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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Peng Li Changlin Zhang Lianqing Liu Yuechao Wang Ning Xi Uchechukwu C. Wejinya Guangyong Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong China Department of Mechanical Engineering University of Arkansas Fayetteville AR USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh USA

Scanning ion conductance microscopy (SICM) has becomes prevalent especially in probing biological samples taking advantage of its non-contact, force free, high resolution imaging ability. There are at least two imaging modes of SICM-continuous mode and hopping mode. In both imaging modes, the low imaging speed is the common disadvantage that hinders the efficiency of SICM based observation. In this paper, we propose a prior knowledge based fast imaging method to mitigate this problem. The key idea is to achieve a high resolution image on targeted features by scanning the sample twice, the first scan to obtain prior knowledge on targeted features with low resolution and the second scan to obtain images on targeted features with high resolution. In the first scan, the scanning speed can be very fast because the prior knowledge can be obtained from a low resolution image that requires few scanning points. In the second scan, only the interested areas (targeted features) are scanned. Because the scanning area on targeted features is much smaller than the whole scanning region, it takes much less time to obtain high resolution images on targeted features, As a result, the total time to acquire a high resolution is much less than the conventional one scan method. To verify the effectiveness of our proposed method, we performed high-resolution imaging on polydimethylsiloxane grating and microelectrode samples using a home-made SICM. The experimental results demonstrate the increased efficiency of SICM based observation using the twice scan method.

关键词： Image resolution Microscopy computers Gratings Microelectrodes

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On variation of infinite horizon performance of model predictive control with varying receding horizon

On variation of infinite horizon performance of model predic...

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Cai, Xin Li, Shaoyuan Li, Ning Li, Kang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai 200240 China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast BT7 1NN United Kingdom

ISBN: (纸本)9783902823458

This paper investigates variation of infinite horizon (IH) performance of Model Predictive Control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equations (DRE), an upper bound and a lower bound of the ratio between variation of IH performance of MPC and finite horizon (FH) optimal cost are obtained. The result shows the dynamic behavior of IH performance of closed-loop MPC systems as the optimization horizon varies. Copyright © 2013 IFAC.

关键词： Model predictive control

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A new algorithm for linearization up to multi-output and multi-input injection for a class of systems with implicitly defined outputs

A new algorithm for linearization up to multi-output and mul...

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European Control Conference (ECC)

作者： Sérgio S. Rodrigues A. Pedro Aguiar Öaw Institute for Computational and Applied Mathematics (RICAM) Linz Austria Department of Electrical and Computer Engineering Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Lisbon Portugal

ISBN: (纸本)9781479901890

Given a class of nonlinear systems with implicitly defined outputs, we provide a new algorithm to find appropriate local coordinates, in which the resulting system takes a desired target form that is state-affine, up to output and input injection. Once in the target form, it is possible to construct a state-space observer with linear, possibly time-varying, error dynamics.

关键词： Vectors Equations Observers Gold Geometry Nonlinear dynamical systems

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Pedestrian detection based on LIDAR-driven sliding window and relational parts-based detection

Pedestrian detection based on LIDAR-driven sliding window an...

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IEEE Symposium on Intelligent Vehicle

作者： Luciano Oliveira Urbano Nunes Intelligent Vision Research Laboratory Federal University Bahia Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

The most standard image object detectors are usually comprised of one or multiple feature extractors or classifiers within a sliding window framework. Nevertheless, this type of approach has demonstrated a very limited performance under datasets of cluttered scenes and real life situations. To tackle these issues, LIDAR space is exploited here in order to detect 2D objects in 3D space, avoiding all the inherent problems of regular sliding window techniques. Additionally, we propose a relational parts-based pedestrian detection in a probabilistic non-iid framework. With the proposed framework, we have achieved state-of-the-art performance in a pedestrian dataset gathered in a challenging urban scenario. The proposed system demonstrated superior performance in comparison with pure sliding-window-based image detectors.

关键词： Detectors Laser radar Feature extraction Support vector machines Training Probabilistic logic Vectors

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Optimal cooperative pursuit on a Manhattan grid

Optimal cooperative pursuit on a Manhattan grid

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AIAA Guidance, Navigation, and Control (GNC) Conference

作者： Kalyanam, Krishnamoorthy Darbha, Swaroop Khargonekar, Pramod Pachter, Meir Chandler, Phil InfoSciTex corporation Dayton OH 45431 United States Department of Mechanical Engineering Texas A and M University College Station TX 77843 United States Department of Electrical and Computer Engineering University of Florida Gainesville FL 32611 United States Department of Electrical Engineering Air Force Institute of Technology Wright-Patterson AFB OH 45433 United States Air Force Research Laboratory Control and Automation Branch Wright-Patterson AFB OH 45433 United States

ISBN: (数字)9781624102240

ISBN: (纸本)9781624102240

The optimal control of two pursuers searching for a slower moving evader on a Manhattan grid road network is considered. The pursuers do not have on-board capability to detect the evader and rely instead on Unattended Ground Sensors (UGSs) to locate the evader. We assume that all the intersections in the road network have been instrumented with UGSs. When an evader passes by an UGS location, it triggers the UGS and this time-stamped information is stored by the UGS. When a pursuer arrives at an UGS location, the UGS informs the pursuer if and when the evader passed by. When the evader and a pursuer arrive at an UGS location simultaneously, the UGS is triggered and this information is instantly relayed to the pursuer, thereby enabling "capture". We derive exact values for the minimum time guaranteed capture of the evader on the Manhattan grid and the corresponding pursuit policy.

