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作者： Bobtsov, Alexey A. Kolyubin, Sergey A. Pyrkin, Anton A. Nikolaev, Nikolay A. Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St. Petersburg197101 Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V.O. 61 St.Petersburg199178 Russia

The task of output feedback stabilization of a linear plant of arbitrary relative degree is solved under parametric uncertainty and matching periodic disturbances. Resulting controller was built coupling a high-gain output controller and an external disturbance observer by means of switching algorithm. Extending previously developed approach we suppose disturbance frequency to be not only unknown, but also time-varying, which is the case for a number of applications. Simulation results illustrate performance of the obtained controller for the cases of piece-wise constant and drifting frequency disturbances. © 2015

关键词： Disturbance rejection

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Automatic obstacle classification using laser and camera fusion 1

Automatic obstacle classification using laser and camera fus...

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1st International Conference on Vehicle Technology and intelligent Transport systems, VEHITS 2015

作者： Ponz, Aurelio Rodríguez-Garavito, C.H. García, Fernando Lenz, Philip Stiller, Christoph Armingol, J.M. Intelligent Systems Lab. Universidad Carlos III De Madrid Butarque 15 Leganés Madrid Spain Automation Engineering Department Universidad de La Salle Bogotá Colombia Institut für Mess- und Regelungstechnik Karlsruher Institut für Technologie Karlsruhe Germany

ISBN: (纸本)9789897581090

State of the art Driving Assistance systems and Autonomous Driving applications are employing sensor fusion in order to achieve trustable obstacle detection and classification under any meteorological and illumination condition. Fusion between laser and camera is widely used in ADAS applications in order to overcome the difficulties and limitations inherent to each of the sensors. In the system presented, some novel techniques for automatic and unattended data alignment are used and laser point clouds are exploited using Artificial Intelligence techniques to improve the reliability of the obstacle classification. New approaches to the problem of clustering sparse point clouds have been adopted, maximizing the information obtained from low resolution lasers. After improving cluster detection, AI techniques have been used to classify the obstacle not only with vision, but also with laser information. The fusion of the information acquired from both sensors, adding the classification capabilities of the laser, improves the reliability of the system.

关键词： Computer vision

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GROUP-BASED HYPERSPECTRAL IMAGE DENOISING USING LOW RANK REPRESENTATION

GROUP-BASED HYPERSPECTRAL IMAGE DENOISING USING LOW RANK REP...

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IEEE International Conference on Image Processing

作者： Mengdi Wang Jing Yu Weidong Sun State Key Lab. of Intelligent Technology & Systems Tsinghua National Lab. for Information Science & Technology Dept. of Electronic Engineering Tsinghua University College of Computer Science and Technology Beijing University of Technology

ISBN: (纸本)9781479983407

For the hyperspectral image (HSI) denoising problem, we propose a group-based low rank representation (GLRR) method. A corrupted HSI is divided into overlapping patches and the similar patches are combined into a group. The group is denoised as a whole using low rank representation (LRR). Our method can employ both the local similarity within the patch and the nonlocal similarity across the patches within a group simultaneously, while nonlocal similar patches within the group can bring extra structure information for the corrupted patch, which makes the noise more significant to be detected as outliers. Since the uncorrupted patches have an intrinsic low-rank structure, LRR is employed for the denoising of the patch group. Both simulated and real data are used in the experiments. The effectiveness of our method is proved both qualitatively and quantitatively.

关键词： Denoising Hyperspectral image Low rank representation Nonlocal similarity Noise reduction hyperspectral imagery Patches images AKR1B10 gene outliers

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A SPECTRAL UNMIXING METHOD BASED ON WAVELET WEIGHTED SIMILARITY

A SPECTRAL UNMIXING METHOD BASED ON WAVELET WEIGHTED SIMILAR...

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IEEE International Conference on Image Processing

作者： Qingyu Pang Jing Yu Weidong Sun State Key Lab. of Intelligent Technology & Systems Tsinghua National Lab. for Information Science & Technology Dept. of Electronic Engineering Tsinghua University College of Computer Science and Technology Beijing University of Technology

ISBN: (纸本)9781479983407

With the rapid development of the hyperspectral technology, spectra unmixing has received more and more attentions. In this paper, in order to measure the similarity between the extracted endmember spectra and the actual corresponding spectra of land covers and maintain the spectral absorption feature, a wavelet weighted similarity is presented. And by introducing it into the minimum distance constrained nonnegative matrix factorization method, a spectral unmixing method based on the wavelet weighted similarity is proposed. Base on the experiments with real hyperspectral image, the feasibility and real performance of our method has been examined and compared with that of unsupervised spectral unmixing method.

