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2019 2nd International Conference on Advanced Materials, intelligent Manufacturing and Automation, AMIMA 2019

作者： Guo, Hui Chen, Peng Huang, Shun Hu, Cong Zhang, Lijun School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China

In the process of image acquisition, non-uniform illumination images are common due to poor lighting, surface reflection, or a combination of these two factors. In order to improve the quality of image segmentation, an image threshold segmentation method is proposed for non-uniform illumination images. First, the brightness of different regions in the image is compensated to make the brightness background of the whole image consistent. Second, the gradation histogram of the processed image is obtained and simulated into Gaussian distribution curve, then the inflection points of the curve are calculated. Finally, the two inflection points are set as thresholds to segment the image after brightness equalization. This method eliminates the influence of non-uniform illumination to a certain extent and gets a better segmentation effect. Experiments were carried out on images containing several different types of non-uniform illumination. The results demonstrate that the proposed method outperforms the compared enhancement algorithms in threshold segmentation. © Published under licence by IOP Publishing Ltd.

关键词： Luminance

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Image retrieval based on convolutional neural network and linear discriminate analysis 2

Image retrieval based on convolutional neural network and li...

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2019 2nd International Conference on Advanced Materials, intelligent Manufacturing and Automation, AMIMA 2019

作者： Xia, Wei Hu, Cong Cheng, Xianghui Chen, Peng Jin, Xing School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China

Image retrieval is a hot research topic in the field of computer vision image processing, and the user queries the image database for similar images and produces a list of recommendations. The paper firstly sets forth the research status of image retrieval, then the convolution neural network is briefly introduced. Due to the traditional image retrieval and recommendation system use manual extraction of image features is relatively cumbersome, and the retrieval accuracy is not high research status, the paper proposes an image retrieval method based on the improved convolutional neural network and linear discriminate analysis. Caltech256 and CIFAR-10 datasets were trained using the model in this paper, experimental, results show that the proposed method can effectively improve the performance of retrieval. © Published under licence by IOP Publishing Ltd.

关键词： Search engines

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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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Graph Optimization based Visual SLAM fusing keyPoints and Markers

Graph Optimization based Visual SLAM fusing KeyPoints and Ma...

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Chinese control Conference (CCC)

作者： Zhen Chen Yang Zhou Fengdi Zhang Min Xu Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing P. R. China Beijing Aerospace Automatic Control Institute P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Simultaneous localization and mapping (SLAM) plays an important role in autonomous navigation for mobile robots. Most of the visual SLAM approaches use keypoints for tracking, whose performance however suffers from the unstable landmarks during task due to uncertain light condition and frequently changeable viewpoint. The situation even becomes worse for visual SLAM in low texture environment especially in indoor buildings, where the supplementary artificial markers can be used to improve the robust detection under a wider range of circumstances. Inspired by this thought, this paper developed a visual SLAM system integrated with keypoints and artificial markers. A graph optimization problem is constructed to optimize the trajectory by taking both the reprojection error of keypoints and the influence of markers into consideration. The experimental results on SPM dataset demonstrate the superior accuracy of the proposed graph optimization algorithm compared with the start-of-the-art ORB-SLAM2.

关键词： Cameras Jacobian matrices Simultaneous localization and mapping Optimization Visualization Trajectory

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Model-Free Sliding Mode Iterative Learning control for Cz Silicon Single Crystal Diameter

Model-Free Sliding Mode Iterative Learning Control for Cz Si...

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第三十九届中国控制会议

作者： Yin Wan Ding Liu Junchao Ren Congcong Liu Jie Sun National & Local Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

Aiming at the complex nonlinear dynamic time-varying characteristics for Czochralski（Cz） silicon single crystal growth process and the difficulty in modeling and controlling the crystal diameter by conventional mechanisms, based on the idea of data-driven modeling and control, this paper proposes an improved model-free sliding mode iterative learning control（MFA-SMILC） method. First, a data-driven model of crystal diameter is established using an extreme learning machine（ELM）with actual process data;Then, based on the compact-format dynamic linear（CFDL） data model, a discrete sliding mode control algorithm is used to design a data-driven controller structure for crystal diameters, and the stability of the iterative tracking error is verified by the stability analysis;Finally, the proposed MFA-SMILC controller is applied to silicon single crystal diameter control, and compared with the conventional model-free adaptive iterative learning control（MFA-ILC）, it is found that MFASMILC has faster response speed and convergence speed, which verifies the effectiveness of the proposed control method.

关键词： Cz silicon single crystal growth Crystal diameter Model free iterative learning control Sliding mode control

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A Fast Image/Video Dehazing Algorithm Based on Modified Atmospheric Veil

A Fast Image/Video Dehazing Algorithm Based on Modified Atmo...