关键词： Location

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Sensor data quality assessment for building simulation model calibration based on automatic differentiation

Sensor data quality assessment for building simulation model...

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2013 IEEE International Conference on automation Science and engineering, CASE 2013

作者： Li, Sisi Song, Zhen Zhou, Mengchu Lu, Yan Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07013 United States Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Automation and Control Siemens Corporation Corporate Technology Princeton NJ 08540 United States

ISBN: (纸本)9781479915156

Building simulation models play a vital role in optimal building climate control, energy audit, fault detection and diagnosis, continuous commissioning, and planning. Real system parameters are often unknown or partially unknown and need to be identified through historical data, which are currently acquired by heuristically designed experiments. Without quality sensor data, model calibration is prone to fail, even if the calibration algorithm is appropriate. In this paper, we propose a Fisher-information-matrix (FIM)-based metric to examine the sensor data measurements and how their quality is related to the model calibration quality. It aims to provide quantitative guidance in the calibration cycle of a whole building model that takes as many variables as possible into consideration for the sake of accuracy. Our concerned model is based on well-known physical laws and tries to avoid simplification, thereby leading to a highly discontinuous system with model switches due to the seasonal or daily variation and other reasons. Such a model is implemented in the form of a software package. Hence, no explicit mathematical expression can be given. A key technical challenge is that the complexity of the model prohibits the analytical derivation of FIM, while the numeric calculation is sensitive to sensor noise and model switches. We, hence, propose to adopt an automatic differentiation method, which exploits the operator overload feature of object oriented programming language, for robust numerical FIM calculation. © 2013 IEEE.

关键词： Numerical methods

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Efficient imaging and real-time display of Scanning Ion Conductance Microscopy based on block compressive sensing

Efficient imaging and real-time display of Scanning Ion Cond...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Gongxin Li Peng Li Yuechao Wang Wenxue Wang Ning Xi Lianqing Liu University of Chinese Academy of Sciences China Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical and Computer Engineering Michigan State University Michigan USA

Scanning Ion Conductance Microscopy (SICM) is one kind of Scanning Probe Microscopies (SPMs), and it can be used in mapping topographical features of sample at high - resolution with free contact by measuring the ion current of ultra-micropipette. SICM is widely used in imaging soft samples for many distinct merits, such as high resolution imaging, simple preparation of probe and no harm to sample surface. However, it is undeniable that the scanning speed of SICM is much slower than other SPMs, especially for large scale and high resolution imaging. Fortunately, compressive sensing (CS), which breaks through the Shannon's sampling theorem for dramatically reducing sample rate, could improve scanning speed tremendously, but it still costs much time in image reconstruction. Therefore block compressive sensing was applied to SICM imaging for reducing the reconstruction time of sparse signals, and it has an anther further and unique application that it can achieve the function of image real-time display. In this paper, a new method of dividing blocks and a new matrix arithmetic operation was proposed to build the block compressive sensing model, and several experiments was taken to verified the superiority of block compressive sensing in reducing imaging time and image real-time display used SICM.

关键词： Compressed sensing Image reconstruction Sparse matrices Real-time systems Microscopy

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Joint ASV/AUV range-based formation control: Theory and experimental results

Joint ASV/AUV range-based formation control: Theory and expe...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science Instituto SuperiorTécnico Technical University of Lisbon Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal

ISBN: (纸本)9781467356404

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles.

关键词： Vehicles Vehicle dynamics Acoustics Underwater vehicles Robots Distance measurement

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Rapid Prototyping of Digital Controllers using FPGAs and ESL/HLS Design Methodologies

Rapid Prototyping of Digital Controllers using FPGAs and ESL...

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International Conference on automation and Computing

作者： Christoforos Economakos Harry Sidiropoulos George Economakos Technological Educational Institution of Sterea Ellada Department of Automation Engineering National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory

ISBN: (纸本)9781479912360

Recent advances in embedded automation applications require quality of results in terms of speed and computational complexity, along with strict time-to-market schedules. To cope with these demands, the design industry is searching for novel approaches. Performance is sought by utilizing modern FPGA devices, offering hundreds of GFLOPs with maximum power efficiency. Productivity is enforced with High-Level Synthesis (HLS) and Electronic System Level (ESL) design methodologies, that offer an efficient abstraction level to boost-up early prototyping. This paper presents a methodology and the required tool flow for the design of a System-on-Chip (SoC) architecture, as a reference for modern control applications. The advantages of the proposed methodology are: (a) improved performance through hardware acceleration of demanding application cores, (b) improved quality of results with floating point calculations, (c) flexibility and integration of common peripheral devices supported by a RISC microcontroller and (d) improved designer productivity by avoiding Hardware Description Languages (HDLs) and other time consuming and error introducing procedures and working with C level design descriptions only. Experimental results show that the proposed SoC architecture is an efficient rapid prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Digital control Rapid prototyping FPGAs Electronic system-level design High-level synthesis

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Method of SLAM with Kinect

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.2期44卷 28-32页

作者： Li, Haiyang Li, Hongbo Lin, Ying Liu, Heping Yang, Dongfang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing 100084 China

A method for Kinect sensor was presented based on SLAM (simultaneous localization and mapping) problem via inverse depth parameterization model, where the depth of features from Kinect was employed to improve the convergence of method. To further improve the accuracy and robustness, SURF (speed up robust features) feature detection operator was adopted to extract image features, and extended Kalman filter (EKF) was used to estimate the trajectory of camera and the position of features. Experimental results are given to demonstrate the effectiveness and applicability of the proposed method.

关键词： Extended Kalman filters

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