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50th IEEE International Symposium on Circuits and systems, ISCAS 2017

作者： Lu, Zelun Li, Wenxuan Li, Zhen Chen, Xi Lu, Herbert H. C. Dong, Ning Liu, Xiangdong School of Automation Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology BeijingI0008I China Global Energy Interconnection Research Institute North America Santa Clara 5451 Great America Parkway CA95054 United States School of Electrical Electrical and Computer Engineering University of Western Australia CrawleyWA6009 Australia

ISBN: (纸本)9781467368520

Three-phase inverter is a very important interface in microgrid. Droop control and virtual impedance are widely used to improve the power sharing capability and stability of such system, which however becomes ineffective under unbalanced conditions and may even cause potential stability problems. This paper proposes a fully self-adjusted virtual impedance design to guarantee the decoupling of active and reactive power. The arbitrary unbalanced information is acquired through the pseudo-inverse impedance matrix modeled by full-dq technique. Based on the unbalanced impedance identified, the adaptive droop control is achieved for not only accurate power sharing but also reliable voltage support with autonomous unbalanced voltage compensation. Simulations results verify the accurate identification of unbalanced impedance and effectiveness of the proposed method on the unbalanced compensation. © 2017 IEEE.

关键词： Electric inverters

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design of Low-cost Position Differential Positioning System Based on STM32

Design of Low-cost Position Differential Positioning System ...

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Chinese Automation Congress

作者： Haijun Fu Ming Qiu Xisong Dong Gang Xiong Haonan Xiong Xiang Su Shichao Chen Zhen Shen Xiujiang Guo School of Artificial Intelligence Beijing Union University Beijing China The Cloud Computing Center Chinese Academy of Sciences Dongguan China The Qingdao Academy of Intelligent Industries Macau University of Science and Technology Qingdao China Beijing Union University Beijing China School of Electrical Engineering and Electronic Information Xihua University Chengdu China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China The Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China Department of Computer Science University of Helsinki Fin Finland Measurement Center Station PetroChina Huabei Oilfield Company Renqiu China

There exist some obstacles to realize high-precision positioning with using the position differential technique due to the limiting factors. However, with the advancement of chip performance and the establishment of multiple satellite navigation systems, position differential positioning can be realized to meet the civilian high-precision positioning demand while significantly reducing costs. This paper is to explore the engineering application and propose a new method. Through the experiments and data analysis, we have found the error correlation between two receivers in a small area and designed a set of positioning system, and programmed in the Keil μVision5 in C language. The system consists of the current mainstream low-cost STM32, UBLOX NEO 6M chip, NRF24L01 chip, GPS antenna and power supply module. Each two receivers can form a differential positioning system. At present, the system in the low-speed status is, in the urban environment, basically reaching within 0.5 - 3 m of the positioning error.

关键词： Position differential positioning Low cost Error correlation GPS STM32

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Performance control System of Dulcimer Music-Playing Robot

Performance Control System of Dulcimer Music-Playing Robot

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Asian control Conference

作者： Ting Fei Xin Chen Chen-Xu Jiang Li Zhou Zhen-Tao Liu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Arts and Communication China University of Geosciences Wuhan China

ISBN: (纸本)9781509015740;9781509015733

Music-playing robots have been gradually applied to art performance, music education and so on. This paper introduces a special robot playing dulcimer, a kind of Chinese traditional musical instrument. With mechanical characteristics taken into accounted, an assignment method of performance task and an inverse kinematics control algorithm of redundant robot manipulators are proposed in this paper. Based on these studies, a performance control system is developed, which can parse a given MIDI file, perform task allocation, and control the dual mechanical arms holding bamboo hammers to strike the strings of dulcimer. The experimental test shows that the performance control system is able to control the dulcimer music-playing robot to complete music performance in real-time in a humanized way.

