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Aggregation in Intersection Region for Distributed Heterogeneous Mobile Sensor Networks

Journal of systems Science and complexity 2017年第4期30卷 932-949页

作者： Zheng Zhi Peng Zhihong Chen Jie School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model and dynamics model, set the intersection of all the local perceptions as the region of interest (ROI). The MSN consists of sensors with first-order dynamics and second-order dynamics. Then, the authors design a control strategy to ensure that individuals aggregate at a point in the ROI relying on their local perceptions and the locations of neighbors within their communication scope. The authors describe this situation of aggregation as rendezvous. In addition, the authors introduce artificial potential field to make sensors deploy dispersedly in a bounded range near the ROI, which the authors call dispersed deployment. Finally, the authors prove the stability of the proposed strategies and validate the theoretical results by simulations. This research is applied for the cooperative deployment and data collection of mobile platforms with different dynamics under the condition of inaccurate perception.

关键词： Aggregation convex intersection heterogeneous dynamics mobile sensor

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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American control Conference (ACC)

作者： Yi Yang Hao Li Hao Zhu Ningyi Lyu Wenjie Song School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing Beijing CN School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Three-dimensional displays Urban areas Laser radar Autonomous vehicles

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Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework

Cooperative Lane Change Motion Planning of Connected and Aut...

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2018 IEEE intelligent Vehicles Symposium, IV 2018

作者： Zhang, Youmin Li, Bai Zhang, Yue Jia, Ning Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China Division of Systems Engineering Center for Information and Systems Engineering Boston University Boston United States Department of Mechanical Industrial and Aerospace Engineering Concordia Institute of Aerospace Design and Innovation Concordia University Montreal Canada Institute of Systems Engineering Tianjin University Tianjin China

ISBN: (纸本)9781538644522

This paper focuses on the scheme of cooperative lane change motion planning of multiple connected and automated vehicles, so as to minimize the time for lane change while penalizing large steering angles subject to hard collision avoidance constraints. Nominally this scheme should be formulated in a centralized way with the constraints of all the vehicles considered simultaneously. In order to facilitate the numerical solving process of this centralized optimization problem, we propose a stepwise computation framework. Starting with a sub-problem with all of the collision avoidance constraints removed, a sequence of sub-problems are defined by adding back the removed collision avoidance constraints gradually until the original problem takes shape in the end. The optimum of one sub-problem is always used as the initial guess when solving the next sub-problem. This iterative process continues until the optimum of the original problem is obtained. In this way, the difficulties in the original centralized problem are divided into multiple parts, and every progress made to address the partial difficulties is 'solidified' by the initial guess. © 2018 IEEE.

关键词： Collision avoidance

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Further results on cloud control systems

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Science China(Information Sciences) 2016年第7期59卷 232-236页

作者： Yuanqing XIA Yongming QIN Di-Hua ZHAI Senchun CHAI School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is devoted to further investigating the cloud control systems(CCSs). The benefits and challenges of CCSs are provided. Both new research results of ours and some typical work made by other researchers are p... 详细信息

关键词： cloud control systems cloud computing cyber-physical systems networked control systems big data

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A high-precision vision-based mobile robot slope detection method in unknown environment

A high-precision vision-based mobile robot slope detection m...

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Chinese Automation Congress

作者： Kenan Du Jing Xin Yaqian Shi Ding Liu Youmin Zhang CETC 20 Shaanxi key Laboratory of Integrated and Intelligent Navigation Xi'an P.R. China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi‘an University of Technology Xi'an P.R. China Department of Mechanical and Industrial Engineering Concordia University Quebec Canada

Aiming at satisfying the demand of slope perception accuracy for mobile robots in the unknown environment, a high-precision vision-based mobile robot slope detection method in unknown environment is proposed in this paper. Firstly, the RGB images of slopesin the unknown environment arecaptured by the Kinect sensor installed on the mobile robot, and edge sharpening is performed on the images of slopes. Then, the coordinates of the slope edge pixel in the image coordinate system are transformed into the camera coordinate system to obtain the real length of the slope. Finally, the single image depth estimation method based on convolution neural network (CNN) is used to estimate the depth of theslope image toobtain the projection length of the slope only using a single slope image, and the slope angle is obtained by the inverse cosine function. The experimental results show that the slope detection method proposed in this paper has higher detection accuracy and can satisfy the demand of slope sensing accuracy of mobile robot in unknown environment.

关键词： Slope detection Coordinate transformation Single image Depth estimation Convolutional neural network (CNN)

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Synchronization of fractional-order gene regulatory network with delay 36

Synchronization of fractional-order gene regulatory network ...

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第36届中国控制会议

作者： Feng Liu Zhe Zhang Ren Jie Sun Fenglan School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Research Center of System Theory & Application Chongqing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

This paper investigates the problem of Synchronous control of Fractional gene regulatory *** on the Lyapunov stability judgment method,we apply two kinds of control method,adaptive projection control and adaptive sliding mode control,for making system ***,a numerical simulation example is provided to verify the effectiveness and the benefit of the proposed synchronicity criterion.

