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第36届中国控制会议

作者： QIU Huang-bin ZHANG Xin-yu DENG Fang GAO Xin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Radio Film & TV Design and Research InstituteBeijing

In the field of machine vision,camera calibration is a key *** self-calibration,one of camera calibration methods,is only based on the images to calculate the camera’s intrinsic *** has simple calibration process and strong *** self-calibration algorithm needs to calculate the epipole and fundamental matrix by solving the Kruppa equation,but the uncertainty of the epipole always leads to large error and long operation *** improve the precision of camera calibration and reduce the time consumption,the parallel quantum particle swarm algorithm（QPSO） is introduced to solve the improved Kruppa *** can figure out the camera intrinsic parameters and transform the calculation of epipole into the adaptive value of the cost *** with the ordinary particle swarm optimization algorithm（PSO）,QPSO has less parameters,better robustness and faster convergence *** using a multi-core computer platform,its parallel processing has also combined with the characteristics of parallel computing which improves the calculation *** results show that the proposed method is more accurate than ordinary PSO,and the program time consuming is significantly reduced.

关键词： parallel computing quantum particle swarm algorithm（QPSO） camera self-calibration Kruppa equation

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Joint task management of sensor and weapon based on distributed management system

Joint task management of sensor and weapon based on distribu...

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Chinese control Conference (CCC)

作者： Zhang Mingyang Chen Chen Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing School of Automation Beijing Institute of Technology Beijing

ISBN: (纸本)9781538629185

In the modern war, many combat units combat collectively has become the main form. In the task management of the combat units, the calculation is large and the real-time requirement is high. To solve the problem better, a joint task management method of sensor and weapon based on distributed management system is proposed. Firstly, the distributed management system is constructed according to the target trajectory and the distribution of combat units. In the system, all the combat units are divided into several combinations, which only consist of a few combat units. As a result, the problem scale is reduced, and the real-time requirement of battlefield is met. Secondly, joint task management model of sensor and weapon is established. We consider time constraints and resource constraints to ensure the feasibility of the attack scheme, and consider the impact between sensor and weapon to achieve better combat effect. A discrete particle swarm optimization algorithm based on crossover strategy (CDPSO) is proposed to solve the model. The results show that the performance of the proposed algorithm is satisfactory in joint task management of sensor and weapon.

关键词： Weapons Distributed management Command and control systems Time factors Mathematical model Data processing Real-time systems

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A full-dq based adaptive virtual impedance compensation in virtual power frame for droop-controlled parallel inverters under unbalanced conditions

A full-dq based adaptive virtual impedance compensation in v...

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Annual Conference of Industrial Electronics Society

作者： Yuan Cao Zhen Li Zelun Lu Zhen Chen Xiangdong Liu School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China

Distributed generation (DG) is connected through three-phase inverter to the microgrid. The virtual power based droop control can guarantee the pure decoupling between active and reactive power irrespective of low-voltage or high-voltage microgrid application if the line-impedance information is known in advance. However, unbalances are commonly existent in practice so that this conventional control fails in application due to the significant coupling between active and reactive power. To overcome this problem and further extend virtual power based method into unbalanced conditions, this paper proposes an improved virtual power decoupling technique using full-dq transformation, which is utilized to identify arbitrary unbalanced components under unbalanced conditions. The identified unbalances are further compensated as an virtual impedance so as to ensure the pure decoupling of active and reactive power in the virtual power frame. Finally, simulation results are provided to verify the effectiveness of the proposed method under unbalanced conditions.

关键词： Impedance Reactive power Inverters Microgrids Voltage control Frequency control Couplings

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An Improved Result on H∞ State Estimation for Static Neural Networks with Time-Varying Delay

An Improved Result on H∞ State Estimation for Static Neural...

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第36届中国控制会议

作者： JIN Li HE Yong ZHANG Chuan-Ke WU Min School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents an improved result on H state estimation for static neural networks with a time-varying ***,a novel Lyapunov-Krasovskii functional(LKF) with several augmented terms is ***,a relaxed integral inequality is employed to make a tight estimation for single integral terms with time-varying delay in the derivative of the *** a result,a delay-dependent criterion in terms of linear matrix inequalities is ***,two numerical examples are given to demonstrate the benefits and effectiveness of the obtained criterion.

关键词： Static neural networks Time-varying delay H∞ state estimation Lyapunov-Krasovskii functional Relaxed integral inequality Linear matrix inequality

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Social Energy:Mining Energy From the Society

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 466-482页

作者： Jun Jason Zhang David Wenzhong Gao Yingchen Zhang Xiao Wang Xiangyang Zhao Dongliang Duan Xiaoxiao Dai Jun Hao Fei-Yue Wang Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer ScienceUniversity of Denver IEEE National Renewable Energy Laboratory Qingdao Academy of Intelligent Industries(QAII) QingdaoShandongChinaand SKL-MCCSCASIA School of Automation Science and Electrical Engineering Beihang University Department of Electrical and Computer Engineering College of Engineering and Applied ScienceUniversity of Wyoming State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences(SKL-MCCSCASIA) Research Center of Computational Experiments and Parallel Systems National University of Defense Technology

The inherent nature of energy,i.e.,physicality,sociality and informatization,implies the inevitable and intensive interaction between energy systems and social *** this perspective,we define "social energy" as a complex sociotechnical system of energy systems,social systems and the derived artificial virtual systems which characterize the intense intersystem and intra-system *** recent advancement in intelligent technology,including artificial intelligence and machine learning technologies,sensing and communication in Internet of Things technologies,and massive high performance computing and extreme-scale data analytics technologies,enables the possibility of substantial advancement in socio-technical system optimization,scheduling,control and *** this paper,we provide a discussion on the nature of energy,and then propose the concept and intention of social energy systems for electrical power.A general methodology of establishing and investigating social energy is proposed,which is based on the ACP approach,i.e., "artificial systems"(A), "computational experiments"(C) and "parallel execution"(P),and parallel system methodology.A case study on the University of Denver(DU) campus grid is provided and studied to demonstrate the social energy *** the concluding remarks,we discuss the technical pathway,in both social and nature sciences,to social energy,and our vision on its future.

