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2016 IEEE International Conference on Automation Science and Engineering, CASE 2016

作者： Fan, Qiu Yi, Yang Hao, Li Mengyin, Fu Shunting, Wang School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509024094

A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status for each pixel of images. First, we extract and match sparse image features to estimate ego-motion between two consecutive stereo images, the result of feature points grouping is used to segment moving object in U-disparity map. Second, a Fully Convolutional Neural Network is employed for semantic segmentation. Moreover, semantic cues are utilized to remove pixels have no potential to be moved in motion mask. Finally, we use a fully connected CRF to integrate motion into semantic segmentation. To validate the effectiveness of the proposed algorithm, we present experimental results with KITTI stereo images that contain moving objects. © 2016 IEEE.

关键词： Semantics

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Dynamic Analysis of a New Type of Asymmetrical Parallel Mechanism Based on Lagrange Method

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IOP Conference Series: Materials Science and Engineering 2018年第1期428卷

作者： Quan Li Bin Li Xinhua Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300191 China

In this article, a novel over constrained 2-RRU&RSR parallel manipulator is proposed and analyzed. This mechanism is composed of a moving platform and a base, which connected by two same configuration RRU legs and one RSR leg. The article uses the 2RRU&RSR parallel mechanism that can achieve 2R1T (two rotations and one translational motion) as the object. Based on the known kinematics forward solutions, the dynamics study was carried out. The dynamic model of the parallel mechanism was established using the Lagrange method and then it can be obtained that the dynamic inverse solution. Then ADAMS software was used to build a virtual prototype of this mechanism and the dynamics simulation was performed by using Lagrange method. Under the trend of a certain trajectory, the law of driving torque changes with time, paving the way for subsequent trajectory planning and control.

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Research on Hybrid Scheduling Algorithm Based on CAN bus

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Instrumentation 2017年第2期4卷 22-27页

作者： HAN Shunyuan ZHANG Zhihong HE Hong School of Electrical and Electronic Engineering Tianjin University of TechnologyTianjin Key Laboratory of Complex System Control Theory and Application Transmission and Launch Department Tianjin Radio and TV Station

In view of the problem that the packet information preempted netw ork resources in the process of transmission in the CAN bus,w hich leads to the low utilization of netw ork resources and the low accuracy of information transmission. Thus,a hybrid scheduling algorithm NM TS based on CAN bus is proposed,in the NM TS hybrid scheduling algorithm,the dynamic scheduling algorithm EDF is used to schedule hard real-time messages to solve the problem of low utilization of netw ork resources; the static scheduling algorithm RM S is used to schedule soft real-time messages and non real-time messages,so as to solve the problem of low accuracy of information transmission. By using M ATLAB softw are,the CAN netw ork model can be built,the EDF algorithm,RM S algorithm and NM TS algorithm are simulated. The experimental results show that the netw ork resources utilization is 90%,the packet loss rate is 0% of the NM TS algorithm. Therefore,The hybrid scheduling algorithm based on CAN bus NM TS has the characteristics of high netw ork resource utilization and high accuracy of information transmission,w hich w ill be very helpful for further research of CAN bus.

关键词： RMS EDF NMTS Hybrid Scheduling

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The Forecasting Research on the Model of the Hysteresis Brake based on Elman Multi-Hidden Layers Neural Network Algorithm with the Speed and Directional Factor 35

The Forecasting Research on the Model of the Hysteresis Brak...

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第35届中国控制会议

作者： ZHANG Bo SHEN Wei WANG Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Hysteresis brake,which provides for step-less torque and high speed,is a stable and reliable device used for loading,but with some problems,such as the large time-lag,strong nonlinearity,and difficulty in modeling et *** to the above-mentioned issues,the special working conditions of hysteresis brake developed by our project team and the advantage of the dynamical performance of the Elman Multi-Hidden Layers Neural Network,this paper employs modified neural network algorithm with Elman dynamic recursive structure to accomplish the model of hysteresis brake,and guarantees the accuracy of output loaded *** this algorithm,we introduce the speed,the given and desired torque,and a directivity factor respectively as a disturbance variable and two input vectors of the system,and then train the model and *** numerical results validate the effectiveness of the algorithm proposed.

