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Analysis of router algorithms of tactical UAV group Ad hoc network router

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2010年第SUPPL. 1期30卷 161-164页

作者： Chen, Wen-Jie Dou, Li-Hua Li, Yu-Jin School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

In this paper an Ad hoc networks are established for the communication among unmanned air vehicle (UAV) group corporation. It is brought out that reference point group mobility model (RPGM) could simulate the behavior of UAV group to analyze the efficiency of router algorithms as to the movement of UAV node. The result shows that the Ad hoc networks can solve the communication problem of UAV group, and also find out that the ADOV algorithm has data large throughout and more adaptive to the variation of topology, the DSR has a lighter routing load. The efficiency of router algorithm also changes as to the node speed. As a result the routing algorithm should be chosen according to the different tactical mission of UAV group, and the designs of corporation method should consider the changing of network efficiency as to node moving speed.

关键词： Unmanned aerial vehicles (UAV)

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Moving object detection in framework of compressive sampling

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Chinese Journal of systems Engineering and Electronics 2010年第5期000卷

作者： Jing Li Junzheng Wang Wei Shen Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Beijing 100081 P. R. China

Compressive sensing is a revolutionary idea proposed recently to achieve much lower sampling rate for signals. In the image application with limited resources the camera data can be stored and processed in compressed form. An algorithm for moving object and region detection in video using a compressive sampling is developed. The algorithm estimates motion information of the moving object and regions in the video from the compressive measurements of the current image and background *** algorithm does not perform inverse compressive operation to obtain the actual pixels of the current image nor the estimated background. This leads to a computationally efficient method and a system compared with the existing motion estimation *** experimental results show that the sampling rate can reduce to 25% without sacrificing performance.

关键词： compressive sampling compressive measurements moving object detection

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Fringe image processing based on structured light series

Fringe image processing based on structured light series

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2009 International Conference on Optical Instruments and Technology, OIT 2009

作者： Gai, Shaoyan Da, Feipeng Li, Hongyan Key Laboratory of Measurement and Control for Complex System Ministry of Education Southeast University Nanjing Jiangsu 210096 China Research Institute of Automation Southeast University Nanjing Jiangsu 210096 China

ISBN: (纸本)9780819478993

The code analysis of the fringe image is playing a vital role in the data acquisition of structured light systems, which affects precision, computational speed and reliability of the measurement processing. According to the self-normalizing characteristic, a fringe image processing method based on structured light is proposed. In this method, a series of projective patterns is used when detecting the fringe order of the image pixels. The structured light system geometry is presented, which consist of a white light projector and a digital camera, the former projects sinusoidal fringe patterns upon the object, and the latter acquires the fringe patterns that are deformed by the object's shape. Then the binary images with distinct white and black strips can be obtained and the ability to resist image noise is improved greatly. The proposed method can be implemented easily and applied for profile measurement based on special binary code in a wide field. © 2009 SPIE.

关键词： Data acquisition

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Statistical learning makes the hybridization of particle swarm and differential evolution more efficient-A novel hybrid optimizer

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Science in China(Series F) 2009年第7期52卷 1278-1282页

作者： CHEN Jie1,2,XIN Bin1,2,PENG ZhiHong1,2 & PAN Feng1,2 1 School of Automatic control,Beijing Institute of Technology,Beijing 100081,China 2 key laboratory of complex system Intelligent control and Decision,Ministry of Education,Beijing 100081,China 1. School of Automatic Control Beijing Institute of Technology Beijing 100081 China 2. Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This brief paper reports a hybrid algorithm we developed recently to solve the global optimization problems of multimodal functions, by combining the advantages of two powerful population-based metaheuristics differential evolution （DE） and particle swarm optimization （PSO）. In the hybrid denoted by DEPSO, each individual in one generation chooses its evolution method, DE or PSO, in a statistical learning way. The choice depends on the relative success ratio of the two methods in a previous learning period. The proposed DEPSO is compared with its PSO and DE parents, two advanced DE variants one of which is suggested by the originators of DE, two advanced PSO variants one of which is acknowledged as a recent standard by PSO community, and also a previous DEPSO. Benchmark tests demonstrate that the DEPSO is more competent for the global optimization of multimodal functions due to its high optimization quality.

关键词： global optimization statistical learning differential evolution particle swarm optimization hybridization multimodal functions

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Novel dimension reduction method of gabor feature and its application to face recognition

Novel dimension reduction method of gabor feature and its ap...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Xiaodong, Li Shumin, Fei Tao, Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South-East University Nanjing China

ISBN: (纸本)9781424441310

In order to improve the face recognition performance using Gabor wavelet, a multi-channel dimension reduction scheme (MDRS) employing PCA algorithm is proposed. In addition, the selection of scales and orientations in Gabor transformation is investigated. Different from existing dimension reduction methods which employed ensemble dimension reduction scheme (EDRS), in MDRS model, PCA algorithm is performed on total convolution results related to a certain Gabor filter to get feature vector whose dimensions are reduced. The process is repeated according to the number of other different Gabor filters. So a given face image sample has the same number of feature vectors as that of Gabor filters, and the final augmented feature vector could be derived by concatenating all these feature vectors. The experiment results in the popular face databases such as YALE and FERET demonstrate not only that the proposed method is effective but also that the traditional selection of scale and orientation is not optimal. ©2009 IEEE.

