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International Conference on Geoinformatics

作者： Qiangrong Yang Meiling Wang Mei-po Kwan Yi Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing China School of Automation Beijing institute of Technology Beijing China Department of Geography and Geographic Information Science University of Illinois at Urbana Champaign Champaign IL USA

ISBN: (纸本)9781467376648

Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.

关键词： Navigation Vehicles Robots

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On the Degree of Synchrony

On the Degree of Synchrony

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IEEE Annual Conference on Decision and control

作者： Haibin Shao Yugeng Xi Mehran Mesbahi Department of Automation and the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Department of Aeronautics and Astronautics University of Washington Seattle WA 98195-2400 USA

ISBN: (纸本)9781479978878

In this paper, we introduce a measure quantifying the degree of synchrony for consensus networks in terms of the angle between the network state vector and the agreement subspace of R~n. The desynchronization of a consensus network is then examined by adopting a simple two-stubborn-input strategy, through which the network synchrony can be alleviated when the inputs are symmetric with respect to the origin. In particular, for tree graphs, we show that the proposed measure of synchrony is characterized by the so-called backbone path and can be computed efficiently by examining graph-theoretic properties of the network.

关键词： Synchronization Linearity Context Extraterrestrial measurements Oscillators Vehicle dynamics

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Wei Li Junfei Qiao Xiao-Jun Zeng College of Electronic Information and Control Engineering Beijing University of Technology Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China School of Computer Science University of Manchester Manchester U.K

ISBN: (纸本)9781467376839

This paper provides a complete solution for the problem how to accurately compute the similarity between fuzzy sets with Gaussian membership functions, which is a fundamental issue for the identification and simplification of FNNs. It is shown that there are three different types of similarities between a pair of Gaussian membership functions dependent on the relative positioning between the given pair of membership functions, and the accurate and detailed computing formulas are given in each type. A simulation example is given to compare the proposed accurate similarity analysis method with the existing approximation approaches and to show how much more accuracy can be obtained than the approximation one in terms of absolute percentage approximation error.

关键词： Fuzzy sets Fuzzy neural networks Shape Computational modeling Bismuth Knowledge discovery

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Environment exploration and recognition for mobile robot using immune algorithm and objectness measure

Environment exploration and recognition for mobile robot usi...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbin Qu Songmin Jia Xue Zhao College of Electronic Information & Control Engineering Beijing University of Technology Beijing China Engineering Research Center of Digital Community Ministry of Education Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (纸本)9781479970995

In order to complete a service task more efficiently, robot needs to create a map quickly and recognize objects during this process. In this paper, a novel mapping method is proposed to address this problem. Firstly, Admissible Space Tree is generated to acquire possible node. Then, immune algorithm is applied for its advantages such as diversity, dynamic, parallel management and self-adaptation. And antibody affinity is constructed to select optimal path. Meanwhile, robot recognizes key objects on its way to get the semantic information. To achieve this purpose, normed gradients feature has been extracted to describe the object windows. It is based on just a few training images and also has the ability to learn incrementally. Subsequently, three support vector machines are respectively used for objectness estimation and object types detection. Experimental results demonstrate that the presented method can build a semantic map more efficient, which verifies the feasibility of proposed algorithm.

关键词： Immune system Support vector machines Semantics Robot sensing systems Algorithm design and analysis Object recognition

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An ADRC Based Multiple Activated Anti-windup Design

An ADRC Based Multiple Activated Anti-windup Design

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第三十四届中国控制会议

作者： Xiongjun Wu Kun Cai Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China The 802 Institute of Shanghai Academy of Space Flight Technology The Eighth Academy of China Aerospace Science and Technology Corporation

ISBN: (纸本)9781467374439

A multiple activated anti-windup compensated algorithm for Active Disturbance Rejection control(ADRC) mechanism is proposed in this paper. This paradigm extends the multi-activated anti-windup scheme to the active disturbance rejection mechanism, to deal with the input saturation nonlinearity and meanwhile reject the disturbance automatically by using Extended State Observer(ESO). The output of anti-windup compensator is treated as a part of unknown disturbances and is introduced into the ESO, which can online observe both internal and external disturbances(parameter uncertainties and model mismatches). The controller input is yielded by using a nonlinear feedback combination, and it is used to compensate the integrator windup caused by the saturation nonlinearity element. On the other hand, in order to determine the parameters of the ESO and the anti-windup compensator feedback gain, the L2 gain design method is considered. The effectiveness and the robustness against model and parameter uncertainties of the proposed method is verified by an example of the seeker platform.

关键词： Actuator saturation,Anti-windup design,Active disturbance rejection,Extended State Observer(ESO),Tracking Differentiator

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Solving online for time-varying pth root via ZD from real domain to complex domain

Solving online for time-varying pth root via ZD from real do...