关键词： Robot kinematics Manipulators Task analysis Kinematics control systems Instruments

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Distributed computation of linear matrix equations: An optimization perspective

arXiv

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arXiv 2017年

作者： Zeng, Xianlin Liang, Shu Hong, Yiguang Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Ministry of Education Beijing100081 China

This paper investigates the distributed computation of the well-known linear matrix equation in the form of AXB = F, with the matrices A, B, X, and F of appropriate dimensions, over multiagent networks from an optimization perspective. In this paper, we consider the standard distributed matrix-information structures, where each agent of the considered multi-agent network has access to one of the sub-block matrices of A, B, and F. To be specific, we first propose different decomposition methods to reformulate the matrix equations in standard structures as distributed constrained optimization problems by introducing substitutional variables;we show that the solutions of the reformulated distributed optimization problems are equivalent to least squares solutions to original matrix equations;and we design distributed continuous-time algorithms for the constrained optimization problems, even by using augmented matrices and a derivative feedback technique. Moreover, we prove the exponential convergence of the algorithms to a least squares solution to the matrix equation for any initial condition. Copyright © 2017, The Authors. All rights reserved.

关键词： Continuous time systems

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Training and testing object detectors with virtual images

arXiv

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arXiv 2017年

作者： Tian, Yonglin Li, Xuan Wang, Kunfeng Wang, Fei-Yue Department of Automation University of Science and Technology of China Hefei230027 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

In the area of computer vision, deep learning has produced a variety of state-of-the-art models that rely on massive labeled data. However, collecting and annotating images from the real world has a great demand for labor and money investments and is usually too passive to build datasets with specific characteristics, such as small area of objects and high occlusion level. Under the framework of Parallel Vision, this paper presents a purposeful way to design artificial scenes and automatically generate virtual images with precise annotations. A virtual dataset named ParallelEye is built, which can be used for several computer vision tasks. Then, by training the DPM (Deformable Parts Model) and Faster R-CNN detectors, we prove that the performance of models can be significantly improved by combining ParallelEye with publicly available real-world datasets during the training phase. In addition, we investigate the potential of testing the trained models from a specific aspect using intentionally designed virtual datasets, in order to discover the flaws of trained models. From the experimental results, we conclude that our virtual dataset is viable to train and test the object detectors. Copyright © 2017, The Authors. All rights reserved.

关键词： Object detection

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Distributed trajectory tracking control for multiple nonholonomic mobile robots

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IFAC-PapersOnLine 2016年第4期49卷 31-36页

作者： Yang, Qingkai Fang, Hao Cao, Ming Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Faculty of Mathematics and Natural Sciences University of Groningen Groningen AG9747 Netherlands

In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots' trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system's complexity and broadening the proposed controller's practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems controllers Distributed parameter control systems Mobile robots Navigation Chained form system Distributed control Distributed controller Distributed tracking Non holonomic mobile robots Tracking controls Trajectory tracking control Variable transformation

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Performance monitoring and parameter optimization of fuzzy controller in combustion process of coke Oven

Performance monitoring and parameter optimization of fuzzy c...

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Asian control Conference

作者： Qi Lei Di Zhu Xu-Zhi Lai Min Wu School of Information Science and Engineering University of Central South University Changsha China School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781509015740;9781509015733

The controller parameters can not perform well in the combustion process of coke oven, caused by the fluctuating calories of fuel gas, the changes of coking time and many other exogenous disturbances. In this paper, an optimal method based on performance monitoring by using the trend extraction method, is raised to adjust the parameters of the controllers in the combustion process of coke oven. Firstly, because of the mixture of different kinds of error, the trend extraction method is used to separate trend component from original signal. Secondly, the monitoring indices are designed to examine whether the monitored controller parameters are suitable in the current situation. Then, the performance monitoring result is utilized to choose the decision vector of optimization and determine whether optimization is needed. Finally, simulation results demonstrate that our method performs well in the optimization for combustion process of coke oven in spite of massive changes in the calories of fuel gas.