关键词： ACP distribution locational marginal pricing intelligent operation in power systems parallel control parallel intelligence parallel management social energy socio-technical energy systems

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An SNR-Adaptive Relaying Algorithm for Multi-Antenna Cooperative Networks

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China Communications 2017年第10期14卷 228-236页

作者： Shuangshuang Han Peng Zhang Feijin Shi Fei-Yue Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing China Qingdao Academy of Intelligent Industries Qingdao Shandong Province China The School of Computer Engineering Weifang University Shandong P. R. China Communications Headquarters Ministry of Foreign Affairs of the People's Republic of China Beijing China Research Center of Computational Experiments and Parallel Systems The National University of Defense Technology Changsha China

Multiple-input multiple-output(MIMO) and cooperative communications have been attracted great attention for the improvements of communication capacity, power consumption, and transmission coverage. The conventional fixed relaying protocols, amplify-and-forward(AF) and decode-and-forward(DF), have their own advantages and disadvantages, i.e. AF performs better than DF for low signal-to-noise ratio(SNR) region, while the reverse is true for high SNR region. Therefore, this paper proposes an SNR-adaptive forward(SAF) relaying scheme obtaining the advantages of both AF and DF. Furthermore, the proposed SAF does not need to switch between AF and DF when SNR changes. The main idea is to adaptively derive the soft information at the cooperative relay nodes based on the information of the received signal and the SNR. Besides, based on the theoretical analysis and the simulation results, it is affirmed that the proposed SAF achieves superior performance than both AF and DF for all SNRs. Moreover, the performance gain would be improved with the increasing number of parallel cooperative relay nodes.

关键词： MIMO SNR SNR-adaptive forward multi-antenna

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Terrain Estimation and Strategy for Quadruped Robot Body Posture and COG Adjustment 28

Terrain Estimation and Strategy for Quadruped Robot Body Pos...

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第28届中国控制与决策会议

作者： HE Yudong WANG Junzheng KE Xianfeng WANG Shoukun Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467397155

Quadruped robot has gained its popularity due to the adaptation ability of rough *** improve the walking stability and balance of quadrupeds,separate static walking methods are discussed based on specific known *** some unknown terrains,a uniform terrain model is established in this paper.A fuzzy logic based terrain estimation method is then proposed to estimate the terrain *** on the criterion of maximum working space,a body posture and center of gravity(COG) position adjusting strategy is proposed,and a method to adjust the posture and COG position is derived based on the kinematic *** show that the proposed methods can deal with different terrains and body posture and COG position can be tuned according to the terrain.

关键词： Quadruped Robots Terrain Estimation Body Posture and COG adjustment

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Real-Time lane detection and forward collision warning system based on stereo vision 28

Real-Time lane detection and forward collision warning syste...

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28th IEEE intelligent Vehicles Symposium, IV 2017

作者： Song, Wenjie Fu, Mengyin Yang, Yi Wang, Meiling Wang, Xinyu Kornhauser, Alain State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China Princeton University United States Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9781509048052

This paper presents a real-Time and robust lane detection and forward collision warning technique based on stereo cameras. First, obstacles image is obtained through stereo matching and UV-disparity segmentation algorithm. Then, Inverse Perspective Mapping(IPM) and Sobel filtering are conducted to generate a low-noise top view of the road by fusing the obstacles image and the original image. Next, Hough Transformation for the top view map is completed and the extreme points(poles) are calculated as the detected lanes according to the traffic lanes model. Besides, the host lane is selected or supplemented among all the detected lanes and the nearest obstacle in this host lane is detected for the forward collision warning. Experimental results on the public data set indicate that our method can work effectively and real-Timely in the normal structured environment. © 2017 IEEE.

关键词： Roads Cameras Image segmentation Robustness Real-time systems Automobiles Alarm systems

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A fast test and compensation system for optical encoders based on extreme learning machine — Fourier Neural Network

A fast test and compensation system for optical encoders bas...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jiachen Zhao Jie Chen Fang Deng Hongda Li Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China School of Automation Beijing Institute of Technology BeiJing

ISBN: (纸本)9781538629024

This paper describes fast test and compensation system for optical encoders. The resolution of system is 0.375", and it can measure the actual accuracy of an optical encoder in four minutes. Furthermore, a method called Extreme Learning Machine - Fourier Neural Network (ELM-FNN) are proposed to compensate the error. Fourier neural network (FNN) is chosen to fit the curve of the optical encoder's output, and the weights of FNN is calculated by Extreme Learning Machine (ELM). Experimental results demonstrate that ELM-FNN effectively improve the accuracy of the optical encoder. Compared to a back propagation neural network (BP net) and a standard FNN, ELM-FNN has advantages of higher accuracy and less training time.

关键词： Adaptive optics Optical computing Optical variables measurement Optical sensors Neural networks Ultraviolet sources Training

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