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Chinese control Conference (CCC)

作者： Malak Abid Ali Khan Hongbin Ma Ying Jin Jingxiang Ma Zia Ur Rehman Mizanur Rahman School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Deforestation is the primary source of global warming; traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly limited its power. Various technologies provide connectivity and a fast-updating system to eliminate the paper-based approach. LoRa is one of the contenders to design the system for electronic shelf labels (ESLs). In this paper, LoRa has been used to minify data losses and guarantee the successful decoding of the carrier signals. The data parallelism at the network server (NS) is used to distribute the data packets among the gateways (GWs) for concurrent transmissions to the end devices (EDs). The EDs are placed in different ranges using machine clustering to avoid intra-SF interference and collision. The data rate (DR) and spreading factors (SFs) have been proposed to improve the performance of pure and slotted ALOHA for the properly allocated tags. The orthogonality principles follow industrial, scientific, and medical regulations (ISM) to avoid data traffic congestion. GWs under different duty cycles (DC) and bandwidth (BW) are examined to minify the network saturation and reduce the energy harvesting of the tags.

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The Fusion of Multisensor Images with Multi-resolutions

The Fusion of Multisensor Images with Multi-resolutions

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第三十三届中国控制会议

作者： Liping Yan Bo Xiao Yuanqing Xia Meiling Wang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479947249

Images taken by different sensors at different time instant with different resolutions are formulated by state space models, and are fused by use of Multiscale Kalman Filter(MKF). The effectiveness of the presented algorithm is shown by comparing it with the wavelet based method through experiments, where four performance measures are used. The performance evaluation indices are the root mean square errors(RMSE), the information entropy(Entropy), the space frequency(SF) and the space visibility(SV). Theretical analysis and experimental results show the effectiveness of the presented algorithm.

关键词： Image fusion,multiresolution,multiscale Kalman filter,state space model

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Analysis of OODA Loop based on Adversarial for complex Game Environments

arXiv

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arXiv 2022年

作者： Lu, Xiangri Ma, Hongbin Wang, Zhanqing State Key Laboratory of Intelligent Decision Control for Complex Systems Beijing Institute of Technology Beijing China Automated Institute Beijing Institute of Technology Beijing China

To address the problem of imperfect confrontation strategy caused by the lack of information of game environment in the simulation of non-complete information dynamic countermeasure modeling for intelligent game, the hierarchical analysis game strategy of confrontation model based on OODA ring (Observation, Orientation, decision, Action) theory is proposed. At the same time, taking into account the trend of unmanned future warfare, NetLogo software simulation is used to construct a dynamic derivation of the confrontation between two tanks. In the validation process, the OODA loop theory is used to describe the operation process of the complex system between red and blue sides, and the four-step cycle of observation, judgment, decision and execution is carried out according to the number of armor of both sides, and then the OODA loop system adjusts the judgment and decision time coefficients for the next confrontation cycle according to the results of the first cycle. Compared with traditional simulation methods that consider objective factors such as loss rate and support rate, the OODA-loop-based hierarchical game analysis can analyze the confrontation situation more comprehensively. © 2022, CC BY.

关键词： decision theory

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Multirate Multisensor Distributed Data Fusion Algorithm for State Estimation with Cross-Correlated Noises

Multirate Multisensor Distributed Data Fusion Algorithm for ...

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第三十二届中国控制会议

作者： Yulei Liu Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479900305

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is three times as much as the other'*** noises of different sensors are cross-correlated and are also coupled with the system noise of the previous step. By use of the projection theorem and induction hypothesis repeatedly,a distributed fusion estimation algorithm is *** algorithm is proven to be distributed optimal in the sense of Linear Minimum Mean Square Error(LMMSE) and can effectively reduces the oscillation existed in the sequential ***,a numerical example is shown to illustrate the effectiveness of the proposed algorithm.

关键词： State estimation Distributed data fusion Cross-correlated noises Multirate

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and control Engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning control Algorithm

The CPG Gait Generate Method of the Quadruped Robot Based on...