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International Conference on information Science and Technology (ICIST)

作者： Yunong Zhang Deyang Zhang Zhengli Xiao Hongzhou Tan Zhen Li Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

In this paper, continuous-time Zhang dynamics (CTZD) models and discrete-time Zhang dynamics (DTZD) models are proposed to solve in real time for the time-varying pth root, from real domain to complex domain. In addition, the convergence properties of the proposed Zhang dynamics (ZD) models are discussed and proved. Furthermore, exploiting different parameters in the proposed ZD models is investigated in order to achieve superior convergence and better accuracy. Computer-simulation and experiment results further substantiate the efficacy of the proposed ZD models. Moreover, the superiority of DTZD models is verified by comparing with Newton-Raphson iteration (NRI).

关键词： Computational modeling Polynomials Force Lead Convergence Logic gates

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Applying system Thinking to Learn from Accident of Modern Automatic control systems

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Chinese Journal of Electronics 2014年第2期23卷 409-414页

作者： NIU Ru CAO Yuan GE Xiaocheng TANG Tao State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University School of Electronics and Information Engineering National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University Department of Computer Science University of York

Modern societies increasingly rely on automatic control systems. These systems are hardly pure technical systems; instead they are complex socio-technical systems, which consist of technical elements and social components. It is necessary to have a systematic approach to analyze these systems because it is growing evidence that accidents from these systems usually have complex causal factors which form an interconnected network of events,rather than a simple cause-effect chain. We take railway Train control systems(TCS) as an example to demonstrate the importance of the socio-technical approach to analyze the system. The paper presents an investigation of recent high-speed railway accident by applying STAMP – one of the most notable socio-technical system analysis techniques, outlines improvements to the system which could avoid similar accidents in the future. We also provide our valuable feedback for the use of STAMP.

关键词： Socio-technical automatic system Railway safety Accident analysis systems theoretic accident model and processes(STAMP)

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ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more

ZG control for 2-output tracking of 3-input nonlinear system...

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International Conference on information and Automation (ICIA)

作者： Yunong Zhang Ming Liu Yinyan Zhang Zeqi Chen Hongzhou Tan Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

ISBN: (纸本)9781467391054

In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable for each GD design formula instead of being traditionally assigned the same value, which is the key point in this research for making simulations successful. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method achieves not only satisfactory tracking accuracy but also rapid tracking rate.

关键词： Trajectory Nonlinear systems MIMO Accuracy Automation Linear systems

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Self-triggered Based Semi-global Consensus Tracking of Multi-agent systems with Input Saturation

Self-triggered Based Semi-global Consensus Tracking of Multi...

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第三十四届中国控制会议

作者： Xiaoling Wang Housheng Su Jiwei Li Xiaofan Wang Department of Automation Shanghai Jiaotong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 P. R. China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 P. R. China

ISBN: (纸本)9781467374439

Self-triggered control is a technique which can determine the next sampling instant by virtue of the last sampling information. Combining this technique and the low-gain feedback one, we investigate the consensus tracking of general linear multi-agent systems with input saturation and updating delays in this paper. Specific formulations of heterogenous updating delays and heterogenous sampling periods are acquired to guarantee the semi-global consensus tracking of multi-agent systems. Numerical simulations are provided to verify the main results.

关键词： Multi-agent systems Consensus Tracking Self-triggered Technique Input Saturation Low-gain Feedback Multi-agent systems sampling time tracking

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TEXTINSIGHT: A NEW TEXT VISUALIZATION system BASED ON ENTROPY AND GMAP

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Journal of Electronics(China) 2014年第5期31卷 453-464页

作者： Zhang Yuanben Huang Yu Fu Kun Song Jun Qi Xiang Key Laboratory of Spatial Information Process and Applied System Technology Chinese Academy of Sciences Institute of Electronics Chinese Academy of Sciences University of Chinese Academy of Sciences

In recent years, text visualization has been widely acknowledged as an effective approach for understanding the structure and patterns hidden in complicated textual information. In this paper, we propose a new visualization system called TextInsight with two of our contributions. Firstly, a textual entropy theory is introduced to encode the semantic importance distribution in the corpus. Based on the proposed multidimensional joint probability histogram in vector fields, the improved algorithm provides a novel way to position valuable information in massive short texts accurately. Secondly, a map-like metaphor is generated to visualize the textual topics and their relationships. For the problem of over-segmentation in the layout and clustering procedure, we propose an optimization algorithm combining Affinity Propagation(AP) and MultiDimensional Scaling(MDS), and the improved geographical representation is more comprehensible and aesthetically appealing. Our experimental results and initial user feedback suggest that this system is effective in aiding text analysis.

关键词： Text visualization Text mining information visualization Textual entropy GMap Affinity Propagation(AP)

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