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第三十二届中国控制会议

作者： Li Dequan Liu Qipeng Wang Xiaofan Yin Zhixiang School of Science Anhui University of Science and Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (纸本)9781479900305

This paper studies the quantized consensus problem for a group of agents over directed networks with switching topologies. We propose an effective distributed protocol with an adaptive finite-level uniform quantized strategy, under which consensus among agents can be guaranteed without utilizing existing symmetry error-compensation method. We conduct convergence analysis based on related input-to-output stability result, which avoids the typical common left eigenvector requirement for the existence of common quadratic lyapunov function. In particular, it is established that, provided the duration of link failure in the directed network is bounded, then at each time instant, each agent (may be nonreciprocally) sends 5-level quantization information to each of its intimate neighbors, together with 3-level quantization information to itself, which suffices for ensuring consensus with an exponential convergence rate. The proposed quantized protocol features little communication protocol overhead and fits well into the digital network framework.

关键词： Quantization, Consensus, Directed Networks, Switching Topology

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A Recognition Method of Surface -Water Based on RBF Neural Network

A Recognition Method of Surface -Water Based on RBF Neural N...

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2013 IEEE 4th International Conference on Electronics information and Emergency Communication

作者： CHEN Xue-lian HU Jing-tao Dept. of Information Service and Intelligent Control Shenyang institute of automationCAS Key Laboratory of Industrial Information Technology CAS University of Chinese Academy of Sciences Dept. of Information Engineering Liaoning Provincial College of Communications

ISBN: (纸本)9781467349345

For the extraction of surface-water data characteristics was not easily, and pseudo-depression was easy to confuse with the surface-water in the recognition of surface-water, surface-water radial basis function neural network recognition model was proposed. According to the features of surface-water and the computational result as input and output neural cells, the surface-water radial basis function neural network recognition model was established. The proposed model solved the problem that the distinguishing of surface-water and pseudo-depression was difficult. As the results, the proposed surface-water recognition model can recognize the surface-water efficiently.

关键词： RBF neutral network potential outlet recognition of surface-water

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Quadrotor flight control parameters optimization based on chaotic estimation of distribution algorithm

Quadrotor flight control parameters optimization based on ch...

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10th International Symposium on Neural Networks, ISNN 2013

作者： Chu, Pei Duan, Haibin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Provincial Key Laboratory for Information Processing Technology Soochow University Suzhou 215006 China

ISBN: (纸本)9783642390678

Quadrotor is a type of rotor craft that consists of four rotors and two pairs of counter-rotating, fixed-pitch blades located at the four corners of the body. The flight control parameters optimization is one of the key issues for quadrotor. Estimation of distribution algorithm is a new kind of evolutionary algorithm developed rapidly recently. However, low convergence speed and local optimum of the EDA are the main disadvantages that limit its further application. To overcome the disadvantages of EDA, a chaotic estimation of distribution algorithm is proposed in this paper. It is a combination of chaos theory and principles of estimation of distribution algorithm. Series of experimental comparison results are presented to show the feasibility, effectiveness and robustness of our proposed method. The results show that the proposed chaotic EDA can effectively improve both the global searching ability and the speed of convergence. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Evolutionary algorithms

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Automated classification of protein subcellular location patterns on images of human reproductive tissues

Automated classification of protein subcellular location pat...

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3rd Sino-Foreign-Interchange Workshop on Intelligent Science and Intelligent Data Engineering, IScIDE 2012

作者： Yang, Fan Xu, Ying-Ying Shen, Hong-Bin Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai China Key Laboratory of Optic-Electronic and Communication Jiangxi Science and Technology Normal University Nanchang China

ISBN: (纸本)9783642366680

As one of the most significant characteristics of human cell, subcellular localization plays a critical role for understanding specific functions of mammalian proteins. In this study, we developed a novel computational protocol for predicting protein subcellular locations from microscope cell images in human reproductive tissues. Experiments are performed on a benchmark dataset consisting of 7 major subcellular classes in human reproductive tissues collected from Human Protein Atlas database. We first separated protein and DNA staining in the images with both linear and nonnegative matrix factorization separation methods;then we extracted protein multi-view texture features including wavelet haralick and local binary patterns;finally based on the selected important feature subset achieved by feature selection technique, we constructed ensemble classifier based on support vector machines for predictions. Our experimental results show that 84% accuracy can be achieved through current system, and when only considering the most confident classifications, the accuracy can rise to 98%. © Springer-Verlag 2013.

