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IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

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Decentralized Valley-fill Charging control of Large-population Plug-in Electric Vehicles

Decentralized Valley-fill Charging Control of Large-populati...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongjing Ma School of Automation Beijing Institute of Technology (BIT) and the Key Laboratory of Complex System Intelligent Control and Decision (BIT) Ministry of Education

Optimal charging control of large-population autonomous plug-in electric vehicles (PEVs) in power grid can be formulated as a class of constrained non-linear timevariant optimization problems. To overcome the computational complexity of this class of optimization problems, the author and his collaborators proposed a game-based decentralized control method such that individual agents update their best charging strategies simultaneously with respect to a common electricity price signal which is determined by the total demand in the grid. Due to the heterogeneity of individual PEVs, the game systems converge to a nearly valley-fill NE strategy with nontrivial deviation costs due to the heterogeneity property of individual PEV charging characteristics. In this paper the author proposed a novel algorithm to implement the optimal decentralized valley fill strategies for the charging problems of the PEV population which is composed of disjoint homogeneous subpopulations. The author introduces a cost which penalizes against the deviation of strategy of individual agent in a subpopulation from the average value of the subpopulation. It can be shown that in case that the update algorithm converges, the system reaches the optimal valley-fill equilibrium strategy where the introduced agent deviation cost vanishes. Simulation examples are used to illustrate the results developed in this paper.

关键词： Decentralized charging control Plug-in electric vehicles (PEVs) Valley-fill (VF) Nash equilibrium (NE)

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Synchronization of Networked Multi-agent system with Delayed Information from Neighbors

Synchronization of Networked Multi-agent System with Delayed...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Lijing Dong Senchun Chai Baihai Zhang School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing 100081

—In this paper, a synchronization of discrete multi-agent systems with random network delays was studied. By employing the graph and matrix theory, a model based predictive control algorithm is proposed to achieve leader-following consensus in a network of agents. Furthermore, a consensus protocol is developed based on this strategy. Numerical simulation examples are provided to illustrate the effectiveness of the theoretical results.

关键词： Multi-agent Synchronization and Time Delay

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Image mosaicing algorithm for dynamic scenes using multi-scaled PHOG feature and optimal seam

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2012年第4期25卷 624-631页

作者： Zou, Li-Hui Chen, Jie Zhang, Juan Lu, Jing-Hua Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education School of Automation Beijing Institute of Technology Beijing 100081 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China

Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.

关键词： Graphic methods

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Design of networked air defense fire control simulation system based on BOM

Design of networked air defense fire control simulation syst...

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World Congress on intelligent control and Automation (WCICA)

作者： Shi-jun Chen Juan Zhang Chen Chen Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing China

Networked air defense fire control simulation system featured with complicated interactions, varied system structure etc, and is usually faced with some difficulties in its development, such as the low capability of model reuse, the lack of regulations for model development and inflexible modification of federation. To overcome the difficulties, a framework in hierarchy of networked air defense fire control simulation system is constructed according to BOM development standard, and the component method for designing the basic model, compound model and federate is proposed, which effectively improved the efficiency of system development and the capability of model reuse. This method is not only applicable to the design of networked air defense fire control system, but also to the design of other simulation system with polytropic structure.

关键词： Atmospheric modeling Bills of materials Object oriented modeling Fires Analytical models Compounds Computational modeling

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The Design of Burglar Alarm Circuit Based on the Magnetic Field Sensor

The Design of Burglar Alarm Circuit Based on the Magnetic Fi...

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International Conference on Computing, Measurement, control and Sensor Network (CMCSN)

作者： Lili Deng Shengbo Sang Wendong Zhang Pengwei Li Jie Hu Gang Li Hui Feng Xiaoliang Tang MicroNano System Research Center Information Engineering College Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan Shanxi China

This paper introduces a design method and a hardware circuit of burglar alarm circuit based on the magnetic field sensor, which can be used to achieve the protection of valuables. The circuit design is ingenious, and has the characteristics of simple structure, light weight, small size, timeliness, high sensitivity and low cost. It has been proved to have a stable and reliable performance by experiment.

