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American control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper deals with the design problem of robust iterative learning control (ILC), in the presence of noise that is varying randomly from iteration to iteration. Two ILC schemes are considered: one adopts the previous iteration tracking error (PITE) and the other adopts the current iteration tracking error (CITE), in the updating law. For both schemes, the convergence results are obtained by using a frequency-domain approach, and a comparison between them is presented from the viewpoints of the convergence condition, robustness against plant uncertainty, and delay compensation. It shows that sufficient conditions can be derived to bound the tracking error and make its expectation monotonically convergent in the sense of L_(2)-norm, which work effectively with robustness for all admissible plant uncertainties. Furthermore, the sufficient conditions for both schemes can also be formulated in terms of two complementary functions, which do not depend on the delay time as well as the plant uncertainty and, thus, make them convenient to be checked and solved using the frequency-domain tools. Numerical simulations are included to illustrate the effectiveness of the two proposed ILC schemes.

关键词： Iterative learning control monotonic convergence previous iteration tracking error current iteration tracking error random iteration-varying noise delay compensation delay compensation monotone convergence iterative methods Iterative learning control follow error Scheme design problems Delay time Sufficient conditions learning control

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Non-Fragile control for Trajectory Tracking of Nonholonomic Mobile Robots

Non-Fragile Control for Trajectory Tracking of Nonholonomic ...

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American control Conference

作者： Na Ni Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.

关键词： Trajectory Mobile robots control systems Tracking Robot kinematics Orbital robotics State feedback Error correction Sliding mode control Laboratories

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Kalman filtering with multiple nonlinear-linear mixing state constraints

Kalman filtering with multiple nonlinear-linear mixing state...

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IEEE Conference on Decision and control

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper is devoted to the problem of state estimation for a class of dynamic system with multiple nonlinear-linear (NL) mixing state constraints. A computational algorithm was developed by C. Yang and E. Blasch to incorporate a positive definite quadratic form equality constraint into the Kalman filtering for the ground vehicle tracking. However, when the target tracked in multidimensional space, a single positive definite quadratic form constraint is not enough due to the involvement of other surface such as hyperboloid, paraboloid, or even plane. A analytic method of incorporating multiple nonlinear-linear mixing state constraints into the Kalman filter is presented here, and a sufficient condition is obtained that guarantee the existence of solution. The constraints may be time varying. At each time step the unconstrained Kalman filter solution is projected onto the state constraints surface. This significantly improves the prediction accuracy of the filter. The use of this algorithm is demonstrated on a nonlinear-linear mixing spacecraft positioning problem.

关键词： Kalman filters Symmetric matrices State estimation Optimization Covariance matrix Noise

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An improved pattern match method with flexible mask for automatic inspection in the LCD manufacturing process

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Expert Systems with Applications 2009年第2 PART 2期36卷 3234-3239页

作者： Lin, Chern-Sheng Huang, Kuo-Hon Lay, Yun-Long Wu, Kuo-Chun Wu, Yieng-Chiang Lin, Jim-Min Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Electronic Engineering National Chinyi Institute of Technology Taichung Taiwan Department of Information Engineering and Computer Science Feng Chia University Taichung Taiwan

This research examines the electrical conductive particles of anisotropic conductive film (ACF) during the laminate manufacturing process for liquid crystal displays (LCD) and adopts an improved pattern match method to apply on-line automatic and relevant measurement inspections. The focus of this research is describing and identifying feature images. We aim to improve the traditional pattern match methods including the gray scale designs, adaptive pattern matrix, and adaptive feature weight pattern to reduce the system function errors and to enable more efficient and quicker pattern searches and matches for full-size images. © 2008 Elsevier Ltd. All rights reserved.

