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World Congress on Intelligent control and Automation (WCICA)

作者： Wenguang Zhang Jianqin Mao Yanhua Ma Beijing Key Laboratory of Measurement and Control Technology and System for Industrial Process Control & Computer Engineering School North China Electric Power University Beijing China School of Automation Science and Electrical Engineering Beijing Aeronautics and Astronautics University Beijing China

Aim at the hysteretic nonlinearity characteristic of the giant magnetostrictive actuator in control, an internal model control method based on support vector regression is presented in this paper. Its models are built by support vector regression using the input and output data of the actuator and the internal model control is achieved. The simulation results show the method in this paper has better control precision.

关键词： Support vector machines Actuators Automation Data models Computational modeling Hysteresis Magnetostriction

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Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

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Chinese Physics B 2009年第10期18卷 4222-4228页

作者：温淑焕 Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function （RBF） neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.

关键词： mobile robot collision avoidance hybrid force/position control path planning RBF neural network

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Fast Covariance Matching Based on Genetic Algorithm

Fast Covariance Matching Based on Genetic Algorithm

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International Conference on Wireless Communications, Networking and Mobile Computing (WiCom)

作者： Xuguang Zhang Shuo Hu Limin Zhang Yuanhao Wu Key Laboratory of Industrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University슠 Qinhuangdao China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy and Sciences Changchun China

This paper proposes an effective framework to boost the efficiency of covariance matching. In this framework, covariance matrices are used to match object in complex environment by fusing multiple features. Then, Genetic Algorithm (GA) is employed to improve the processing speed of covariance matching. To take advantage of the property of GA for the optimization in large search spaces to covariance matching, a fitness function is designed using the distances between the covariance matrices of model and candidate regions. Experimental results show that the proposed approach can improve the processing speed of covariance matching observably. The computing speed of the proposed method is at least 7 times than that of exhaustive searching.

关键词： Covariance matrix Gallium Feature extraction Pixel Robustness Genetic algorithms Computational modeling

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The inverse kinematics analysis of the novel 6-DOF parallel mechanism

The inverse kinematics analysis of the novel 6-DOF parallel ...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Hong-Rui Wang Qing-Quan Wang Malikov Alexander Xiu-Ling Liu Bin Dong Laboratory of Electronic and Information Engineering Hebei University Baoding China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University슠 Qinhuangdao China Kazan State Technical University Kazan Russia

In this paper, we present the inverse kinematical of a novel 6-DOF orthogonal parallel mechanism. The displacements Δl i (i = 1,..., 6) of steering gears were deduced from the position and orientation of the moving platform. The desired trajectory was assumed to be more complex nonlinear curves, simulations are performed for the real time trajectory tracking of the mechanism. By using Matlab software, the analysis and simulation of mechanism can be carried out conveniently, and the efficiency of the design can be upgraded. The simulation curves of each displacement were provided and analyzed though simulative research. The results will be used for synthesis of the control law in the form of error feedback, and measurements results of actual movements by means of sensors. The analysis can help to realize the trajectory tracking control fast and accurately.

关键词： Kinematics Trajectory Gears Fasteners Equations Simulation Machine learning

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Optimization schedule for preventing slippage on tandem cold rolling mills based on IAGA

Beijing Keji Daxue Xuebao/Journal of University of Science a...

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Beijing Keji Daxue Xuebao/Journal of University of Science and Technology Beijing 2010年第10期32卷 1360-1365页

作者： Che, Hai-Jun Han, Xin-Yan Yang, Jing-Ming Yang, Zhi-Fen Hebei Key Lab. of Industrial Computer Control Engineering Yanshan University Qinhuangdao 066004 China

To tackle the problem of slippage during the cold rolling process of a tandem mill, a schedule optimization model for preventing slippage was established based on slip factor. Aiming to the shortages of the standard genetic algorithm, such as premature convergence, oscillation and over-randomization, an improved adaptive genetic algorithm was applied to optimize the system. In the algorithm a population-sorted multi-roulette-wheel selection operator was put forward for reducing the selected error generated by roulette-wheel randomization and promoting the probability of selecting better individuals. Simultaneously the algorithm decides the crossover rate and mutation rate of chromosome based on the individual adaptive value in the calculation process, makes the start phase variable obviously and the later phase stable slowly, and ensures population development, seeking balance and entire convergence. Experimental results and actual application show that the schedule optimization model can reduce the slip probability prominently, improve the product quality, and achieve a better economic benefit.

关键词： Cold rolling

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On spectrum allocation algorithm for heterogeneous channels in cognitive radio networks

On spectrum allocation algorithm for heterogeneous channels ...

