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32nd Chinese control Conference, CCC 2013

作者： Grude, Simon Freeland, Matthew Yang, Chenguang Ma, Hongbin School of Computing and Mathematics University of Plymouth Plymouth PL4 8AA United Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

This paper investigates controlling the commercialized Spykee mobile robot, using only brain electroencephalography (EEG) signals transmitted by the Emotiv Epoc Neuro Headset. The Spykee robot is equipped with a wireless communication protocol to control it. Both visualization and motor control methods have been carried out and analyzed in order to control the robot with accuracy. All the fourteen channels on the Emotiv headset have been utilized and the pattern recognition has been done by the echo state network (ESN). Four different actions (moving forward/backward and turning left/right) have been achieved to control the robot reaching an arbitrary target on the floor. © 2013 TCCT, CAA.

关键词： Electroencephalography

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Bowstring-based dual-threshold computation method for adaptive Canny edge detector

Bowstring-based dual-threshold computation method for adapti...

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International Conference on Image and Vision Computing New Zealand, IVCNZ

作者： Xiangdong Liu Yin Yu Bing Liu Zhen Li Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479908813

This paper proposed a novel dual-threshold computation method of Canny edge detector based on gradient magnitude histogram (GMH), targeting with the adaptive acquisition of low-/high-threshold for unimodal hysteresis thresholding. With the introduction of the bowstring concept, which accurately measures the tendency of the GMH on the whole, the dual-threshold computation is implemented by adaptive-searching two tangent points with transitional characteristics. This skillful algorithm of the dual-threshold computation method is further evaluated by using the receiver operating characteristics (ROC) curve evaluation method. The detailed comparison to the Otsu's method is presented and demonstrates the reliability and robust performance of the proposed dual-threshold computation method.

关键词： Image edge detection Detectors Hysteresis Histograms Testing Shape Adaptive systems

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Object Tracking Algorithm of Adaptive Kernel-Bandwidth for Mean-Shift Based on Optical-flows

Object Tracking Algorithm of Adaptive Kernel-Bandwidth for M...

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第三十二届中国控制会议

作者： Qinlong He Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

To obtain and update the kernel-bandwidth,we present an adaptive bandwidth obtainment algorithm based on object contour extraction from optical-flow *** combination of modified mountain cluster approach and fast scanning window contour extractor guarantees the speed of this algorithm.A novel ellipse detection method based on a modified RANSAC is adopted to reduce the *** results demonstrate that the algorithm select the proper size of tracking kernel-bandwidth with minor extra computational overhead and keep up with the object robustly when the scale changed rapidly.

关键词： object tracking mean shift kernel bandwidth mountain cluster RANSAC

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A multi-objective decomposition-based stochastic particle swarm optimization algorithm and its application to optimal design for linear motor

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2013年第6期30卷 693-701页

作者： Wang, Guang-Hui Chen, Jie Cai, Tao Li, Peng School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This article proposes a multi-objective decomposition stochastic particle swarm optimization (MDSPSO) algorithm. In MDSPSO, every particle has a weighted vector constantly. Then, an improved Tchebycheff decomposition method is applied to decompose the multi-objective problem into some single-objective problems. The reference position of every particle is uniformly generated in the zone with the center which is the geometrical center of its current position, the best previous reference position as well as the swarm best reference position. The radius of this zone is the distance from the center to its current position. Then the particle is updated to the new position according to the reference position and its current velocity. The comparisons with the decomposition-based multi-objective particle swarm optimizer (dMOPSO), a multiobjective evolutionary algorithm based on decomposition (MOEA/D), and nondominated sorting genetic algorithm II (NSGA-II) show that the solutions of MDSPSO can be dominated at least with the best diversity. To reduce the computational time by finite element analysis for optimizing the structure parameters of linear motor, artificial neural network is used as the model to evaluate the performance. Finally, MDSPSO is applied to optimize four objectives simultaneously. The practical result is shown that the optimized linear motor has an increased thrust, improved efficiency, reduced fluctuation and manufacturing cost.

关键词： Multiobjective optimization

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Distributed adaptive sliding mode control for attitude tracking of multiple spacecraft

Distributed adaptive sliding mode control for attitude track...

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Chinese control Conference (CCC)

作者： Dapeng Yang Xiangdong Liu Zhongkui Li Yaohua Guo Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing Beijing CN

This paper considers the distributed attitude tracking problem of multiple spacecraft with disturbances and unknown inertia matrices. Based on the relative attitudes and angular velocities of neighboring spacecraft, we design a distributed robust controller to each follower to guarantee that the attitude errors between the followers and the leader converge to zero for any communication graph containing a directed spanning tree with the leader as the root. To deal with the problem of parameters uncertainties, we further propose a distributed adaptive sliding mode controller, under which the system is globally robust with respect to external disturbances and inertia matrices uncertainties.