关键词： Liquid crystal displays

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An automatic template generating method of machine vision system in TFT LCD assembly and positioning process with genetic algorithm

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Assembly Automation 2009年第1期29卷 41-48页

作者： Lin, Chern-Sheng Wu, Kuo-Chun Lay, Yun-Long Lin, Chi-Chin Lin, Jim-Min Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Electronic Engineering National Chinyi University of Technology Taichung Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan Department of Information Engineering and Computer Science Feng Chia University Taichung Taiwan

Purpose - The purpose of this paper is to propose an automatic pattern matching template generating method for the automatic optical inspection system in TFT LCD assembly and positioning process, to improve the conventional image technology. Besides, focusing on integrating the image system with the existing control system, the double aligner mark searching time is decreased to reduce the working time of the integrated system. Design/methodology/approach - The improved pattern matching method of genetic algorithm was adopted, including setting for template image selecting, encoding, calculating fitness function, pattern matching, template generating and genetic algorithm steps. The predetermined pixels were selected from the target template based on the minimum difference to the block image to be tested by utilizing the genetic algorithm, and the other pixels which have not been selected were neglected. Findings - The selected pixels were encoded for recording by sequence mode, and then the target template and the image to be tested were compared based on the calculated fitness function. This method has the advantages of using the fitness function to reduce the searching time, with the help of genetic algorithm to find the optimal target template, and saving memory space by recording target template based on the sequence mode. Research limitations/implications - The genetic algorithm used in this study is a kind of optimal tool free from gradient data. As long as the fitness function and after continuous iteration are determined, the optimal solution can be found out, and then the optimal target template can be generated. Practical implications - This system uses fitness function to reduce the pattern matching time. Plural pixels are preset inside the target template, and its fitness function value is calculated. When the target template is compared with the image to be tested, only the fitness function value (also the difference of the plural pixels) is calculated

关键词： Pixels

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An integrated control of shading blinds, natural ventilation, and HVAC systems for energy saving and human comfort

An integrated control of shading blinds, natural ventilation...

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IEEE International Conference on Automation science and engineering (CASE)

作者： Biao Sun Peter B. Luh Qing-Shan Jia Ziyan Jiang Fulin Wang Chen Song Center of Intelligent and Networked Systems (CFINS) Tsinghua National Laboratory of Information Science and Technology Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Connecticut Storrs CT USA Department of Building Science Tsinghua University Beijing China Safety and Control Systems China and the Tsinghu-UTC Research Institute of Integrated Building Energy United Technologies Research Center Inc. Beijing China

Improving the control of shading blinds, lights, natural ventilation, and HVAC systems while satisfying human comfort requirements can result in significant energy cost savings with time-of-day electricity pricing. Traditionally, the above-mentioned devices are controlled separately. In this paper, a novel formulation for the integrated control and the corresponding solution methodology are presented. The problem is to minimize daily energy costs of lights and HVAC systems while satisfying equipment capacities, system dynamics, and human comfort. The problem is complicated since 1) individual rooms are coupled as they compete for the HVAC with limited capacity and nonlinear characteristics, and 2) the problem is believed to be NP-hard in view that decision variables are all discrete. A solution methodology that combines Lagrangian relaxation and stochastic dynamic programming is developed within the surrogate optimization framework to obtain near-optimal strategies. These strategies are further refined to become novel control rules for easy practical implementation. Numerical simulation results show that both of the above strategies can effectively reduce the total energy cost, and that the integrated control works better than selected traditional control strategies.

关键词： Ventilation Humidity Equations Optimization Heating Humans

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Threshold Quantum Secret Sharing of Secure Direct Communication

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Chinese Physics Letters 2009年第1期26卷 21-24页

作者：李宝奎杨宇光温巧燕 Department of Automatic Control School of Information Science and Technology Beijing Institute of Technology Beijing 100081 College of Computer Science and Technology Beijing University of Technology Beijing 100124 State Key Laboratory of Integrated Services Network Xidian University Xi'an 710071 State Key Laboratory of Information Security Graduate University of Chinese Academy of Sciences Beijing 100049 State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing 100876

We propose a （L, n）-threshold quantum secret sharing protocol of secure direct communication following some ideas of Zhang＇s protocol [Phys. Lett. A 342 （2005） 60] and Tokunaga et al.＇s protocol [Phys. Rev. A 71 （2005） 012314]. The sender distributes the classical secret shares to his or her n agents and each agent owns a secret share in advance. The sender＇s secure direct communication message can be extracted by an agent subset by collaboration in such a way that at least t or more agents can obtain the secret message with the mutual assistances but any t - 1 or fewer agents cannot. In contrast to the previous multiparty quantum secret sharing protocols in which the sender＇s secret message can be recovered only if all the agents collaborate, our protocol is more practical and more flexible.