关键词： Fractional-order synchronization adaptive projection control adaptive sliding mode control

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Privacy Preservation for Distributed Nonsmooth Constrained Optimization Based on Pseudo-Subgradient

Privacy Preservation for Distributed Nonsmooth Constrained O...

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第37届中国控制会议

作者： Xianlin Zeng Shu Liang Jie Chen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing Advanced Innovation Center for Intelligent Robots and Systems (Beijing Institute of Technology) Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education

In this paper, we investigate a privacy preservation design in the distributed nonsmooth convex optimization with set constraints. To solve the distributed optimization problem while preserving the privacy, we use pseudo-subgradients involved with（non-integrable） set-valued functions. Based on pseudo-subgradients, we propose distributed nonsmooth optimization algorithms with keeping subgradient information confidential. Then we prove the correctness and convergence of the distributed privacy preservation optimization algorithms to achieve the exact solution of the original optimization problem.

关键词： Distributed nonsmooth convex optimization privacy preservation set constraints pseudo-subgradients

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Construction of Barrier in a Fishing Game with Point Capture

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IEEE Transactions on Cybernetics 2017年第6期47卷 1409-1422页

作者： Zha, Wenzhong Chen, Jie Peng, Zhihong Gu, Dongbing School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom

This paper addresses a particular pursuit-evasion game, called as 'fishing game' where a faster evader attempts to pass the gap between two pursuers. We are concerned with the conditions under which the evader or pursuers can win the game. This is a game of kind in which an essential aspect, barrier, separates the state space into disjoint parts associated with each player's winning region. We present a method of explicit policy to construct the barrier. This method divides the fishing game into two subgames related to the included angle and the relative distances between the evader and the pursuers, respectively, and then analyzes the possibility of capture or escape for each subgame to ascertain the analytical forms of the barrier. Furthermore, we fuse the games of kind and degree by solving the optimal control strategies in the minimum time for each player when the initial state lies in their winning regions. Along with the optimal strategies, the trajectories of the players are delineated and the upper bounds of their winning times are also derived. © 2013 IEEE.

关键词： Optimal systems

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Dynamic State Estimation Using Event-Trigger Master-Slave Nonlinear Filter for WAMS Applications

Dynamic State Estimation Using Event-Trigger Master-Slave No...

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Data Driven control and Learning systems (DDCLS)

作者： Qing Yuan Fengdi Zhang Hengheng Gong Luyu Li Sen Li Xiaozhong Liao Zhen Li Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing P. R. China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing P. R. China Beijing Institute of Radio Measurement Beijing P. R. China

ISBN: (纸本)9781538626191

The real-time state estimation becomes greatly important with the wide application of phasor measurement unit (PMU) in distributed generation (DG) for wide-area measurement systems (WAMS). In view of estimation, particle filter (PF) is capable of providing the best performance but at the cost of heavy computation burden. Besides, the growing grid size sustainably boosts the amount of data communication from PMU, causing the congestion. An event-trigger master-slave nonlinear filter (ET-MSNF) is proposed to guarantee the estimation accuracy and get the communication bandwidth relieved. The local slave filter at the generator node carries out the local estimation and event-trigger strategy using unscented transformation, which is identical to the center slave. The master filter at the center is designed using Monte Carlo method to improve the center's estimation accuracy by the cooperation with the center slave. Such master-slave filtering structure can fully utilize the computation capability both at the center and node. Simulation on the standard IEEE 39-bus system verify the performance of ET-MSNF.

关键词： Generators Monte Carlo methods Phasor measurement units Master-slave Wide area measurements State estimation

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A NSGA-II based Peak Load Shifting Optimization Method for Customers with Distributed Generators Considering Time-of-use Price

A NSGA-II based Peak Load Shifting Optimization Method for C...

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Chinese control Conference

作者： Hao Zhou Min Ding Bo Hu Qingyi Wang Zhili Tan Danyun Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan P. R. China Global Energy Interconnection Development and Cooperation Organization Beijing P. R. China

With the extensive use of distributed generation, the traditional demand response analysis cannot meet the current requirements. This paper proposes a NSGA-II based peak load shifting optimization method for customers with distributed generators considering time-of-use price. Firstly, a fuzzy classification method divides the daily power into three time segments, peak hours, flat hours and valley hours. Secondly, on the basis of the time-of-use price, a peak load shifting optimization model is built with constraints and the objectives of minimizing the peak load, maximizing the valley load, and minimizing the peak-valley difference. Then, a NSGA-II based optimization method solves the optimal model and obtains the optimal electricity prices of different time segments to shift the peak load and the valley load. Finally, the simulation results shows the effectiveness of the proposed method.

关键词： Load management Load modeling Real-time systems Mathematical model Distributed power generation Optimization Heuristic algorithms

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