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第三十四届中国控制会议

作者： ZHAO Dong BAI Yong-qiang Department of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467374439

Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. Recently, many dehazing algorithms have been proposed based on the dark channel prior(DCP). However, these algorithms aim to improve the refinement of the raw transmission map, while ignore the computational complexity of DCP ***, this paper proposes a new technique for fast single image haze removal, which achieves a good tradeoff between the dehazing performance and the computational complexity. We first decompose the observed haze image into a coarse image and a detail image using Gaussian-Laplacian pyramid. Then, the coarse image is dehazed by Dark Channel Prior and Guided filter(GDCP). For the size of the coarse image is 1/4 of the original image, the computational complexity is reduced ***, the recomposed image is blurred, since the detail image is still haze. So, we employ an unsharp filter to sharpen the blurred recomposed image. Experimental results show that the proposed dehazing technique effectively removes haze, and significantly reduces the computational complexity by 69.59% on average, compared with traditional GDCP algorithm.

关键词： single image dehazing,image restoration,dark channel prior,image pyramid,unsharp masking

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Experimental Model Identification of Liquid-Circular Angular Accelerometer using Subspace Method 35

Experimental Model Identification of Liquid-Circular Angular...

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第35届中国控制会议

作者： WANG Meiling LI Xiang CHENG Siyuan FU Mengyin XIAO Meifeng Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Nanjing University of Science and Technology

ISBN: (纸本)9781509009107

In this paper, the model of a novel liquid-circular angular accelerometer is studied. Due to the absence of theoretical model of liquid-circular angular accelerometer, a subspace identification method(SIM) based on Akaike Information Criterion(AIC) is chosen for model identification of angular accelerometer. The proposed identification method is tested on a liquid-circular angular accelerometer prototype. The experimental results indicate that SIM could obtain a more accurate model than least square method, with a degree of fitting above 90%. In addition, SIM possesses good repeatability and stability. The experimental model identified by SIM in this paper can be applied in engineering practice.

关键词： system Identification Angular Accelerometer Subspace Method

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The SDRE based Second Order Integral Sliding Mode control for Attitude of Reentry Vehicle

The SDRE based Second Order Integral Sliding Mode Control fo...

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第三十二届中国控制会议

作者： GENG Jie SHENG Yongzhi LIU Xiangdong WANG Liang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479900305

In this paper,a state dependent Riccati equation-based second order integral sliding mode control(SSOISMC) algorithrn is proposed for the reentry vehicle with a strong conpling,nonlinearity and ***,the state dependent Riccati equation(SDRE) controller is developed to approach the attitude controller for the nonlinear reentry vehicle without uncertainties. Then the second order integral sliding mode control theory is proposed to combine sliding mode with SDRE,and it is applied to reentry vehicle with parameter variations or external *** achievement of the second order sliding phase is *** the proposed control law,the optimal performance index is achieved and the uncertainties are rejected,furthermore, the chattering is ***,simulation is made through the assumption that aerodynamic parameters and atmospheric density are *** validity and robustness of the proposed strategies are verified by simulation results.

关键词： Flight vehicle control State dependent Riccati equation(SDRE) Second order integral sliding mode

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Analysis and Testing of Delay in HLA-based Distributed Simulation system

Analysis and Testing of Delay in HLA-based Distributed Simul...

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第25届中国控制与决策会议

作者： Chen Chen Lu Chao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781467355339

Time is a significant concept in distributed *** the increment of simulation system scale, working efficiency of simulation system will go down very sharply due to the restrictions of time management tactics and time sequence coupling. Therefore, it is necessary to study the characteristics of delay in simulation system to improve its working effeciency. Aiming at HLA-based distributed simulation system, causes of simulation delay is analysed and principles of delay testing is explained. A method which employs synchronization point setting and an effective wall clock time querying approach is put forward. Statistics and analysis of message interaction delay is executed on the software platform of pRTI 1.3 version. The measurement of delay lays an important data foundation for time management algorithms.

关键词： Distributed Simulation system, Delay Testing, High Level Architecture, Synchronization Point.

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Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

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Journal of systems Engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

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A joint mid-course and terminal course cooperative guidance law for multi-missile salvo attack

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Chinese Journal of Aeronautics 2018年第6期31卷 1311-1326页

作者： Jie ZENG Lihua DOU Bin XIN School of Automation Beijing Institute of Technology Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of-Complex Systems Beijing 100081 China

Salvo attacking a surface target by multiple missiles is an effective tactic to enhance the lethality and penetrate the defense system. However, existing cooperative guidance laws in the midcourse or terminal course are not suitable for long-and medium-range missiles or stand-off attacking. Because the initial conditions of cooperative terminal guidance that are generally generated from the mid-course flight may not lead to a successful cooperative terminal guidance without proper mid-course flight adjustment. Meanwhile, cooperative guidance in the mid-course cannot solely guarantee the accuracy of a simultaneous arrival of multiple missiles. Therefore, a joint mid-course and terminal course cooperative guidance law is developed. By building a distinct leader-follower framework, this paper proposes an efficient coordinated Dubins path planning method to synchronize the arrival time of all engaged missiles in the mid-course flight. The planned flight can generate proper initial conditions for cooperative terminal guidance, and also benefit an earliest simultaneous arrival. In the terminal course, an existing cooperative proportional navigation guidance law guides all the engaged missiles to arrive at a target accurately and *** integrated guidance law for an intuitive application is summarized. Simulations demonstrate that the proposed method can generate fast and accurate salvo attack.