关键词： Support vector machines

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Erratum to “Consensus seeking over directed networks with limited information communication” [Automatica 49 (2) (2013) 610–618]

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Automatica 2014年第9期50卷 2430-2431页

作者： Dequan Li Qipeng Liu Xiaofan Wang Zongli Lin School of Science Anhui University of Science and Technology Huainan 232001 Anhui Province PR China Department of Automation Shanghai Jiao Tong University Shanghai 200240 PR China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 PR China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

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Model predictive control for constrained uncertain piecewise linear systems

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控制理论与应用（英文版） 2013年第2期11卷 230-236页

作者： Dewei LI Yugeng XI Yuanyuan ZOU Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology

For constrained piecewise linear （PWL） systems, the possible existing model uncertainty will bring the difficulties to the design approaches of model predictive control （MPC） based on mixed integer programming （MIP）. This paper combines the robust method and hybrid method to design the MPC for PWL systems with structured uncertainty. For the proposed approach, as the system model is known at current time, a free control move is optimized to be the current control input. Meanwhile, the MPC controller uses a sequence of feedback control laws as the future control actions, where each feedback control law in the sequence corresponds to each partitions and the arbitrary switching technique is adopted to tackle all the possible switching. Furthermore, to reduce the online computational burden of MPC, the segmented design procedure is suggested by utilizing the characteristics of the proposed approach. Then, an offline design algorithm is proposed, and the reserved degree of freedom can be online used to optimize the control input with lower computational burden.

关键词： Model predictive control Constrained piecewise linear system Structured uncertainty Segmented designprocedure

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Hybrid modelling of distributed water supply networks

Hybrid modelling of distributed water supply networks

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13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013

作者： Liu, Dongming Wu, Jing Li, Ning Li, Shaoyuan Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education China Changzhou Institute of Light Industry Technology Changzhou Jiangsu 213164 China

In this paper, the modelling of a class of distributed water supply networks is considered, where the modelling of pipes, valves, pump stations and reservoirs are presented separately. Two laws, nodal mass balance and energy conservation, are introduced to derive a general model for the water supply networks. The pumps are assumed to be working in parallel and a hybrid model is provided to describe the dynamics of pump stations, the discrete/ continuous variables in which represent the status (on or off) and the speed of pumps, respectively. Finally, a case study is given to illustrate the effectiveness of our proposed methods. © IFAC.

关键词： Water supply

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Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

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自动化学报 2013年第6期39卷 759-769页

作者： LIANG Xin-Wu HUANG Xin-Han WANG Min 1. Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Pro- cessing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被... 详细信息

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被列在后面，我们能利用基于图象的视觉 servoing 的本地集中和稳定性避免这些问题。因此，路径在图象空间计划是在最近的年里的机器人学的一个活跃研究话题。然而，几乎所有为 camera-in-hand 配置的盒子相关结果被建立。在这篇论文，我们建议 uncalibrated 为改正照相机配置的盒子的视觉路径计划算法。这个算法在射影的空格直接计算图象特征的轨道以便他们与僵硬天体运动兼容。由把旋转和翻译的射影的代表分解成他们的各自的正规形式，我们能容易插入内推他们在射影的空间的路径。然后，在图象飞机的图象特征的轨道能经由射影的路径被产生。这样，特征点的知识组织并且照相机内在的参数没被要求。验证建议算法的可行性和表演，基于 puma560 机器人，操纵者在这被给的模拟结果糊。

关键词：路径规划算法摄像机内参数图像空间配置稳定性问题图片校准视觉伺服

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Subspace decomposition approach of fault deviations and its application to fault reconstruction

Subspace decomposition approach of fault deviations and its ...

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第三十二届中国控制会议

作者： Chunhui Zhao Wenqing Li Youxian Sun State Key Laboratory of Industrial Control Technology Department of Control Science and EngineeringZhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781479900305

In the present work,a new subspace decomposition approach of fault deviation is developed for fault diagnosis via reconstruction for principle component analysis(PCA) based monitoring *** focuses on decomposing the fault effects in different monitoring subspaces,principal subspace(PCS) and residual subspace(RS),and finding the significant fault deviations that are responsible for the concerned alarming monitoring *** is achieved by analyzing the relative changes of fault process in comparison with the normal status and designing a two-step feature decomposition *** fault data space is decomposed into two different parts for the purpose of fault reconstruction in PCS and RS of monitoring system *** is composed of the concerned fault deviations that contribute to alarming monitoring statistics which are thus significant to remove the out-of-control *** other is composed of general variations that are deemed to follow normal rules or insignificant to remove alarming monitoring *** feasibility and performance are illustrated with experimental data.

关键词： subspace decomposition principal component analysis fault diagnosis fault reconstruction principal component subspace(PCS) residual subspace(RS)

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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