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第三十八届中国控制会议

作者： Kang Liu Yongqiang Bai Zhenwei Gao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

In this paper, we propose a fast image/video dehazing algorithm based on modified atmospheric veil. For a single image, the coarse atmospheric veil is quickly estimated by the minimum and maximum channels. We take the depth image estimated by the color attenuation prior as the guided image to refine the coarse atmospheric veil and use down sampling technique to speed up the process. In addition, a fast Fourier enhancement method is used to improve the high frequency details. Based on the image dehazing, we design an atmospheric light adjustment strategy and a transmission optimized framework for video dehazing, which can effectively reduce flickering artifacts. Experimental results demonstrate that the proposed algorithm can achieve a very good dehazing effect while keeping a comparable processing speed with state-of-the-art algorithms.

关键词： image/video dehazing atmospheric veil flickering artifacts optimized framework

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Research on Infrared Image Processing Algorithm of Generator Carbon Brush Based on Adaptive Stochastic Resonance Array

Research on Infrared Image Processing Algorithm of Generator...

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Chinese Automation Congress (CAC)

作者： Shangbin Jiao Weichao Huang Bo Geng Youmin Zhang Xiaohui Wu Pengyue Wu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi ’an University of Technology Xi’an China Concordia University Montreal Canada Huaneng Weihai Power Generation Co. Ltd Wei’ hai China Xi'an Thermal Power Research Institute Co. Ltd Xi’an China

ISBN: (纸本)9781665426480

The safe and stable operation of the generator set is related to the national economy and people's livelihood. As an important part of generator excitation system, carbon brush and slip ring temperature monitoring can effectively evaluate the state of the generator, which plays a vital role. Most of the current researches use infrared images to monitor carbon brush temperature, but there are often problems such as high noise and unclear focus. According to the requirements of infrared image display, this paper combines the method of bistable stochastic resonance to denoise the image, and on this basis, introduces the adaptive stochastic resonance array method to denoise the gray image. Experimental results show that compared with common image denoising methods and classic bistable stochastic resonance, the adaptive stochastic resonance array method has improved both visual effects and peak signal- to-noise ratio (PSNR), which further proves the good application of stochastic resonance in weak signal detection and extraction.

关键词： Temperature sensors Temperature measurement Brushes Stochastic resonance Adaptive arrays Generators Carbon

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Solving A Class of Nonsmooth Resource Allocation Problems with Directed Graphs though Distributed Smooth Multi-Proximal Algorithms

arXiv

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arXiv 2020年

作者： Wei, Yue Shang, Chengsi Fang, Hao Zeng, Xianlin Dou, Lihua Pardalos, Panos Peng Cheng Laboratory China The Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China Graduate School at Shenzhen Tsinghua University China Industrial and Systems Engineering University of Florida United States

In this paper, two distributed multi-proximal primal-dual algorithms are proposed to deal with a class of distributed nonsmooth resource allocation problems. In these problems, the global cost function is the summation of local convex and nonsmooth cost functions, each of which consists of one twice differentiable function and multiple nonsmooth functions. Communication graphs of underling multi-agent systems are directed and strongly connected but not necessarily weighted-balanced. The multi-proximal splitting is designed to deal with the difficulty caused by the unproximable property of the summation of those nonsmooth functions. Moreover, it can also guarantee the smoothness of proposed algorithms. Auxiliary variables in the multi-proximal splitting are introduced to estimate subgradients of nonsmooth functions. Theoretically, the convergence analysis is conducted by employing Lyapunov stability theory and integral input-to-state stability (iISS) theory with respect to set. It shows that proposed algorithms can make states converge to the optimal point that satisfies resource allocation conditions. Copyright © 2020, The Authors. All rights reserved.

关键词： Directed graphs

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Sensorless Speed control of PMSMs based on an Improved Particle Filter

Sensorless Speed Control of PMSMs based on an Improved Parti...

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2019 IEEE International Conference on Electrical, control and Instrumentation Engineering, ICECIE 2019

作者： Ren, Hai-Peng Nan, Zi-Yuan Li, Jie Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an China Xi'An University of Technology Department of Electrical Engineering Xi'an China

ISBN: (纸本)9781728139395

Position sensors in permanent magnet synchronous motor (PMSM) are restrained in some applications because of the space restriction and the reliability of the system. A marginalized particle filter (MPF) can used to staminate the speed of the motor by combining a Kalman filter (KF) with a particle filter (PF). In the MPF algorithm, the rotor position of the permanent magnet synchronous motor (PMSM) is represented by a set of particles, and the rotor speed associated with each particle is estimated by using the KF. The PF here is used to handle the non-Gaussianity and nonlinearity of the system. In this paper, the uniform distribution of particles is proposed to replace the traditional Gaussian distribution of particles in the PF to get better performance at the low-speed range. The motor drive system prototype is built using a TMS320F28335 digital signal processor as a controller core. The proposed improved PF is used in the sensorless speed vector control PMSM system. The experimental results show that the proposed PF with a uniform distribution of initial particles enables more accurate speed estimation in the low-speed range compared to the conventional Gaussian distribution, while increasing number of particles also helps to improve the accuracy. © 2019 IEEE.

关键词： Kalman filters

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Correction to: Visual Servoing of Unknown Objects for Family Service Robots

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Journal of intelligent & Robotic systems 2022年第4期106卷 1-1页

作者： Xin, Jing Dong, Caixia Zhang, Youmin Yao, Yumeng Gong, Ailing Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Canada

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