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A New Calibration Method for an Inertial and Visual Sensing System

International Journal of Automation and computing 2012年第3期9卷 299-305页

作者： Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China East China Research Institute of Electronic Engineering Hefei 230088 China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.

关键词： Inertial sensor visual sensor calibration motion estimation robot vision.

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Composite service execution Petri Net and service composition optimization

Composite service execution Petri Net and service compositio...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Liu, Sheng Liu, Xiwei Zhao, Hongxia Fu, Wei State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing 100190 China School of International Trade and Economics University of International Business and Economics Beijing 100029 China

ISBN: (纸本)9781467324007

Web services are becoming the most promising technology for cloud computing. When a single web service fails to satisfy service requestor's multiple function demands, web services need to be configured together to form a service composition with cost and other constraints. It is hard to obtain an optimal service composition by the existing service composition methods because the analysis of its dynamic execution process is neglected. This paper uses Petri Net to model and analyze the dynamic execution processes of service compositions. The effect of composite services reliability on the composite service performance is taken into account. The method regards the cost averaged for one time of successful execution of a composite as its actual executing cost, and then selects the composite services with the aim of minimizing the composite service execution cost. The simulation result shows that the proposed method is superior to other methods in execution cost. © 2012 IEEE.

关键词： Quality of service

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Parameter identification of Bouc-Wen model applied to piezoelectric actuator modeling based on adaptive genetic algorithm

Parameter identification of Bouc-Wen model applied to piezoe...

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16th International Conference on Mechatronics Technology, ICMT 2012

作者： Liu, Xiang-Dong Cai, Chun-Xia Dong, Ning Qu, Yan Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China School of Automation Beijing Institute of Technology Beijing China Wu Zhou Engineering and Design Institute Beijing China

ISBN: (纸本)9787900769428

In this paper, the Bouc-Wen model widely used in describing hysteretic systems is applied to piezoelectric actuator (PEA) modelling and real-coded adaptive genetic algorithm (GA) is adopted to identify the model parameters simultaneously. By dynamically adjusting the crossover probability and mutation probability, adaptive genetic algorithm improves the performance of local convergence and premature convergence and enhances search speed and precision of the simple genetic algorithm. Then some experiments are conducted to verify the efficiency of the identification method with satisfactory parameter identification results.

关键词： Piezoelectric actuators

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A quantitative performance evaluation index for image fusion: Normalized Perception Mutual Information

A quantitative performance evaluation index for image fusion...

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31st Chinese Control Conference, CCC 2012

作者： Yan, Liping Liu, Yulei Xiao, Bo Xia, Yuanqing Fu, Mengyin School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9789881563811

Information entropy based criteria are analyzed and the Normalized Mutual Information(NMI) that is presented in the field of image registration is revised to Normalized Mutual Information Entropy (NMIE) to meet the need of the evaluation of image fusion algorithms. Then, through analysis to NMIE and some human perception based criteria, and by analyzing the essence of image fusion techniques systematically, a new index, Normalized Perception Mutual Information (NPMI), is defined in view of information transmission as well as edge preservation, and is used to evaluate the performance of image fusion algorithms. The experiments are done to three groups of images, namely, the remote sensing images corrupted by noises, the multifocus images and the medical images obtained by CT and MRI, respectively. Compared with other indices including the root mean square error (RMSE), space frequncy (SF), space visibility (SV), entropy, the collective cross entropy (CCE), information deviation (ID), and the edge information preservation value (EIPV), etc., NPMI is shown to be the only one that is effective in all the cases in the evaluation of the performances of the fused images or the image fusion algorithms, which illustrates the feasibility and effectiveness of the presented algorithm. © 2012 Chinese Assoc of Automati.

