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第三十四届中国控制会议

作者： XIE Guo ZHANG Dan HEI Xinhong QIAN Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781467374439

Nonlinear system identification is one of the most important topics all over the word. Until now, there are many of off-line identification methods which exhibit well performance. The online approach with non-Gaussian noise, however, is still a challenge. For a class of nonlinear systems where all of the candidate parameters are contained in a definite parameter set, an online parameters and sates estimation method is proposed based on particle filter and Bayes theorem as the following steps. Firstly, regarding all of the candidates, the states are estimated by particle filter(PF) algorithm. Secondly the posterior probabilities of all of candidates are calculated according to the Bayes theorem;then the weights of all of the candidates are obtained through normalization. Lastly, the parameters and sates are estimated ultimately according to the weighted sum of all of the candidates and states. Numerical illustrations are presented to exhibit the application of the method proposed herein, and the performance of the method is examined.

关键词： Nonlinear system,Particle filter,Parameter set,Online parameter identification

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A multi-agent coordinated planning approach for deadline required emergency response tasks

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IET control Theory and Applications 2015年第3期9卷 447-455页

作者： Zhou, Chao Wang, Hongwei Zhuo, Hankz Hankui Key Laboratory of Image Processing and Intelligent Control of Education Ministry Institute of Systems Engineering Huazhong University of Science and Technology Wuhan430074 China School of Advanced Computing SunYat-sen University Guangzhou510006 China

This study investigates the emergency decision-making problem in a multi-agent system. Departments are modeled as agents to perform coordinated planning to obtain a global action plan with a short execution time constrained by a prescribed deadline. A novel multi-agent planning approach is proposed to coordinate for the solution among agents in the system. The approach consists of two stages. For the first stage, a coordinated planning and scheduling method is designed to generate a candidate global action plan. In this plan, durative actions are assigned to proper time intervals with the consideration of temporal relationships among agents. For the second stage, a coordination mechanism based on local heuristics is proposed to reduce the global time cost of the candidate plan to satisfy the deadline. An experimental study of emergency evacuation problem is conducted to demonstrate the effectiveness and efficiency of the proposed approach. © 2015 The Institution of Engineering and Technology.

关键词： Multi agent systems

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Change-point analysis of single-trial EEG of auditory and visual oddball tasks

Change-point analysis of single-trial EEG of auditory and vi...

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Iranian Conference on Electrical Engineering (ICEE)

作者： Asian S Dizaji Hamid Soltanian-Zadeh School of Cognitive Sciences Institute for Research in Fundamental Sciences (IPM) Tehran Iran Department of Radiology Image Analysis Laboratory Detroit MI United States Control and Intelligent Processing University of Tehran Tehran Iran

ISBN: (纸本)9781467387903

The brain rhythms defined by specific frequency-bands of electroencephalography (EEG) signal are generally thought to represent diverse cognitive processes which wax and wane with sub-second resolutions at different parts of the cortex. Furthermore, single-trial analysis of EEG is believed to show more realistic pictures of ongoing and event-related activities of the brain with millisecond resolution. Here, we present a nonparametric multiple change-point detection and estimation method for analysis of single-trial EEG recorded during auditory and visual oddball tasks. In a simple attention task like oddball, the frontal cortex of the brain is responsible for distinguishing and responding appropriately to target and standard events. With sub-second resolution at the frontal cortex, we show that the α-band activity changes according to “inhibition timing” hypothesis and the β-band activity is in line with “maintaining the status quo” hypothesis.