关键词： Face recognition

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Evolutionary decision-makings for the dynamic weapon-target assignment problem

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Science in China(Series F) 2009年第11期52卷 2006-2018页

作者： CHEN Jie1,2, XIN Bin1,2, PENG ZhiHong1,2, DOU LiHua1,2 & ZHANG Juan1,2 1 School of Automation, Beijing Institute of Technology, Beijing 100081, China 2 key laboratory of complex system Intelligent control and Decision, Ministry of Education, Beijing 100081, China 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

The dynamic weapon-target assignment （DWTA） problem is an important issue in the field of military command and control. An asset-based DWTA optimization model was proposed with four kinds of constraints considered, including capability constraints, strategy constraints, resource constraints and engagement feasibility constraints. A general ＂virtual＂ representation of decisions was presented to facilitate the generation of feasible decisions. The representation is in essence the permutation of all assignment pairs. A construction procedure converts the permutations into real feasible decisions. In order to solve this problem, three evolutionary decision-making algorithms, including a genetic algorithm and two memetic algorithms, were developed. Experimental results show that the memetic algorithm based on greedy local search can generate obviously better DWTA decisions, especially for large-scale problems, than the genetic algorithm and the memetic algorithm based on steepest local search.

关键词： decision-making dynamic weapon-target assignment （DWTA） military command and control evolutionary computation memetic algorithms constraints handling

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Combined complete coverage path planning for autonomous mobile robot in indoor environment

Combined complete coverage path planning for autonomous mobi...

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2009 7th Asian control Conference, ASCC 2009

作者： Yutian, Mao Lihua, Dou Jie, Chen Hao, Fang Haiqiang, Zhang Hu, Cao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9788995605691

Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method. ©2009 ACA.

关键词： DC motors

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Adaptive control for a class of discrete-time time-delay systems with regard to delay parameter

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Journal of systems Engineering and Electronics 2009年第1期20卷 159-167页

作者： Chai Lin Cheng Ming Fei Shumin Zhai Junyong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast Univ. Nanjing 210096 P. R. China School of eleetrics Southeast Univ. Nanjing 210096 P. R. China

The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our designed adaptive control law, the unknown time-delay parameter is included in memory state feedback controller. Using LMI technique, delay-dependent sufficient conditions for the existence of the feedback controller are obtained. Finally, the effectiveness of the proposed design method is demonstrated by a numerical example.

关键词： discrete-time time-delay systems adaptive control linear matrix inequality.

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Study of sliding-mode control based grid-side PWM rectifier for wind power generation system under unbalanced input voltage condition

Study of sliding-mode control based grid-side PWM rectifier ...

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2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009

作者： Zhang, Jianhua Li, Xiaojun Hou, Guolian An, Xuemin Beijing Key Laboratory of Industrial Process Measurement and Control New Technology and System North China Electric Power University Beijing China

ISBN: (纸本)9781424428007

A sliding mode control scheme is presented in αβ frame for grid-side PWM rectifiers in wind power generation systems. The positive and negative sequence voltages are needed to design the controller, nevertheless, the positive and negative sequence currents are not needed. This scheme is compared with the dual current control scheme in the rotating frame d-q. The simulation results show that sliding mode control scheme can realize unit power factor operation when the amplitude is unbalanced. © 2009 IEEE.

关键词： Sliding mode control

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Sliding angle reconstruction and robust lateral control of autonomous vehicles in presence of lateral disturbance

Sliding angle reconstruction and robust lateral control of a...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2009

作者： Hao, Fang Lihua, Dou Jie, Chen Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 Beijing China

ISBN: (纸本)9781424438044

In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire sliding angles. Since the tire sliding angles cannot be directly measured by sensors, an adaptive robust Luenberger observer is designed. With this observer, the tire cornering stiffness instead of the sliding angles is identified in presence of time-varying lateral disturbance. The Lyapunov stability theory guarantees that the estimated cornering stiffness would converge to a neighborhood of the real value when control inputs excitated the system persistently. But due to the existence of the lateral disturbance which causes loss of accuracy of the sliding angle reconstruction, the previously designed anti-sliding controller whose effectiveness completely depends on the estimation of the sliding angles cannot yield satisfactory results. To overcome this problem a tire-oriented kinematic model is built in which the inaccuracy of the sliding angle reconstruction is modeled in form of additive disturbances to the kinematic model. By transforming the tire-oriented kinematic model into a perturbed chained system, a sliding mode controller, which is robust to both the sliding effects and the negative effects of the lateral disturbance is designed with the help of the natural algebraic structure of the chained systems. Simulation results show that the proposed methods can provide accurate estimation of the sliding angles and guarantee high anti-sliding control accuracy even in presence of time-varying lateral disturbance. © 2009 IEEE.

关键词： Tires

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