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IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

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Optimal guidance law for cooperative attack of multiple missiles based on optimal control theory

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International Journal of control 2012年第8期85卷 1063页

作者： Sun, Xiao Xia, Yuanqing [a] School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This article considers the problem of optimal guidance laws for cooperative attack of multiple missiles based on the optimal control theory. New guidance laws are presented such that multiple missiles attack a single ... 详细信息

关键词： optimal guidance law optimal control theory hamiltonian many-to-one guidance

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Robust fault detection of linear systems over networks with bounded packet loss

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Journal of the Franklin Institute 2012年第7期349卷 2480-2499页

作者： Bo Liu Yuanqing Xia Yi Yang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This paper is devoted to the fault detection of linear systems over networks with bounded packet loss . The inputs and the measurements of the monitored system are transmitted to a fault detection node over an unreliable network with bounded packet loss. The packet loss process is assumed to be arbitrary or Markovian in this paper. Due to the bounded packet loss process, the monitored system is modeled as a switched system by re-sampling it at each time instant when the measurements arrive at the fault detection node. A fault detection filter for this switched system is designed in this paper to satisfy some performance constraints. The filter updates only at the time instant when new measurements arrive at the fault detection node and the input data packets' lost are considered as external disturbances . Finally, the numerical example and simulations have demonstrated the usefulness of the proposed method.

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Centralised fusion over unreliable networks

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International Journal of control 2012年第4期85卷 409-418页

作者： Xia, Yuanqing Yan, Liping Fu, Mengyin Zhu, Cui School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This article considers a centralised data fusion system, in which the measurements of the local sensors are time-stamped, and then transmitted through the network to the fusion centre. The system will suffer measurements delay or loss due to the unreliability of the network. Based on the Kalman filter and information filter in a single channel, a centralised data fusion algorithm with buffers is proposed to solve this problem. A probabilistic metric to evaluate the performance of the system is presented. Simulation results show the effectiveness of the proposed method.

关键词： networked data fusion centralised Kalman filter network delay stability

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Decentralized Valley-fill Charging control of Large-population Plug-in Electric Vehicles

Decentralized Valley-fill Charging Control of Large-populati...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongjing Ma School of Automation Beijing Institute of Technology (BIT) and the Key Laboratory of Complex System Intelligent Control and Decision (BIT) Ministry of Education

Optimal charging control of large-population autonomous plug-in electric vehicles (PEVs) in power grid can be formulated as a class of constrained non-linear timevariant optimization problems. To overcome the computational complexity of this class of optimization problems, the author and his collaborators proposed a game-based decentralized control method such that individual agents update their best charging strategies simultaneously with respect to a common electricity price signal which is determined by the total demand in the grid. Due to the heterogeneity of individual PEVs, the game systems converge to a nearly valley-fill NE strategy with nontrivial deviation costs due to the heterogeneity property of individual PEV charging characteristics. In this paper the author proposed a novel algorithm to implement the optimal decentralized valley fill strategies for the charging problems of the PEV population which is composed of disjoint homogeneous subpopulations. The author introduces a cost which penalizes against the deviation of strategy of individual agent in a subpopulation from the average value of the subpopulation. It can be shown that in case that the update algorithm converges, the system reaches the optimal valley-fill equilibrium strategy where the introduced agent deviation cost vanishes. Simulation examples are used to illustrate the results developed in this paper.

关键词： Decentralized charging control Plug-in electric vehicles (PEVs) Valley-fill (VF) Nash equilibrium (NE)

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Synchronization of Networked Multi-agent system with Delayed Information from Neighbors

Synchronization of Networked Multi-agent System with Delayed...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Lijing Dong Senchun Chai Baihai Zhang School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing 100081

—In this paper, a synchronization of discrete multi-agent systems with random network delays was studied. By employing the graph and matrix theory, a model based predictive control algorithm is proposed to achieve leader-following consensus in a network of agents. Furthermore, a consensus protocol is developed based on this strategy. Numerical simulation examples are provided to illustrate the effectiveness of the theoretical results.

关键词： Multi-agent Synchronization and Time Delay

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Parameter identification of Bouc-Wen model applied to piezoelectric actuator modeling based on adaptive genetic algorithm

Parameter identification of Bouc-Wen model applied to piezoe...

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16th International Conference on Mechatronics Technology, ICMT 2012

作者： Liu, Xiang-Dong Cai, Chun-Xia Dong, Ning Qu, Yan Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China School of Automation Beijing Institute of Technology Beijing China Wu Zhou Engineering and Design Institute Beijing China

ISBN: (纸本)9787900769428

In this paper, the Bouc-Wen model widely used in describing hysteretic systems is applied to piezoelectric actuator (PEA) modelling and real-coded adaptive genetic algorithm (GA) is adopted to identify the model parameters simultaneously. By dynamically adjusting the crossover probability and mutation probability, adaptive genetic algorithm improves the performance of local convergence and premature convergence and enhances search speed and precision of the simple genetic algorithm. Then some experiments are conducted to verify the efficiency of the identification method with satisfactory parameter identification results.

关键词： Piezoelectric actuators

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A quantitative performance evaluation index for image fusion: Normalized Perception Mutual Information

A quantitative performance evaluation index for image fusion...

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31st Chinese control Conference, CCC 2012

作者： Yan, Liping Liu, Yulei Xiao, Bo Xia, Yuanqing Fu, Mengyin School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9789881563811

Information entropy based criteria are analyzed and the Normalized Mutual Information(NMI) that is presented in the field of image registration is revised to Normalized Mutual Information Entropy (NMIE) to meet the need of the evaluation of image fusion algorithms. Then, through analysis to NMIE and some human perception based criteria, and by analyzing the essence of image fusion techniques systematically, a new index, Normalized Perception Mutual Information (NPMI), is defined in view of information transmission as well as edge preservation, and is used to evaluate the performance of image fusion algorithms. The experiments are done to three groups of images, namely, the remote sensing images corrupted by noises, the multifocus images and the medical images obtained by CT and MRI, respectively. Compared with other indices including the root mean square error (RMSE), space frequncy (SF), space visibility (SV), entropy, the collective cross entropy (CCE), information deviation (ID), and the edge information preservation value (EIPV), etc., NPMI is shown to be the only one that is effective in all the cases in the evaluation of the performances of the fused images or the image fusion algorithms, which illustrates the feasibility and effectiveness of the presented algorithm. © 2012 Chinese Assoc of Automati.

关键词： Image fusion

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Image mosaicing algorithm for dynamic scenes using multi-scaled PHOG feature and optimal seam

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Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence 2012年第4期25卷 624-631页

作者： Zou, Li-Hui Chen, Jie Zhang, Juan Lu, Jing-Hua Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education School of Automation Beijing Institute of Technology Beijing 100081 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China

Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.

关键词： Graphic methods

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Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuv...

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UKACC International Conference on control (control)

作者： Binglong Cong Xiangdong Liu Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy.

关键词： Uncertainty Switches Algorithm design and analysis Materials requirements planning Attitude control Space vehicles Vectors

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