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第35届中国控制会议

作者： Dandi Chen Siyu Xia Yuan Zhou Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Computer Science and Engineering Department University of Connecticut

ISBN: (纸本)9781509009107

Pedestrian detection has been the key point of several hot research fields,including intelligent surveillance,driving assistance,intelligent robot,*** to pedestrian appearance,multi-pose,angle of view,environment and other factors,the existing pedestrian detection algorithms still have some unsolved technical *** this paper,we focus on contour *** on traditional feature descriptors and feature selection methods,we proposed a novel oriented Chamfer distance(OCD) feature to describe pedestrian *** improves anti-interference ability of image noise using Bag of Words(BOW)model and image multi-scale ***,we conducted experimental comparisons using scale-invariant feature transform(SIFT),histogram of oriented gradient(HOG),speeded up robust feature(SURF) and OCD feature in feature extraction and parameter optimization,in Boosting and support vector machine(SVM) classification *** results demonstrate that the proposed OCD feature has great discriminant ability of pedestrian contours.

关键词： Pedestrian detection Contour feature Oriented Chamfer distance feature Support vector machine Boosting

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Realization of biped robot gait planning based on NAO robot development platform

Realization of biped robot gait planning based on NAO robot ...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Dandan Wang Chao Chen Jigang Tong Complex system control theory and application key laboratory School of Electrical Engineering Tianjin University of Technology (TJUT)

ISBN: (纸本)9781509023974

In this paper, the research object is NAO robot, and for the instability problem of motion of biped robot, the NAO robot deep development platform is set up, the prototype and simulator are controlled real-time and the data is collected by using the control platform, So many experiments are completed by the development platform, to improve the stability of the simulator and the prototype. The theoretical value are obtained by the variable length inverted pendulum model, and through the comparison of theoretical and actual value of the joints angle sequence, the validity of method is verified. Firstly, the walking process of robot is analysed, the variable length inverted pendulum model is built;Then combined with the geometric constraints method, according to the NAO robot lower leg intrinsic parameters and experiments parameters, the motion trajectories of centroid and joints angle sequence are obtained respectively by using the kinematics, inverse kinematics and smooth function fitting method;Finally, obtained the joint angle sequence is the premise, in this paper, the stable gait walking is realized respectively on the simulator and NAO robot prototype based on the development platform, compared to the joints angle sequence trajectories of the actual waking and the theory calculation, the validity of the above research is verified.

关键词： NAO biped robot deep development platform inverted pendulum model geometric constraint method joint angle sequence

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An EOG Signals Recognition Method Based on Improved Threshold Dual Tree complex Wavelet Transform

An EOG Signals Recognition Method Based on Improved Threshol...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Changhai Li Chao Chen Complex system control theory and application key laboratory School of Electrical Engineering Tianjin University of Technology (TJUT)

ISBN: (纸本)9781509023974

Human Machine Interface (HMI) system can effectively detect Electrooculogram (EOG) signals of eye movements, extract intension of users, and convert them into control commands of computer or rehabilitation aid devices. Thus, HMI system is easily accepted by the majority of persons with disabilities. Discrete Wavelet Transform (DWT) method was mainly used in feature extraction of EOG signals, but Traditional DWT method was always suffered from severe frequency aliasing and poor shift invariant. In this paper, Dual-tree complex Wavelet Transform (DTCWT) with a novel threshold calculation method was proposed for feature selection of EOG signals. To verify the proposed method, The EOG signal was collected from 5 normal subjects in the laboratory, and featured selected. Then, Support Vector Machine (SVM) was applied for classification. The average correct detection rate of proposed method was 96.11%, which was higher than Traditional DWT method. These results demonstrate that the DTCWT-SVM algorithm provides high classification accuracy, and suitable for clinical medicine field.

关键词： Human Machine Interface (HMI) Electrooculogram (EOG) Discrete Wavelet Transform (DWT) Dual-tree complex Wavelet Transform (DTCWT) Threshold Support Vector Machine (SVM)

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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

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Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

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2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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Pole placement for discrete-time systems via multiple parametric Lyapunov equations

Pole placement for discrete-time systems via multiple parame...

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International Workshop on Variable Structure systems, VSS

作者： Qingling Wang Yuanda Wang School of Automation Southeast University Nanjing China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China

This paper investigates the pole placement problem of discrete-time systems. To retain the advantages of the parametric discrete-time Lyapunov equation, matrix-partitioning idea is used to derive a new pole shift lemma. Starting from system matrix transformations, a recursive method that shifts every eigenvalue of a discrete-time system separately without mode decomposition in each step is proposed. Compared with existing methods, this one not only leads to analytical solutions to feedback gains but also may need low computation cost on flexible pole placement. As an application, the semiglobal stabilization with guaranteed flexible pole placement for saturated discrete-time systems is achieved using this method.