关键词： Electroencephalography Visualization Electrodes Standards Finite impulse response filters Power harmonic filters Estimation

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Circadian Rhythms Recovery Based on Slide Mode controller 34

Circadian Rhythms Recovery Based on Slide Mode Controller

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第三十四届中国控制会议

作者： ZHOU Ren REN Haipeng HUANG Xiaona Department of Information and Control Engineering Xi'an University of Technology Shaanxi Key Laboratory for Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781467374439

Disrupting the circadian rhythms will cause health problems such as sleep disorders, memory disorders and obesity. Finding the suitable external stimulation to synchronize a model with a desired phase is a biologically significant issue. The phase control of circadian rhythms for Drosophila is considered from control engineering viewpoint in this paper. If all parameters of the model are known, we can use the feedback linearization to design a tracking controller for the phase ***, in practice, parameters uncertainties always exist. To deal with this problem, a slide-mode controller is proposed for the phase tracking control of circadian rhythms. The simulation results show the effectiveness of the proposed method.

关键词： Circadian rhythms,Circadian phase,Parameter uncertainty,Slide mode control

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Leg hybrid rehabilitation based on hip-knee exoskeleton and ankle motion induced by FES

Leg hybrid rehabilitation based on hip-knee exoskeleton and ...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Xikai Tu Jian Huang Jiping He Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China School of Biological and Health Systems Engineering Arizona State University Tempe AZ USA School of Mechatronic Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509033652

To regain mobility, stroke patients need to receive repetitive and intensive therapy. Robot-assisted rehabilitation is an active area of research. Cheap robotic leg rehabilitation devices should be developed to meet the demands and assist most patients. A low cost hip-knee exoskeleton prototype powered by pneumatic muscles was developed. On this basis, Functional Electrical Stimulation (FES) induced paralyzed muscles to realize ankle joint rehabilitation training. As both of pneumatic muscle and FES induced muscle possess highly nonlinear characteristics, a sliding control algorithm called Chattering mitigation Robust Variable control (CRVC) was applied to leg hybrid rehabilitation. The combination of exoskeleton and FES is a promising way to reduce the cost and the complexity of designing hip-knee-ankle exoskeleton. The proposed hybrid method is verified by treadmill-based gait training experiments.

关键词： Muscles Exoskeletons Mathematical model Legged locomotion Iron Training

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Indoor localization with incomplete observation using set-membership filter

Indoor localization with incomplete observation using set-me...

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International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

作者： Wang, Yuan Huang, Jian Key Lab of Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781479966783

Indoor localization is a popular topic because of the poor performance of GPS in the indoor environment. This paper has provided a new method to achieve the goal of indoor localization. Combining the usage of posture sensors with the Radio Frequency Identification (RFID) technology, we solved the problem of plentiful tags in the traditional RFID indoor localization. The relative localization subsystem is based on posture sensors and the absolute localization subsystem is based on RFID. A set-membership theory based data fusion algorithm is proposed to fuse the data of relative localization and absolute localization. Experimental results show that the proposed data fusion algorithm could significantly reduce the accumulated error of our indoor localization system. © 2015 IEEE.

关键词： Indoor positioning systems

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Modelling and Optimization of Heating Dispatch in Thermal Power Plant

Modelling and Optimization of Heating Dispatch in Thermal Po...

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第28届中国控制与决策会议

作者： Lixia Xie Yali Wu Xianyong Peng Lei Li Fan Yi School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Emerson Process Management Co.Ltd.

ISBN: (纸本)9781467397155

With the addition of heating in thermal power *** to lack of guidance for heating scheduling in traditional scheduling mode,it has been unable to satisfy the current costs for energy conservation and saving of thermal power *** load distribution(especially heat load dispatch) is an important subject in the operation optimization of a thermal power *** model of heat load dispatch on the condition of economic power dispatch is established and linear programming for optimized heat load distribution among units based on LINGO is *** average distribution and linear programming distribution are contrasted in a thermal power *** is obviously shown by simulation and calculation that linear programming distribution gets more optimal results than current average *** has important significance to reduce energy consumption and save costs.