关键词： Spectral unmixing Wavelet weighted similarity Nonnegative matrix factorization

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Analysis of software licensing mode and compatibility choice with network externality

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Xitong Gongcheng Lilun yu Shijian/System engineering Theory and Practice 2015年第12期35卷 3047-3055页

作者： Zhang, Xiao-Juan Zhang, Sheng-Hao School of Management Xi'an Jiaotong University Xi'an710049 China Key Lab. of the Ministry of Education for Process Control & Efficiency Engineering Xi'an Jiaotong University Xi'an710049 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China

With network externality, two licensing modes-perpetual licensing mode and Softwareas-a-Service mode, and four compatibility choices-no compatibility, backward compatibility, forward compatibility and backward & forward compatibility, are considered. Consumers' purchasing decision and the vendor's pricing strategy are examined through two-stage models under each combination of licensing mode and compatibility choice. The results show that backward & forward compatibility maximizes the vendor's revenue under perpetual licensing mode, and any of no compatibility, backward compatibility and backward & forward compatibility may maximize the vendor's profit with software development costs under different compatibility choices. Under Software-as-a-Service mode, the compatibility choice has no impact on the vendor's revenue, and no compatibility maximizes the vendor's profit. When revenue maximization is the vendor's concern, perpetual licensing mode is superior to Software-as-a-Service mode;when profit maximization is the vendor's objective, Software-as-a-Service mode usually becomes better than perpetual licensing mode. © 2015, systems engineering Society of China. All right reserved.

关键词： Profitability

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Time-varying universe based linguistic dynamic analysis of timing design for parallel traffic light

Time-varying universe based linguistic dynamic analysis of t...

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Hong Mo Fei-Yue Wang Fenghua Zhu School of Electrical and Information Engineering Changsha University of Science and Technology Changsha CN State Key Lab. of Management and Control for Complex Systems Institute of Automation CN

Reasonable timing design for traffic light can induce and maintain the transportation systems in good order. How to allocate the time are the keys. In the paper, the theory of time-varying universe is used to describe the circle time, and corresponding fuzzy sets on the universe are also discussed to modeling the situation of traffic flow, then the parallel traffic management and control methods which are dynamic with the time change are presented. A simulation example are provided to analyze the linguistic dynamic evolution of timing design of traffic light when the traffic flow is change with time-varying for an intersection.

关键词： Timing Pragmatics Vehicle dynamics Fuzzy sets Complex systems Vehicles

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Simulation comparison among three data-driven control methods for the planar manipulator

Simulation comparison among three data-driven control method...

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Asian control Conference

作者： Mengxue Hou Shangtai Jin School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Advanced Control Systems Lab. Beijing Jiaotong University Beijing China

ISBN: (纸本)9781479978632

Data-driven control (DDC) is very suitable for practical industrial processes and has attracted much attention of researchers and engineers because it does not depend on an accurate mathematical model of a controlled plant. In this paper, three typical on-line DDC methods, model free adaptive control (MFAC), model free control (MFC), and active disturbance rejection control (ADRC) are designed for the planar manipulator with 1 rotary joint (PM1R). In order to implement the proposed control methods on MATlab.platform, the discrete non-linear model of PM1R and discrete control laws for MFC and ADRC are also derived. The similarity and difference among three DDC methods are discussed briefly and the simulation comparisons among these three DDC methods are given to support the conclusions.

关键词： Decision support systems

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A quad-rotor system for driving and flying missions by tilting mechanism of rotors: From design to control

A quad-rotor system for driving and flying missions by tilti...

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作者： Jeong, S.H. Jung, S. Intelligent Systems and Emotional Engineering Lab. Department of Mechatronics Engineering CNU Korea Republic of

This article presents the hybrid design and control of a quad-rotor system called Flymobile. Flymobile is a combined system of a mobile robot and a quad-rotor system aimed to perform both flying and driving tasks. Flymobile performs flying tasks in the same way as conventional quad-rotor systems while the tilting mechanism of each rotor allows Flymobile to navigate in its terrain for a driving task. The body frame with rotors is implemented by a calibration process through a test-bed equipped with a force sensor. The triangular wheel frame is designed to mimic motions of a mobile robot with three passive wheels. Sensor data of a gyro and an accelerometer are filtered and used for controlling the attitude of the system. Focusing on a practical approach of implementing a hybrid system, a non model-based approach is applied to control Flymobile. Experimental studies are demonstrated to show the feasibility of performing both driving and flying missions. © 2014 Elsevier Ltd.

关键词： Mobile robots

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Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network

Time Optimized Digital Image Processing of Ball and Plate Sy...

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Yasaman Parandian Hannaneh Z. Arabshahi Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control lab.ratories. The system is consisted of the following pieces: a horizontal plate which gets tilted along each horizontal axes. The ball, which is located on the plate;is controlled by the system in a way to be placed in any point on the plate. In fact, the ball and plate system is an extension of the classical ball on beam experiment that is often used to study various types of control and stability problems.

关键词： Forward Kinematics Neural Networks Real-Time Computer Vision 3RRS Parallel Robot Ball and Plate

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Dynamics of a 9-DoF Robotic Leg for a Football Simulator

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Masoud Vahidi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATlab.simmechanics.

关键词： robotic leg simmechanics verification kinematics dynamics

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