关键词： Linear systems Symmetric matrices Eigenvalues and eigenfunctions Design methodology Discrete-time systems control systems complex systems

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A robust traffic driver face detection method

A robust traffic driver face detection method

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IEEE International Conference on Progress in Informatics and Computing (PIC)

作者： Dechao Luo Xiaobo Lu Changhui Hu Xiang Peng Wei Wang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781509034857

Face detection technology is a hot topic in the past recent years. It has been maturely applied to many practical areas. However, the driver face detection is still an open problem to solve. In this paper, we proposed an improved method to promote the face detection rate and apply it to the images from the monitoring videos. The first step is to detect the car from the images according to an off-line learning method. Then the method based on additional off-line learning method is the front level for skin color feature in order to correctly detect the driver face. The proposed systems are implemented on the various complicated road environment. The results show that the proposed method improves the efficiency of the driver face detection and is of strong robustness on having glasses, driver head rotation, and lighting change.

关键词： Skin Color Face detection Feature extraction Automobiles Face

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A two-column convolutional neural network for facial point detection

A two-column convolutional neural network for facial point d...

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IEEE International Conference on Progress in Informatics and Computing (PIC)

作者： Wei Wang Xiaobo Lu Jiaji Song Cong Chen School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781509034857

This paper proposes a two-column convolutional neural network algorithm for face point detection, which proves better performance than single-column. Because of the deep level structure, global texture features are extracted at higher layers of the network, and the results of keypoint location remains high accuracy. In the first column, we take the R, G, B channel component of original image as input to train the neural network respectively and calculate the average location results. In the second one, we use Sobel operator to extract first-order derivative feature of original image and regard it as the input to train another convolutional network. The location results of two columns above are fused with appropriate proportion to ensure better results. Experimental result on LEW dataset shows the performance of the proposed parallel structure better than single convolutional network, and it stays robust due to occlusions, large pose variations and extreme lighting.

关键词： Neural networks

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Attitude Calculating for a New Strap-down Inertial Navigation system Based on Angular Accelerometers

Attitude Calculating for a New Strap-down Inertial Navigatio...

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IEEE International Conference on Information and Automation

作者： Meiling Wang Xin Zheng Tong Liu Tonglei Wang Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Institute of Automatic Control Equipment Beijing China

ISBN: (纸本)9781509041039

This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this new structure of GFINS, a new mathematical model is developed to determine the general three-dimensional motion of body segments. The mathematical model is mainly based on the direction cosine matrix. A second-order differential equation which is represented by angular acceleration should be calculated to solve this problem using the fourth order Runge-Kutta method combining with the interpolation method. Furthermore, the final result of this approach is shown by applying the mathematical model to some simulation data generated by the trajectory generator. The simulation results indicate that the mathematical model has a good performance.

关键词： angular accelerometer attitude updating direction cosine matrix GFINS

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Riddling: Chimera's dilemma

arXiv

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arXiv 2018年

作者： Santos, V. Szezech, J.D. Batista, A.M. Iarosz, K.C. Baptista, M.S. Ren, H.P. Grebogi, C. Viana, R.L. Caldas, I.L. Maistrenko, Y.L. Kurths, J. Graduate in Science Program State University of Ponta Grossa Ponta Grossa Paraná84030-900 Brazil Department of Mathematics and Statistics State University of Ponta Grossa Ponta Grossa Paraná84030-900 Brazil Potsdam Institute for Climate Impact Research Potsdam Brandenburg14473 Germany Institute of Physics University of São Paulo São Paulo05508-900 Brazil Department of Physics Humboldt University Berlin Brandenburg12489 Germany Institute for Complex Systems and Mathematical Biology SUPA University of Aberdeen Aberdeen ScotlandAB24 3UE United Kingdom Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian University of Technology Xi'an710048 China Xian Technological University Xi'an710021 China Department of Physics Federal University of Paraná Curitiba Paraná80060-000 Brazil Institute of Mathematics Centre for Medical and Biotechnical Research National Academy of Sciences of Ukraine Tereshchenkivska St. 3 Kyiv01030 Ukraine

We investigate the basin of attraction properties and its boundaries for chimera states in a circulant network of Hénon maps. It is known that coexisting basins of attraction lead to a hysteretic behaviour in the diagrams of the density of states as a function of a varying parameter. Chimera states, for which coherent and incoherent domains occur simultaneously, emerge as a consequence of the coexistence of basin of attractions for each state. Consequently, the distribution of chimera states can remain invariant by a parameter change, as well as it can suffer subtle changes when one of the basins ceases to exist. A similar phenomenon is observed when perturbations are applied in the initial conditions. By means of the uncertainty exponent, we characterise the basin boundaries between the coherent and chimera states, and between the incoherent and chimera states, respectively. This way, we show that the density of chimera states can be not only moderately sensitive but also highly sensitive to initial conditions. This chimera's dilemma is a consequence of the fractal and riddled nature of the basins boundaries. Coupled dynamical systems have been used to describe the behaviour of real complex systems, such as power grids, neuronal networks, economics, and chemical reactions. Furthermore, these systems can exhibit various kinds of interesting nonlinear dynamics, e.g. synchronisation, chaotic oscillations, and chimera states. The chimera state is a spatio-temporal pattern characterised by the coexistence of coherent and incoherent dynamics. It has been observed in a great variety of systems, ranging from theoretical and experimental arrays of oscillators, to in phenomena such as the unihemispheric sleep of cetaceans. We study the chimera state in a circulant network of Hénon maps, seeking to determine how the density of states in the network depends on the system parameters and the initial conditions. We have found that, as expected, the density of states might be inva

关键词： Neurons

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