关键词： Space vehicles Attitude control Robustness Vectors Angular velocity Synchronization Topology

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Data-driven predictive control for networked control systems

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Information Sciences 2013年 235卷 45-54页

作者： Yuanqing Xia Wen Xie Bo Liu Xiaoyun Wang School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper is concerned with the problem of data-driven predictive control for networked control systems (NCSs), which is designed by applying the subspace matrices technique, obtained directly from the input/output data transferred from networks. The networked predictive control consists of the control prediction generator and network delay compensator. The control prediction generator provides a set of future control predictions to make the closed-loop system achieve the desired control performance and the network delay compensator eliminates the effects of the network transmission delay. The effectiveness and superiority of the proposed method is demonstrated in simulation as well as experiment study.

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Fast adaptive robust control of electro-hydraulic servo system

Fast adaptive robust control of electro-hydraulic servo syst...

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Chinese control Conference (CCC)

作者： Yudong He Junzheng Wang Renjian Hao Key laboratory of intelligent control and decision of complex systems Beijing Institute of Technology Beijing Beijing CN

Electro-hydraulic servo systems (EHSSs) have been widely used in industrial and military applications for their high power-to-size ratio and the ability to supply huge force. However, precise control of EHSSs cannot be easily obtained due to their inner nonlinearity and parameter uncertainty. Variable load is another factor to decrease the tracking performance of EHSSs. Indirect adaptive robust control (IARC) was proposed to improve the tracking performance of EHSS, but due to the poor parameter adapting speed, IARC can be further improved to have better performance. Traditional projection type parameter estimation algorithm is redesigned to increase the adapting speed when parameter is changed. A fast adaptive robust control (FARC) is then proposed to speed up the parameter adapting speed, so that a better tracking performance of FARC is maintained. Simulation results show that the proposed FARC gives an improved tracking performance and a faster parameter adaptation.

关键词： Estimation Robust control Servomotors Force Valves Adaptive systems Load modeling

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The algorithm of MIMU/odometer integrated navigation system aided by nonholonomic constraints

The algorithm of MIMU/odometer integrated navigation system ...

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International Conference on Mechatronic Science, Electric Engineering and Computer

作者： Shi Peng Xiao Xuan State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479925667

The navigation precision drops rapidly when MIMU (Micro Inertial Measurement Unit) works alone. Odometer data are easy to get on land vehicle, but the performance of integration system of MIMU/odometer is not enhanced obviously. In this work, a novel method is designed using nonholonomic constraints. When vehicle travels without slide and jump, the velocity in the plane perpendicular to forward direction is zero, as well as acceleration. Taking velocity constraint and acceleration constraint as measurement value, new measurement models are established. Integrated navigation algorithm is designed with the help of Kalman filter. With this method, the position error is 150m after 600s, and heading attitude error is 0.1°, comparing the result that the position error expands to 300m after 150s only aided by odometer.

关键词： Vehicles Acceleration Global Positioning System Velocity measurement Noise Kalman filters

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Space alignment of camera and Millimeter Wave(MMW) radar

Space alignment of camera and Millimeter Wave(MMW) radar

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Chinese control Conference (CCC)

作者： Lu Jin Meng Yin Fu Yi Yang Hao Zhu Key Laboratory of Intelligent Control and Decision of Complex Systems of School of Automation Beijing Institute of Technology 100081 China

The information fusion of vision sensor and Millimeter Wave(MMW) radar can enhance the adaptability of the Unmanned Ground Vehicle(UGV) to the complex environment. Space alignment is the basic step of information fusion. Based on the alignment problems camera and MMW radar has existed, firstly, according to the max velocity of UGV and the different attention on the close and far object, the calibration distance is determined and divided; then, a space alignment method is presented through the corresponding space point sets in image pixel coordinate of camera and polar coordinate of MMW radar. the results are verified through the experiment and the error is also analyzed.

关键词： Spaceborne radar Millimeter wave radar Radar imaging Cameras Electronic mail

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Distortion correction method in the high-precision and high-speed CCD measurement system

Distortion correction method in the high-precision and high-...

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Chinese control Conference (CCC)

作者： Jing Li Junzheng Wang Renjian Hao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

In the high-precision and high-speed measurement system, the distortion of CCD pixes will give a greater margin of error to measurement results. According to the characteristic of noise leading to the image distortion, this article establishes the image transformation model. Data fitting based method is used for correcting image distortion. For the distortion caused by camera installation, the perspective transformation is used to correcting the image. And then the four points calibration method is adopted to calibrating the measurement system. Experiments adopt the high speed area array CCD to gather images with the circular facula in the target area launched by the laser, and calculate the real position of the facula in the target area, adopt the high accurate displacement sensor to give the true displacement of the target which is used to verify the real position of the facula in the target area. The results show that the algorithm can reduce the influence of image distortion, which advances the measurement accuracy efficiently.

关键词： Charge coupled devices Distortion measurement Optical distortion Cameras Measurement uncertainty Calibration Real-time systems

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