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作者： Zhao, Bin Ma, Kai Guan, Xinping Institute of Electrical Engineering Key Laboratory of Industrial Computer Control Engineering of Hebei province Yanshan University Qinhuangdao 066004 China School of Electronics Information and Electrical Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9787894631046

Spectrum allocation is one of the most important problems in cognitive radio networks. However, the channel differentiated algorithms have not been emphasized in the current literature. This paper first proposes a classification criterion for heterogeneous channels. Then, an allocation algorithm for the channel classification is provided with the consideration of channel differences and spatial reuse of primary user's channels. Simulation result shows that the proposed algorithm improves the spectrum utilization and other network performance.

关键词： Cognitive radio

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Label-Based DV-Hop Localization Against Wormhole Attacks in Wireless Sensor Networks

Label-Based DV-Hop Localization Against Wormhole Attacks in ...

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International Conference on Networking, Architecture, and Storage (NAS)

作者： Junfeng Wu Honglong Chen Wei Lou Zhibo Wang Zhi Wang Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China State Key Laboratory of Industrial Control Technology University of Zhejiang China Department of Computing Hong Kong Polytechnic University Hong Kong China

Node localization becomes an important issue in the wireless sensor network as its broad applications in environment monitoring, emergency rescue and battlefield surveillance, etc. Basically, the DV-Hop localization mechanism can work well with the assistance of beacon nodes that have the capability of self-positioning. However, if the network is invaded by a wormhole attack, the attacker can tunnel the packets via the wormhole link to cause severe impacts on the DV-Hop localization process. The distance-vector propagation phase during the DV-Hop localization even aggravates the positioning result, compared to the localization schemes without wormhole attacks. In this paper, we analyze the impacts of wormhole attack on DV-Hop localization scheme. Based on the basic DV-Hop localization process, we propose a label-based secure localization scheme to defend against the wormhole attack. Simulation results demonstrate that our proposed secure localization scheme is capable of detecting the wormhole attack and resisting its adverse impacts with a high probability.

关键词： Labeling Wireless sensor networks Bismuth Relays Monitoring Buildings Feature extraction

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Multi-Channel Assignment in Wireless Sensor Networks: A Game Theoretic Approach

Multi-Channel Assignment in Wireless Sensor Networks: A Game...

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2010 Proceedings IEEE INFOCOM

作者： Qing Yu Jiming Chen Yanfei Fan Xuemin (Sherman) Shen Youxian Sun State Key Lab of Industrial Control Technology Zhejiang University Hangzhou 310027 P.R.China Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada

ISBN: (纸本)9781424458363

In this paper, we formulate multi-channel assignment in Wireless Sensor Networks (WSNs) as an optimization problem and show it is NP-hard. We then propose a distributed Game Based Channel Assignment algorithm (GBCA) to solve the problem. GBCA takes into account both the network topology information and transmission routing information. We prove that there exists at least one Nash Equilibrium in the channel assignment game. Furthermore, we analyze the sub-optimality of Nash Equilibrium and the convergence of the Best Response in the game. Simulation results are given to demonstrate that GBCA can reduce interference significantly and achieve satisfactory network performance in terms of delivery ratio, throughput, channel access delay and energy consumption.

关键词： Wireless sensor networks Game theory Routing Interference Protocols Network topology Nash equilibrium Radio transceivers Autonomous agents Sensor phenomena and characterization

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Dynamics Modeling and Robust Trajectory Tracking control for a Class of Hybrid Humanoid Arm Based on Neural Network

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Chinese Journal of Mechanical engineering 2009年第3期22卷 355-363页

作者： WANG Yueling JIN Zhenlin College of Mechanical Engineering Yanshan University Qinhuangdao 066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao 066004 China

In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.

关键词： hybrid humanoid arm dynamic modeling neural network adaptive control trajectory tracking

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Application of virtual instrument in sewage multiparameter online monitoring system

Application of virtual instrument in sewage multiparameter o...

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2009 International Workshop on Intelligent Systems and Applications, ISA 2009

作者： Zang, Huaigang Feng, Simeng Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao China

ISBN: (纸本)9781424438945

Based on the design concept of virtual instrument and the design method of function modulation, using PC machine and data acquisition card as hardware system, proposed a design of sewage multi-parameter online monitoring system which based on application program platform of LabVIEW. The system has friendly human-machine interface, the function is comprehensive and it is easy to operate. It has achieved the sewage multiparameter collecting, recording, controlling and management automatic, and enhanced the automaticity of the sewage collecting and examination. The test indicated that the system worked well, achieved the anticipated target. © 2009 IEEE.

关键词： Sewage

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