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The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： WANG Cheng GAO Junyao DUAN Xingguang LIU Yi LI Xin XU Zhe SUN Wentao Intelligent Robotics Institute Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Key Laboratory of Intelligent control and decision of complex systems' School of Mechatronical Engineering Beijing Institute of Technology

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

关键词： Quadruped bionic robot the walking gait CPG the repeated iterative learning

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Depth imaging through realistic fog using Gm-APD Lidar 16

Depth imaging through realistic fog using Gm-APD Lidar

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16th National Conference on Laser Technology and Optoelectronics

作者： Zhang, Yinbo Li, Sining Jiang, Peng Sun, Jianfeng Liu, Di Yang, Xianhui Zhang, Xin Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Industrial Technology Innovation Research Institute Co. Ltd Beijing101312 China

ISBN: (数字)9781510646643

ISBN: (纸本)9781510646636

When using Gm-APD Lidar for depth imaging through realistic fog, the echo signal of the target is submerged in the background noise due to the strong absorption and scattering characteristics of the fog particles, resulting in serious defect of the recovered depth image of the target. To solve this problem, this paper proposes a dual-parameter estimation algorithm based on continuous wavelet transform (CWT) and maximum likelihood estimation (MLE) to improve the accuracy of fog signal estimation. Then the target and the fog signal are separated by estimating the fog signal of each pixel. Finally, the depth image of the separated target is processed by cross pixel complement and median filtering algorithms to improve the integrity of the target image. The experimental results show that, compared with the traditional algorithm, the target recovery of the reconstructed image is improved by 0.337, and the relative average ranging error is reduced by 0.3897. This research improves the weather adaptability of Gm-APD Lidar. © 2021 SPIE.

关键词： Optical radar

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Multilevel filtering image denoising algorithm based on edge information fusion 16

Multilevel filtering image denoising algorithm based on edge...

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16th National Conference on Laser Technology and Optoelectronics

作者： Zhang, Xin Sun, Jianfeng Jiang, Peng Zhou, Xin Qiu, Changrui Zhang, Yinbo Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Industrial Technology Innovation Research Institute Co. Ltd Beijing101312 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9781510646643

ISBN: (纸本)9781510646636

Edges are critical important for the visual appearance of images. The traditional denoising algorithms are difficult to preserve the edges of the image while removing the noise of ICCD sensing image. At the same time, it is difficult to eliminate the problems of image darkness and low resolution caused by uneven illumination. This paper proposes a multilevel filtering image denoising algorithm based on edge information fusion. The target edges detection of the image after non-local means (NL-means) filtering is carried out based on the eight-direction Sobel operator. In order to filter the false edge points and residual noise, an adaptive threshold is determined according to the mean and variance of the eight neighborhood pixels of the detected pixel. Meanwhile, homomorphic filtering is used to enhance the image contrast and uniformity. By comparing the pixel values of the edge image and the homomorphic filtered image, the final denoised image is obtained by fusing the two images. The results indicate that, compared with the traditional algorithms, the edge preserving ability of the proposed algorithm is improved by more than 20%, and the denoising ability is improved by 63.5% for building target. For specific targets (vehicle), the results demonstrate that the proposed algorithm have the maximum edge preserving index and contrast, and the minimum non-uniformity. This algorithm lays a foundation for target segmentation and recognition. © 2021 SPIE.

关键词： Image fusion

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Leader-Following Consensus of Discrete-Time Linear Multi-Agent systems with Communication Noises

Leader-Following Consensus of Discrete-Time Linear Multi-Age...

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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Hongming Wang Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China North Vehicle Research Institute Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.

关键词： Multi-Agent system,Leader-following consensus,Mean square,Communication noise.

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Valuing Equity-Linked Guaranteed Minimum Death Benefits with European-Style Asian Payoffs Under the Regime-Switching Diffusion Process with Jump

SSRN

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SSRN 2022年

作者： Wang, Yayun Liu, Shengda Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing400065 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

In this paper, we consider a novel and efficient method to price equity-linked guaranteed minimumdeath benefits (GMDB) with European-style geometric Asian and arithmetic Asian payoffs. In thesituation of continuous transition of market economy, we assume that the underlying asset price processfollows regime-switching Ĺevy model and use complex Fourier series (CFS) expansion method to derivethe approximate value of GMDB products. The error analysis shows an exponential convergence rateunder geometric Asian and arithmetic Asian payoffs. Furthermore, the CFS approach is comparedwith other Fourier transform methods and Monte Carlo simulation, the numerical experiment resultsillustrate our method has a distinct advantage over other methods in both efficiency and accuracy. © 2022, The Authors. All rights reserved.

关键词： Monte Carlo methods

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