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SRDA: A secure routing and data aggregation approach for wireless smart meter

Journal of Communications 2016年第1期11卷 108-117页

作者： Wan, Ming Shang, Wenli Zeng, Peng Zhao, Jianming Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang110016 China

For the secure two-way communication and forwarding, this paper proposes SRDA, a secure routing and data aggregation approach for wireless smart meter. This approach introduces the unique wireless smart meter identifier to represent its public identity information, and gives a secure routing architecture based on control and forwarding separation. In this architecture, SRDA uses the proxy re-encryption data aggregation algorithm to protect security of data transmission. By using the routing algorithm according to distance and link quality, SRDA achieves the best routing path and provides several alternative paths which have different priorities. Besides, the identifier-based cryptography mechanism is used to issue and update the routing information in security, and the proxy re-encryption mechanism is designed to preserve the data privacy. In conclusion, this paper gives an analysis for the relatively excellent security, scalability and energy efficiency. © 2016 Journal of Communications.

关键词： Cryptography

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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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Dynamic characteristics analysis of elastic missile

Dynamic characteristics analysis of elastic missile

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Zhaoqing Xu Hailong Pei South China University of Technology China China Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this paper. The aerodynamic force and moment and structure mode are calculated. The unsteady aerodynamics additional caused by vibration is researched through simplified theory; the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory respectively. The elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation input. The outputs can provide raw data for stability analysis, precision analysis, control and guidance system design. The response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight, but the variation of bank angle will be great, this result is matched with the experiment phenomenon.

关键词： Aerodynamics Missiles Force Vibrations Mathematical model Vehicle dynamics

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Combining WASP and ASF algorithms to forecast a Japan earthquake with Mj 7.2 or above

Combining WASP and ASF algorithms to forecast a Japan earthq...

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World Congress on Intelligent control and Automation (WCICA)

作者： Yunong Zhang Sitong Ding Jianfeng Wen Yaqiong Ding Mingzhi Mao Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China Department of Computer Science Guangdong Polytechnic Normal University Guangzhou China

ISBN: (纸本)9781467384155

An earthquake-forecasting attempt is presented in this work via combining the weights and structure policy (WASP) and addition-subtraction frequency (ASF) algorithms. Specifically, based on the application of three-layer feedforward neuronets equipped with WASP algorithm, further using ASF algorithm, this work attempts to forecast a Japan earthquake with Mj 7.2 or above. Note that past earthquake dates are the only data used in this study. The feasibility and effectiveness of this attempt are verified via the numerical experiments with consistency analysis on obtained dates. Besides, according to the experimental results, an earthquake with Mj 7.2 or above may occur in August 2016 in Japan. Furthermore, with the highest possibility, the date of such an earthquake may occur is August 9, 2016.

关键词： Earthquakes Neurons Forecasting Feedforward neural networks Zirconium Training Algorithm design and analysis

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

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A Potential Saturation Value of World Population is Near?

A Potential Saturation Value of World Population is Near?

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yunong Zhang Nanhao Wang Liangyu He Wan Li Hongzhou Tan School of Data and Computer Science Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

Sigmoid function was applied in a population growth model by Verhulst in 1838, of which the soundness has been tested by history. With the rapid development of computers' both hardware and software, it is accessible and worthwhile to build multiple sigmoid functions(MSF) models to describe and predict the potential saturation value of the world population. Via computer simulations, one of MSF models achieves a reasonable result that the potential saturation value of the world population is approximately 9.6 billion.

关键词： Multiple sigmoid functions model saturation value world population over-fitting

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Proposal and Verification of Four Fundamental Operations of Time-Varying Numbers

Proposal and Verification of Four Fundamental Operations of ...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Sheng Wu Yunong Zhang Dechao Chen Jian Li Yaqiong Ding School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

Four fundamental operations of time-varying numbers are widely encountered in systems and signals. Given the irreplaceable role of four fundamental operations and their timevarying properties, traditional arithmetics intrinsically aim at static(or say, time-invariant) problems solving. When running on relatively low speed processing units, the lagging errors of traditional arithmetics may become quite large and *** eliminate the lagging errors of time-varying four fundamental operations in potential signal processing systems, based on Zhang dynamics(ZD), real-time computing models for four fundamental operations of time-varying numbers are proposed,constructed and investigated. The lagging-error-free solutions for four fundamental operations of time-varying numbers are obtained in this paper. Through four concise lemmas, the laggingerror-free properties are guaranteed. Correspondingly illustrative examples of time-varying four fundamental operations are also presented in turn. Additionally, simulation results are shown to substantiate the high accuracy of the ZD method for four fundamental operations of time-varying numbers.

关键词： Time-varying problem solving Zhang dynamics lagging errors online solutions four fundamental operations

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UK Population Forecast Using Twice-Pruning Chebyshev-Polynomial WASD Neuronet

UK Population Forecast Using Twice-Pruning Chebyshev-Polynom...

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第28届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu HongzhouTan Ziyi Luo School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467397155

As an important branch of artificial intelligence,artificial neuronet has been well developed in many data learning and forecasting *** this paper,a weights-and-structure-determination(WASD) neuronet model for population forecast is proposed and *** from previous works,the cubic spline method is applied to restoring the historical population data evenly in order to overcome the deficiency of previous works in the neuronet ***,a twice-pruning structure determination algorithm for hidden-neuron selection is proposed to improve the forecast capability of the neuronet *** numerical experiments conducted to verify the inspiring capability of such a model,a UK population forecast based on the neuronet is thus shown and *** to the forecast results,the UK population is most likely to increase with a steady growing rate in the following 15 years.

关键词： Chebyshev Polynomial WASD Neuronet Population Forecast

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The Second-Order ZD,GD and Hybrid systems Solving Nonlinear Equations Compared with Other Dynamics

The Second-Order ZD,GD and Hybrid Systems Solving Nonlinear ...

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第28届中国控制与决策会议

作者： Yunong Zhang Jinjin Wang Tianjian Qiao Zhengli Xiao Mingzhi Mao School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467397155

Solving nonhnear equations has become increasingly significant and indispensable in many *** the recent decade,two powerful methods,the Zhang dynamics(ZD) method and the gradient dynamics(GD) method have been extensively investigated and implemented in solving nonhnear *** addition,some conventional methods,such as the dynamic relaxation method(DRM),redundant manipulators dynamics(RMD),and Langevin dynamics(LD),can also be applied to solve nonhnear *** this paper,we propose four novel types of systems based on the ZD method,the GD method and the hybrid dynamics methods to solve nonlinear equations in time-invariant and time-variant situations,*** addition,it is worth pointing out that,by comparison,the four proposed systems depicted in the second-order dynamics are evidently quite different from and more general than some other conventional systems/dynamics for solving nonhnear equations,which all constitute the unified second-order methodology for nonlinear equations solving.

关键词： Zhang Dynamics Gradient Dynamics Time-Invariant Nonlinear Equations Time-Variant Nonlinear Equations Comparison

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