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作者： Li, Jun Zhou, Mengchu Guo, Tao Gan, Yahui Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China School of Automation Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

Supervisory control reconfiguration can handle the uncertainties including resource failures and task changes in discrete event systems. It was not addressed to exploit the robustness of closed-loop systems to accommodate some uncertainties in the prior studies. Such exploitation can cost-efficiently achieve reconfigurability and flexibility for real systems. This paper presents a robust reconfiguration method based on Petri nets (PNs) and integer programming for supervisory control of resource allocation systems (RASs) subject to varying resource allocation relationships. An allocation relationship is seen as a control specification while the execution processes requiring resources as an uncontrolled plant. First, a robust reconfiguration mechanism is proposed. It includes updating the P-invariant-based supervisor and evolving the state of the closed-loop system. The latter adapts to the control specification changes by the self-regulation of the closed-loop system's state. Next, two novel integer programming models for control reconfiguration are proposed, called a reconfiguration model with acceptability and reconfiguration one with specification correction. Since both models integrate the firability condition of transitions, no additional efforts are required for the state reachability analysis. Finally, a hospital emergency service system is used as an example to illustrate them. © 2014 Elsevier Ltd. All rights reserved.

关键词： Integer programming

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Cooperative Adaptive Fuzzy Control of High-Order Nonlinear Multi-Agent systems with Unknown Dynamics

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IFAC Proceedings Volumes 2014年第3期47卷 9774-9779页

作者： Jie Huang Hao Fang Jie Chen Lihua Dou Fang Deng School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China Fujian Institute of Education Fuzhou 350025 China

This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.

关键词： Multi-agent systems Distributed control Consensus High-order Backstepping Fuzzy logic systems

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Improving Constraint Handling for Multiobjective Particle Swarm Optimization

Improving Constraint Handling for Multiobjective Particle Sw...

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第三十三届中国控制会议

作者： Erdong Yu Qing Fei Hongbin Ma Qingbo Geng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479947249

In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.

关键词： multiobjective,constraint handling,particle swarm optimization,adaptive grid,voting mechanism

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Vehicle License Plate Recognition Based on Class-specific ERs and Sa E-ELM

Vehicle License Plate Recognition Based on Class-specific ER...

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Chao Gou Kunfeng Wang Bo Li Fei-yue Wang Qingdao Academy of Intelligent Industries the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some computations including morphological operations,various filters,different contours and validations are sequentially performed to extract some image regions as candidate license ***,accurate character segmentation is achieved through a proper selection of *** the character recognition step,the HOG(histogram of oriented gradients) feature vector in each character region is extracted,and then the characters are recognized using an offline trained pattern classifier of Sa *** results show that our approach works quite well in complex traffic environments.

关键词： image Vehicle License Plate Recognition Based on Class-specific ERs and Sa E-ELM License

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Visual Vehicle Tracking Based on Conditional Random Fields

Visual Vehicle Tracking Based on Conditional Random Fields

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Yuqiang Liu Kunfeng Wang Fei-Yue Wang Qingdao Academy of Intelligent Industries The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a uniform probabilistic framework by using the CRF *** this work,the CRF model integrates spatial and temporal contextual information of vehicle motion,and the appearance information of the *** approximate inference algorithm,loopy belief propagation,is used to recursively estimate the vehicle region from the history of observed ***,the background model is updated adaptively to cope with non-stationary background *** results show that the proposed approach is able to accurately track moving vehicles in monocular image ***,region-level tracking realizes precise localization of vehicles.

关键词： Vehicle tracking,conditional random fields,region-level tracking

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Slip prevention of a humanoid robot by coordinating acceleration vector

Slip prevention of a humanoid robot by coordinating accelera...

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International Conference on Information and Automation (ICIA)

作者： Zhangguo Yu Jing Li Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Yan Liu Wen Zhang Weimin Zhang Xiaopeng Chen Junyao Gao Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.

关键词： Acceleration Robot kinematics Vectors Humanoid robots Mathematical model Equations

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An Approach of Bayesian Filtering for Stochastic Boolean Dynamic systems

An Approach of Bayesian Filtering for Stochastic Boolean Dyn...