关键词： Image fusion

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Development of the Control System and Communication Network for intelligent SF6 High Voltage Circuit-Breaker

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Procedia Engineering 2012年 29卷 1690-1696页

作者： Qingchang Hao Guodong Yang Degang Yang En Li Zize Liang Dezheng Zhao State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences BeiJing 100190 China

This paper analyses the cause of the major faults of the SF6 high voltage circuit breaker, and then introduces a solution using an embedded control system. The control system consists of the controller for every breaker and a supervisor control system in the control center. Then a double-annular fiber field-bus communication network for the control system is introduced, of which the data link layer is implemented by the CAN controller. According to the operation state of every node and the fiber, the fiber communication module of every node can be configured to several different transmission modes. Due to the influence of temperature, the empirical formula of Beattie-Bridgman is used to calculate the pressure of SF6.

关键词： circuit breaker fiber communication CAN SF6 Beattie-Bridgman

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Traffic signal controller based on mobile agent

Traffic signal controller based on mobile agent

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Chen, Cheng Li, Zhenjiang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China

ISBN: (纸本)9781467324007

With mobile agent technology, multi-agent traffic management system is one effective approach to realize the demand-based control. Traffic signal controller is the base of traffic management system. Hence, the realization of traffic signal controller based on mobile agent is indispensable. In this paper, we detailed the traffic signal controller based on Mobile agent in CASIA. Meanwhile, test data about its performance is given. © 2012 IEEE.

关键词： Controllers

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Optimized model reference adaptive motion control of robot arms with finite time tracking

Optimized model reference adaptive motion control of robot a...

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Chinese Control Conference (CCC)

作者： Chenguang Yang Hongbin Ma Mengyin Fu Alex M. Smith School of Computing and Mathematics University of Plymouth Plymouth UK Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology BIT Beijing China

ISBN: (纸本)9781467325813

In this paper, we study motion control of general n degrees of freedom (DOFs) rigid robot arms. Aiming at shaping the controlled closed-loop dynamics to be of minimized motion tracking errors and as well as angular accelerations, we employ the linear quadratic regulation (LQR) optimization technique to obtain an optimal reference model. Adaptive control is then developed to ensure that the reference model can be matched in finite time, in the presence of various uncertainties. The stability and optimal tracking performance have been rigorously established by theoretic analysis.

关键词： Adaptation models Tracking Impedance Manipulators Adaptive control Force

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Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent systems

Distributed Quadratic Stabilization of Uncertain Linear Mult...

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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： Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu Key laboratory for Intelligent Control &Decision of Complex Systems School of Automation Beijing I State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace Engineering School of Electrical and ElectronicEngineering Nanyang Technological University 639798 Singapore Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

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A survey of urban traffic coordination controls in intelligent transportation systems

A survey of urban traffic coordination controls in intellige...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Li, Shuangshuang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan 523808 China

ISBN: (纸本)9781467324007

The urban traffic coordination controls (UTCCs) can make full use of the mutual advantages of intersections, which makes it can improve the traffic access capacity and decrease the possibility of traffic congestion in intersections. This paper gives an overview of UTCCs. After reviewing the concept of UTCCs, we survey the several main hot topics in UTCCs: the correlation degree analysis of intersections, the division approach of traffic control subareas and the objects of coordination. This paper provides a survey of urban traffic coordination controls with the goal of promoting research in this area and concludes with some comments on future research directions. © 2012 IEEE.

关键词： Surveys

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Artificial Transportation System constrution based on ontology-based knowledge base systems

Artificial Transportation System constrution based on ontolo...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Chen, Songhang Zhu, Fenghua State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songs han Lake Dongguan China

ISBN: (纸本)9781467324007

Artificial Transportation systems (ATS) provide a comprehensive perspective to study actual transportation systems, which are a kind of open and complex giant system referring to diverse engineering and social disciplines. To make use of achievements from related research fields, ontology for ATS is constructed in this paper. Besides conceptual model involved in modeling and applications of ATS, the compatibility with other ontology is considered. Further, an ontological knowledge base with SOA (Service-Oriented Architecture) is designed to manage information and knowledge in ATS. The architecture and interfaces of the knowledge base are presented. Benefit from this, construction and applications of ATS can be conducted on a uniform information and knowledge platform. A case study about traffic jam pattern is demonstrated. © 2012 IEEE.

关键词： Ontology

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