关键词： Hysteresis brake strong nonlinearity neural network algorithm with Elman dynamic recursive structure

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A Method for Detecting Abnormality of CAN Bus in Vehicle

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Instrumentation 2017年第2期4卷 28-33页

作者： PENG Jing ZHANG Zhihong HE Hong School of Electrical and Electronic Engineering Tianjin University of TechnologyTianjin Key Laboratory of Complex System Control Theory and Application Transmission and Transmission Department Tianjin Radio and Television Station

With the development of intelligent and netw orking technology in automobile,the malicious attacks against in-vehicle CAN netw orks are increasing day by day,and the problem of information safety in automobile is aggravated. In this regard,this paper analyzes the security loopholes and threats w hich the CAN bus faced,put forw ard a kind of anomaly detection algorithm for vehicle CAN bus. The method uses support vector machine algorithm to distinguish betw een normal message and abnormal message,so as to realize the CAN bus anomaly detection. Theoretical and experimental studies show that this method can effectively detect abnormal packets in the CAN bus w ith a detection rate of over 90%,w hich can effectively resist malicious attacks such as tampering and cheating on the vehicle CAN bus.

关键词： Automobile CAN bus Information Security Support Vector Machines Abnormal Detection

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Multi-sensor optimal distributed weighted Kalman filter fusion over unreliable networks 35

Multi-sensor optimal distributed weighted Kalman filter fusi...

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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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Optimal Scheduling of Flexibility Resources Incorporating Dynamic Line Rating

Optimal Scheduling of Flexibility Resources Incorporating Dy...

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IEEE Power and Energy Society General Meeting

作者： Changcheng Song Xiaodong Chu Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan P.R. China

ISBN: (纸本)9781538622131;9781538622124

High penetration of intermittent renewable energy poses stringent flexibility requirement for power systems to mitigate uncertainties. An optimal scheduling model of flexibility resources from the generation and load sides is proposed. Flexibility from the generation side is mainly provided by thermal generators. Electric vehicles (EVs) can be a viable resource of flexibility from the load side. The deliverability of flexibility is constrained by transmission capacity, which can be reinforced by the dynamic line rating (DLR) technology. The proposed optimal scheduling model incorporates DLR to harness the potential of flexibility resources. Simulation results on the IEEE 14-bus test system verify the validity of the proposed model and the effectiveness of DLR in improving the deliverability of flexibility.

关键词： Generators Power systems Optimal scheduling Load modeling Conductors Wind power generation Meteorology

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Pursuit-evasion Games of Multi-players with a Single Faster Player 35

Pursuit-evasion Games of Multi-players with a Single Faster ...

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第35届中国控制会议

作者： WANG Duo PENG Zhihong School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theory of differential games, which helps simplify computation complexity and meet an ideal result. We discuss the situation of one faster pursuer and one evader under some basic assumptions in which the amount of evaders increases by steps in the full visibility case. We apply the task allocation method to simulate the optimal motion track in both fixed sequence capture mode and free sequence capture mode of the pursuer. The optimal motion strategies acquired by differential games theory respond faster than those acquired in traditional ways. We prove all the chase process discussed with differential games by MATLAB simulation.

关键词： differential games pursuit-evasion game optimal strategy capture sequence

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Proposal of Initiative Service Model for Service Robot

Proposal of Initiative Service Model for Service Robot

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第十二届中国智能机器人大会

作者： Man Hao Weihua Cao Min Wu Zhentao Liu Luefeng Chen Ri Zhang School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Service robots are becoming a part of our *** realize friendly human-robot interaction,an initiative service model for service robot is proposed,which is composed of three layers,i.e.,information acquisition layer,in which communication information and environmental information are collected by sensors;decision layer,in which personal intention and emotional states are obtained by multi-modal emotion recognition and intention understanding,and users' demands are obtained by demand analysis model;initiative service execution layer,in which the task execution and emotion adaption of robot are carried *** service can sense motive of people,by which a humanized and real-time service could be *** service experiments are performed,including passive service and initiative service of *** results show that the drinking time of passive service lags behind the initiative service 30 minutes on average,and the initiative service renders drinking service 2 times more than passive service on average,besides,the water quantity provided by initiative service is more reasonable,which demonstrates the feasibility of the *** prospect,initiative service model could be applied to many occasions in our daily life,e.g.,family service,caring for the elderly,and medical rehabilitation.

关键词： service robots service pattern fuzzy production rules emotion recognition intention understanding

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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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