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第26届中国控制与决策会议

作者： Hongbin MA Dong WANG Hongsheng QI Mengyin FU School of Automation Beijing Institute of Technology the State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences

This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measurement is an arbitrary function of the state yet with additive binary measurement *** problem of figuring out the true state using the only available noisy outputs is crucial for practical applications of Boolean dynamic system models, however, for such Boolean systems with wide background, there are no ready-to-use convenient tools like Kalman filter for linear systems. To resolve this challenging problem, an approach based on Bayesian filtering called Boolean Bayesian Filter(BBF) is put forward to estimate the true states of SBDS, and an efficient algorithm is presented for their exact computation. An index to evaluate the filtering performance,named estimation error rate, is put forward in this paper as well. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed algorithm based on BBF.

关键词： Stochastic Boolean dynamic systems,Bayesian filtering,estimation algorithm,estimation error rate

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WEWATCH:BI-SCREEN VIDEO WATCHING EXPERIENCE ON SMART DEVICES

WEWATCH:BI-SCREEN VIDEO WATCHING EXPERIENCE ON SMART DEVICES

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2014 IEEE 3rd International Conference on Cloud computing and Intelligence systems

作者： Fuji Ren Mengni Chen Yu Gu Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine School of Computing and InformationHefei University of Technology Dept.of Information Science & Intelligent Systems Univ.of TokushimaJapan

The high resolution and widescreen mobile devices have tremendous applications in our daily *** this paper,we demonstrate a specific bi-screen video sharing application called WeWatch that a high resolution video is played across screens of two mobile *** helps users to enhance their watching experience on the Android *** order to efficiently use idle mobile devices,we develop a novel algorithm to share videos with devices with different screen sizes and *** research provides a method which automatically controls videos based on different distances between *** distance is determined by the empirical WiFi RSSI values obtained through the experimental *** have prototyped the system and conducted a real-world energy efficiency and user experience *** show that WeWatch has negligible impact on battery lifetime while over 80%users like our application.

关键词： Video Sharing Screen adaptation Distance detection Energy efficiency.

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Distributed cooperative attitude tracking control for multiple rigid spacecraft using fast terminal sliding mode

Distributed cooperative attitude tracking control for multip...

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World Congress on intelligent Control and Automation (WCICA)

作者： Chao Gan Pingli Lu Xiangdong Liu Dapeng Yang National Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing China School of Automation Beijing Institute of Technology Beijing China

In this paper, the distributed cooperative attitude tracking control law based on a new modified fast terminal sliding mode is presented for multiple spacecraft formation flying in the presence of model uncertainty and external disturbance. Firstly, to speed the convergence rate and avoid the singularity problem, a new modified fast terminal sliding mode manifold is proposed. Then, based on the proposed terminal sliding mode manifold, the distributed cooperative attitude tracking controller is designed for the spacecraft formation flying(SFF) in the presence of model uncertainty and external disturbance, Meanwhile, the finite time stability of SFF system can be also guaranteed. Finally, numerical simulation is given to verify the validity of the proposed control algorithm.

关键词： Space vehicles Attitude control Convergence Uncertainty Manifolds Equations Symmetric matrices

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Event-triggered consensus for discrete-time linear multi-agent systems under general directed graphs

Event-triggered consensus for discrete-time linear multi-age...

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World Congress on intelligent Control and Automation (WCICA)

作者： Dapeng Yang Xiangdong Liu National Key Laboratory for Intelligent Control & Decision of Complex Systems Beijing China School of Automation Beijing Institute of Technology Beijing China

This paper considers the decentralized event-triggered consensus problem for discrete-time linear multi-agent systems. The communication topology among agents is assumed to be a general directed graph containing a spanning tree. We propose an event-based consensus control algorithm rendering the states of agents reach consensus. The triggering condition is decentralized only based on the agent's own information. Compared to the traditional consensus control law which needs communication at every iteration, the proposed event-triggered consensus algorithm in this paper can reduce the communication load greatly. Simulation is given to illustrate the theoretical results.

关键词： Eigenvalues and eigenfunctions Vectors Vehicle dynamics Measurement errors Closed loop systems Multi-agent systems Topology

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