关键词： Magnetic fields Magnetic circuits Magnetic field measurement Mobile handsets Educational institutions Sensitivity Integrated circuit reliability

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Recent Development of Silicon Nanowire FET Biosensor for DNA Detection

Recent Development of Silicon Nanowire FET Biosensor for DNA...

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International Conference on Computing, Measurement, control and Sensor Network (CMCSN)

作者： Xuge Fan Sengbo Sang Jie Hu Peiwei Li Gang Li Wendong Zhang Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education MicroNano System Research Center Information Engineering College Taiyuan University of Technology Taiyuan Shanxi China

Recently biosensors based on silicon nanowire field-effect transistors (SiNW-FETs) have drawn huge amounts of attention, due to their ultra sensitivity, selectivity, label-free and real-time detection abilities. As people know more and more knowledge of the structure and function of nucleic acid molecules, DNA detection has gained importance increasingly. Here, we briefly summarize major fabrication methods in synthesising SiNW-FETs and selectively describe some applications of SiNW-FET biosensors in DNA detection over the past few years. Some key results from each article are summarized, involving the concept and mechanism behind each sensor, with the aim of stimulating more efforts in developing SiNW-FET biosensors for detecting DNA.

关键词： DNA Biosensors Nanobioscience Silicon FETs Fabrication

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I-V Characteristics of the Metal-Semiconductor Junction

I-V Characteristics of the Metal-Semiconductor Junction

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International Conference on Computing, Measurement, control and Sensor Network (CMCSN)

作者： Wenzhe Ma Wendong Zhang Pengwei Li Jie Hu Gang Li Shengbo Sang MicroNano System Research Center Information Engineering College 2Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan Shanxi China

The electrical characteristic test of nanowires is important in nano-materials research. The metal-semiconductor junction that is fabricated with semiconductor nanowire and metal probe in electrical test system has impact on the test result directly, therefore it's necessary to study I-V characteristics of the metal-semiconductor(M-S) junction. Si, ZnO, GaN have been selected from multiple semiconductor materials. When they connected with tungsten probe, all of them formed Schottky barriers, but the relationships between current and voltage of the junctions are distinct. In the thesis, I-V curves of these M-S junctions are compared, and the best electrical performance of M-S junction is selected.

关键词： Nanowires Junctions Tungsten Silicon Zinc oxide Electrodes Gallium nitride

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An Overview of Hierarchical Temporal Memory: A New Neocortex Algorithm

An Overview of Hierarchical Temporal Memory: A New Neocortex...

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2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Xi Chen Wei Wang Wei Li Institute of System engineering Huazhong University of Science & TechnologyImage Processing and Int Candidate for Master of theInstitute of System engineering Huazhong University of Science &Technolog Department of Control Science &Engineering Image Processing and Intelligent Control Key Laboratory o

ISBN: (纸本)9781467315241

The overview presents the development and application of Hierarchical Temporal Memory (HTM).HTM is a new machine learning method which was proposed by Jeff Hawkins in *** is a biologically inspired cognitive method based on the principle of how human brain *** method invites hierarchical structure and proposes a memory-prediction framework, thus making it able to predict what will happen in the near *** overview mainly introduces the developing process of HTM, as well as its principle, characteristics, advantages and applications in vision, image processing and robots movement, some potential applications by using HTM , such as thinking process, are also put forward.

关键词： hierarchical Bayesian network spatial-temporal memory-prediction temporal sequence pattern recognition

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An overview about pinning control of complex networks

An overview about pinning control of complex networks

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2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Xi Chen Lan Zhang Wei Li Institute of System engineering Huazhong University of Science & TechnologyImage Processing and Int Candidate for Master of Systemengineering Huazhong University of Science & TechnologyImageProcessin Department of Control Science &Engineering Image Processing and Intelligent Control Key Laboratory o

ISBN: (纸本)9781467315241

Synchronization and pinning control of complex networks is to regulate the agents' behavior and improve network *** this article, we review some recent developments in pinning *** algorithms and pining strategies in different types of complex networks are presented and *** pinning control is also *** addition, the research extended to discrete-time case is *** some related research, the development in consensus and flocking of multi-agent system are introduced *** last, we give some ideas about pinning control in social networks.

关键词： Complex network pinning control adaptive control multi-agent systems

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