关键词： Heating Dispatch Thermal Power Plant LINGO

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Multi-agent containment control with input saturation on switching topologies

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IET control Theory and Applications 2015年第3期9卷 399-409页

作者： Su, Housheng Chen, Michael A.Q. School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan430074 China Department of Mechanical Engineering University of Hong Kong Hong Kong Hong Kong

This study aims to investigate containment control of linear multi-agent systems with input saturation on switching topologies. For such a multi-agent system, both state feedback and output feedback containment control protocols are proposed via a novel low-gain feedback approach. Consequently, the authors show that, under the assumption that the switching networks are jointly connected, semi-global state feedback and output feedback containment control of the multi-agent system can be attained. The effectiveness of the proposed algorithms is illustrated via numerical examples. © 2015 The Institution of Engineering and Technology.

关键词： Multi agent systems

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Consensus algorithms for biased labeling in crowdsourcing

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Information Sciences 2017年 382-383卷 254-273页

作者： Jing Zhang Victor S. Sheng Qianmu Li Jian Wu Xindong Wu School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing 210094 P. R. China Key Laboratory of Image and Video Understanding for Social Safety Nanjing University of Science and Technology Nanjing 210094 P. R. China Department of Computer Science University of Central Arkansas Conway AR 72035 USA Jiangsu Engineering Center of Network Monitoring Nanjing University of Information Science and Technology Nanjing 210044 P. R. China Institute of Intelligent Information Processing and Application Soochow University Suzhou 215006 P. R. China School of Computing and Informatics University of Louisiana at Lafayette LA 70504 USA

Although it has become an accepted lay view that when labeling objects through crowdsourcing systems, non-expert annotators often exhibit biases, this argument lacks sufficient evidential observation and systematic empirical study. This paper initially analyzes eight real-world datasets from different domains whose class labels were collected from crowdsourcing systems. Our analyses show that biased labeling is a systematic tendency for binary categorization; in other words, for a large number of annotators, their labeling qualities on the negative class (supposed to be the majority) are significantly greater than are those on the positive class (minority). Therefore, the paper empirically studies the performance of four existing EM-based consensus algorithms , DS, GLAD, RY, and ZenCrowd, on these datasets. Our investigation shows that all of these state-of-the-art algorithms ignore the potential bias characteristics of datasets and perform badly although they model the complexity of the systems. To address the issue of handling biased labeling, the paper further proposes a novel consensus algorithm, namely adaptive weighted majority voting (AWMV), based on the statistical difference between the labeling qualities of the two classes. AWMV utilizes the frequency of positive labels in the multiple noisy label set of each example to obtain a bias rate and then assigns weights derived from the bias rate to negative and positive labels. Comparison results among the five consensus algorithms (AWMV and the four existing) show that the proposed AWMV algorithm has the best overall performance. Finally, this paper notes some potential related topics for future study.

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Posture estimation and human support using wearable sensors and walking-aid robot

Posture estimation and human support using wearable sensors ...

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作者： Huang, Jian Xu, Wenxia Mohammed, Samer Shu, Zhen Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Luoyu Road No. 1037 Wuhan China France

In this paper, an omni-directional walking-aid robot is developed to assist the elderly in the daily living movements. A motion control strategy of walking-aid robot based on the observation of the human status through wearable sensors is proposed. During normal walking, the robot is controlled using a conventional admittance control scheme. When the tendency of a fall is detected, the robot will immediately react to prevent the user from falling down. The distance between the human Center of Pressure (COP) and the midpoint of the human feet is assumed to be a significant feature to detecting the fall events. When the user is in a quasi-static state or walking slowly, the COP can be approximated by the projection of Center of Gravity (COG) of the user's body. A simple and low-cost wearable sensor system is proposed to measure online the COG of the user. A limitation of the proposed wearable sensor system is that the Head-Arms-Torso (HAT) of the user is assumed to be always in upright position, which may generate measurement error. From comparison experiments with a reference optical system it is found that the measurement error is acceptable especially at the early stage of fall event. Dubois possibility theory is applied to describe the membership function of "normal walking" state. A threshold based fall detection approach is obtained from online evaluation of the walking status. Finally, experiments demonstrate the validity of the proposed strategy. © 2014 Elsevier B.V. All rights reserved.

关键词： Wearable sensors

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