关键词： Cooperative systems Dubins path Mid-course flight Missile guidance Salvo attack

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Generalization of integral inequalities and (c_1,c_1) stability of neutral differential equations with time-varying delays

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Journal of systems Engineering and Electronics 2017年第2期28卷 347-360页

作者： Shuli Guo Lina Han Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematics Institute Oxford University Department of Cardiovascular Internal Medicine Nanlou Branch of Chinese PLA General Hospital

A uniform stability analysis is developed for a type of neutral delays differential equations which depend on more general nonlinear integral inequalities. Many original investigations and results are obtained. Firstly, generations of two integral nonlinear inequalities are presented, which are very effective in dealing with the complicated integro-differential inequalities whose variable exponents are greater than zero. Compared with existed integral inequalities, those proposed here can be applied to more complicated differential equations, such as time-varying delay neutral differential equations. Secondly, the notions of (ω, Ω) uniform stable and (ω, Ω) uniform asymptotically stable, especially (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable, are presented. Sufficient conditions on about (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable of time-varying delay neutral differential equations are established by the proposed integral inequalities. Finally, a complex numerical example is presented to illustrate the main results effectively. The above work allows to provide further applications on the proposed stability analysis and control system design for different nonlinear systems. © 2017 Beijing Institute of Aerospace Information.

关键词： control system stability Differential equations Nonlinear equations Time delay Time varying control systems

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Optimal FPGA Implementation of High Speed Scale Space Generator 34

Optimal FPGA Implementation of High Speed Scale Space Genera...

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第三十四届中国控制会议

作者： LI Nan WANG Junzheng Key laboratory of intelligent control and decision of complex systems Beijing Institute of Technology

ISBN: (纸本)9781467374439

Scale space generation is a fundamental problem in almost all feature extraction algorithms. Often, it is a critical prior step of most image/video analytic applications that are based on the invariance or co-invariance of local features, such as SIFT based recognition, matching, and tracking applications. However, it is still quite a challenging problem to enable real-time applications of the extraction of local features due to the fact that scale space generation has a rather large computational complexity. This paper proposes the optimal FPGA design for acceleration of scale space generation. First, in order to derive the mathematical model for scale space generation that fits best in with the FPGA, we have discarded the conventional template convolution based Gaussian filtering scheme and adopted a novel IIR filter based recursive Gaussian blurring algorithm. Then, an approach based on the Retiming technique, which could find the minimal operational period for any given IIR filter, is used to finalize the overall design. For 1024×768 video, the proposed design is able to generate scale spaces at almost 400 fps, which is fast enough to support most real-time applications like object recognition, object matching, and 3D reconstruction.

关键词： Feature Extraction,Scale Space Generation,Recursive Gaussian Blurring,Retiming,FPGA Implementation

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Distributed Adaptive Attitude Synchronization of Multiple Spacecraft with External Disturbances

Distributed Adaptive Attitude Synchronization of Multiple Sp...

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第25届中国控制与决策会议

作者： Dapeng Yang Xiangdong Liu Chao Gan Yaohua Guo Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355322

This paper considers the distributed attitude synchronization problem for multiple spacecraft with external disturbances. Distributed discontinuous adaptive controller is designed based on the relative attitudes and angular velocities of neighboring spacecraft and attitude synchronization can be reached for any communication graph containing a directed spanning tree. To tackle the chattering effect caused by the discontinuous controller, a continuous controller is further proposed, under which both the synchronization errors and the adaptive gains are ultimately bounded. Extensions to the case with a leader-follower communication graph with the leader as the spanning tree's root are further studied.

关键词： Multiple Spacecraft, Attitude Synchronization, Distributed control, Cooperative control

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Fast Adaptive Robust control of Electro-hydraulic Servo system

Fast Adaptive Robust Control of Electro-hydraulic Servo Syst...

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第三十二届中国控制会议

作者： HE Yudong WANG Junzheng HAO Renjian Key laboratory of intelligent control and decision of complex systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

Electro-hydraulic servo systems(EHSSs) have been widely used in industrial and military applications for their high power-to-size ratio and the ability to supply huge ***,precise control of EHSSs cannot be easily obtained due to their inner nonlinearity and parameter *** load is another factor to decrease the tracking performance of *** adaptive robust control(IARC) was proposed to improve the tracking performance of EHSS,but due to the poor parameter adapting speed,IARC can be further improved to have better *** projection type parameter estimation algorithm is redesigned to increase the adapting speed when parameter is changed.A fast adaptive robust control (FARC) is then proposed to speed up the parameter adapting speed,so that a better tracking performance of FARC is maintained. Simulation results show that the proposed FARC gives an improved tracking performance and a faster parameter adaptation.

关键词： Electric-Hydraulic Servo system Fast Adaptive Robust control

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