关键词： Monitoring Combustion Market research Optimization Process control Ovens Heating systems

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Self adaptation of chimera states

arXiv

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arXiv 2018年

作者： Yao, Nan Huang, Zi-Gang Ren, Hai-Peng Grebogi, Celso Lai, Ying-Cheng Department of Applied Physics Xi’an University of Technology Xi’an710048 China School of Life Science and Technology Xi’an Jiao Tong University Xi’an710049 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an710048 China Institute for Complex Systems and Mathematical Biology King’s College University of Aberdeen AberdeenAB24 3UE United Kingdom School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287 United States Department of Physics Arizona State University TempeAZ85287 United States

Chimera states in spatiotemporal dynamical systems have been investigated in physical, chemical, and biological systems, and have been shown to be robust against random perturbations. How do chimera states achieve their robustness? We uncover a self-adaptation behavior by which, upon a spatially localized perturbation, the coherent component of the chimera state spontaneously drifts to an optimal location as far away from the perturbation as possible, exposing only its incoherent component to the perturbation to minimize the disturbance. A systematic numerical analysis of the evolution of the spatiotemporal pattern of the chimera state towards the optimal stable state reveals an exponential relaxation process independent of the spatial location of the perturbation, implying that its effects can be modeled as restoring and damping forces in a mechanical system and enabling the articulation of a phenomenological model. Not only is the model able to reproduce the numerical results, it can also predict the trajectory of drifting. Our finding is striking as it reveals that, inherently, chimera states possess a kind of "intelligence" in achieving robustness through self adaptation. The behavior can be exploited for controlled generation of chimera states with their coherent component placed in any desired spatial region of the system. Copyright © 2018, The Authors. All rights reserved.

关键词： Dynamical systems

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Two-layer Fuzzy Kernel Regression for Human Emotional Intention Understanding

Two-layer Fuzzy Kernel Regression for Human Emotional Intent...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Luefeng Chen Mengtian Zhou Min Wu Jinhua She Kaoru Hirota School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China School of Engineering Tokyo University of Technology Tokyo Japan Tokyo Institute of Technology Beijing Institute of Technology Yokohama Japan

A two-layer fuzzy kernel regression (TLFKR) model is proposed for understanding human emotional intention in human-robot interaction, where TLFKR model consists of two layers, including fuzzy c-means (FCM) with kernel ridge regression (Kernel 1) for information analysis layer, fuzzy support vector regressions (FSVR) (Kernel 2) for intention understanding layer. TLFKR model represents the weight impact for each emotional information and aims to improve smooth human-robot interaction by endowing robot with human emotional intention understanding capability. Experimental Results show that the proposal obtains an intention understanding accuracy of 65.67%/68.33%/80.67% with the clusters number c=2/3/6 (according to different genders/ages/nationalities), which are 7.34%/7.18%/8.67% and 18.67%/21.33%/33.67% higher than that of TLFSVR and SVR, respectively. Additionally, preliminary application experiments are performed in the developing emotional social robot system, where two mobile robots and volunteers experience a scenario of "drinking at a bar", and social robots are able to express basic emotions and understand human order intention.

关键词： Kernel Robots Training Support vector machines Proposals Information analysis Bars

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On stability of sampled-data extended state observer for networked systems

On stability of sampled-data extended state observer for net...

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Asian control Conference

作者： Yuan Huang Junzheng Wang Dawei Shi Jian Xue State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Harvard John A. Paulson School of Engineering & Applied Sciences Harvard University Cambridge MA USA

ISBN: (纸本)9781509015740;9781509015733

The problem of sampled-data state observation is considered in this work. A nonlinear continuous-time system with internal uncertainty and external disturbance is introduced, for which the sampled-data observation problem based on an extended state observer is formulated. We first introduce the framework of the observed system, in which the output measurement is sampled and transmitted to extended state observer periodically. Then based on this framework, the observation performance of the sampled-data extended state observer (SD-ESO) is investigated. For the observer considered, the uniformly ultimately bounded property has been guaranteed. Furthermore, a co-design method for the sample interval and high gain parameter of SD-ESO is provided to achieve the desired observation performance. The obtained theoretic results are validated through the numerical simulations.

关键词： Observers Uncertainty Networked control systems Convergence Distributed databases Gold Australia

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