划分理论为基础，将分区过程分为凝聚与分裂两个阶段。凝聚阶段主要处理黑启动过程对分区的特殊要求，将黑启动电源与附近重要发电厂及恢复节点聚合，形成初始子系统;分裂阶段引入基于边的聚合度及介数的联络度指标，据此寻找连接各分区的关键线路并断开，最终形成多个恢复分区。该方法不仅能形成可行、可靠的恢复分区，保证各分区内部有逐步恢复供电的能力，而且考虑到实际调度中的分层、分区控制原则，能够减小恢复分区与实际调度的冲突。山东电网仿真结果表明，所提方法能较好处理大电网停电后的恢复分区问题，且能在地区层级上指导大电网中黑启动机组的配置。

关键词：电力系统供电恢复适应性分区黑启动电源社团划分理论

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Adaptive sliding mode control of electromechanical actuator with improved parameter estimation

Adaptive sliding mode control of electromechanical actuator ...

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作者： Li, Hao Bai, Yongqiang Su, Zhong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China Key Laboratory of Modern Measurement and Control Technology Beijing Information Science and Technology University Ministry of Education Beijing 100101 China

ISBN: (纸本)9788995605646

An adaptive sliding mode control scheme for electromechanical actuator has been presented. The adaptive control strategy can estimate the uncertain parameters and adaptively compensate the modeled dynamical uncertainties, while the sliding mode control method overcomes the unmodelled dynamics. In the adaptive law an equivalent output injection of the sliding mode observer which contains the parameter estimation error is used, and estimates of parameters can approximate the true values without prediction-error that is typically used in compositive adaptive law. Due to the improved estimation of uncertain parameters, the sliding mode law can robustifies the design against model uncertainties with a small swithcing gain. Stability of the system with the proposed approach has been proved and it has also been shown that the system states can reach the sliding mode in finite time. Finally, the effectiveness of the proposed control scheme has been exhibited via simulation examples. © 2011 Asian control Association.

关键词： Parameter estimation

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Adaptive control of air delivery system for PEM fuel cell using backstepping

Adaptive control of air delivery system for PEM fuel cell us...

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作者： Li, Peng Chen, Jie Cai, Tao Zhang, Bo School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The proton exchange membrane (PEM) fuel cells have attracted significant attention due to high efficiency and low pollution. The performance and lifetime of the fuel cell power system depend on the heat and water management, gas flow control and pressure regulation. This paper focuses on the oxygen excess ratio regulation for the fuel cell system to improve the performance and extend the lifetime. Firstly, a third-order model of the air delivery subsystem is introduced based on suitable assumption and simplification. Secondly, the third-order model is transformed to the non-affine nonlinear form, and the oxygen excess ratio regulation is reconsidered as load current tracking problem. Using the backstepping technique and neural network, an adaptive controller is proposed for the tracking problem and guarantees the system's stability in presence of modeling errors, external disturbances and uncertainties. Finally, the simulation illustrates the effectiveness of the adaptive controller. © 2011 Asian control Association.

关键词： Backstepping

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