关键词： QUANTUM communication computer network protocols DIGITAL communications MESSAGE theory (Communication) MATHEMATICAL physics WIRELESS communication systems

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Research on Community Structure in Bus Transport Networks

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Communications in Theoretical Physics 2009年第12期52卷 1025-1030页

作者： YANG Xu-Hua WANG Bo SUN You-Xian College of Information Engineering Zhejiang University of Technology Hangzhou 310032 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China Department of Computer Science and Engineering Yiwu Industrial and Commercial College Yiwu 322000 China

We abstract the bus transport networks(BTNs)to two kinds of complex networks with space L and spaceP methods *** improved community detecting algorithm(PKM agglomerative algorithm),we analyzethe community property of two kinds of BTNs *** results show that the BTNs graph described with space Lmethod have obvious community property,but the other kind of BTNs graph described with space P method have *** reason is that the BTNs graph described with space P method have the intense overlapping community propertyand general community division algorithms can not identify this kind of community *** overcome this problem,we propose a novel community structure called N-depth community and present a corresponding community detectingalgorithm,which can detect overlapping *** the novel community structure and detecting algorithmto a BTN evolution model described with space P,whose network property agrees well with real BTNs',we get obviouscommunity property.

关键词： bus transport network overlapping community structure clique modularity N-depth community

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Global distribution of HTTP requests using the fuzzy-neural decision-making mechanism

Global distribution of HTTP requests using the fuzzy-neural ...

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1st International Conference on Computational Collective Intelligence, ICCCI 2009

作者： Borzemski, Leszek Zatwarnicka, Anna Zatwarnicki, Krzysztof Institute of Informatics Wroclaw University of Technology Wroclaw Poland Faculty of Electrical Engineering Institute of Automatic Control and Computer Science Opole University of Technology Opole Poland

ISBN: (纸本)3642044409

This paper presents the HTTP request global distribution using the fuzzy-neural decision making mechanism. Two efficient algorithms GARDiB and GARDiB2 are proposed to support HTTP request routing to the Websites. The algorithms use the fuzzy-neural decision-making method to assign each incoming request to the Website with the least expected response time. The response time includes the transmission time over the network;as well as the time elapsed on the responding Website server. Simulation experiments showed that GARDiB performed slightly better than GARDiB2 and both proposed algorithms outperformed other competitive distribution algorithms in all simulated workload scenarios. © 2009 Springer Berlin Heidelberg.

关键词： Decision making

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Cross-layer design of wireless networked control systems with energy limitations 10

Cross-layer design of wireless networked control systems wit...

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2009 10th European control Conference, ECC 2009

作者： Chamaken, A. Litz, L. Kraemer, M. Gotzhein, R. Institute of Automatic Control Electrical Engineering and Information Technology University of Kaiserslautern Germany Networked Systems Research Group Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783952417393

A new approach to the cross-layer design of wireless networked control systems under limited computing and energy resources is presented. The idea is to provide a methodology that jointly takes the aspects of control e.g. control algorithms, Communication e.g. communication protocols, and Computation e.g. energy consumption into consideration. The design objective is the predictability and optimization of the control performance for a given control application. The control performance is a complex function of network parameters e.g. delay, packet loss, network throughput and control system parameters e.g. sampling period, control algorithm. control performance predictability and optimization can only be achieved by imposing requirements on the wireless network design. A cross-layer design methodology is shown to be very useful for this purpose. To illustrate the methodology, an inverted pendulum system with low-energy wireless network is used for the cross-layer design of control algorithms and communication protocols under computing and energy constraints. © 2009 EUCA.

关键词： Energy utilization

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