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International Conference on Fractional Differentiation and Its Applications (ICFDA)

作者： Wei Yu Ying Luo Youguo Pi YangQuan Chen Department of Automation Science and Engineering South China University of Technology Guangzhou P. R. China Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced Merced CA USA

ISBN: (纸本)9781479925926

This paper presents fractional-order modeling of a permanent magnet synchronous motor (PMSM) velocity servo system in frequency domain. The traditional integer order model of the PMSM velocity system is extended to fractional order one for an improved modeling precision. An enhancement of the classic Levy identification method with weights is applied to identify the parameters of the proposed fractional order model. In a real-time PMSM velocity servo plant, the fractional order model is identified according to the experimental tests using the presented algorithm.

关键词： Mathematical model Servomotors Frequency-domain analysis Equations Synchronous motors Torque Transfer functions

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Tracking Tagged Fish With Swarming Unmanned Aerial Vehicles Using Fractional Order Potential Fields and Kalman Filtering

Tracking Tagged Fish With Swarming Unmanned Aerial Vehicles ...

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International Conference on Unmanned Aircraft systems

作者： Austin Jensen YangQuan Chen Utah Water Research Laboratory Utah State University Logan UT 84321 Mechatronics Embedded Systems and Automation (MESA) Lab University of California Merced Merced CA 95343

ISBN: (纸本)9781479908158

Tracking fish using implanted radio transmitters is an important part of studying and preserving native fish species. However, conventional methods for locating the fish after they are tagged can be time consuming and costly. Unmanned Aerial Vehicles (UAV)s have been used in general radio localization applications and can possibly be used to locate fish quickly and effectively. However, the methods developed for multi-UAV navigation and transmitter localization are complex and might not work well for practical and routine use. This work focuses on developing simple methods for multi-UAV navigation and transmitter localization. Swarm-like navigation methods (using potential fields) are used for multi-UAV navigation, and a simple Kalman Filter is used to estimate the location of the transmitter. Simulations are presented using one, two and three UAVs. The simulation results show the success with locating the transmitter with two or three UAVs. In addition, coordination between the UAVs is successful using the simple rules of their virtual magnetic fields. A clustering behavior is observed and contributes to the success of the localization.

关键词： Tagged Fish Swarming

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A detailed field study of direct correlations between ground truth crop water stress and normalized difference vegetation index (NDVI) from small unmanned aerial system (sUAS)

A detailed field study of direct correlations between ground...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Tiebiao Zhao Brandon Stark YangQuan Chen Andrew L. Ray David Doll Mechatronics Embedded Systems and Automation Lab University of California Merced CA USA The Division of Agriculture and Natural Resources (ANR) Cooperative Extension (UCCE) Merced County Merced CA

Aerial images with high spatial resolution and high temporal resolution were used to detect water stress based on canopy level normalized difference vegetation index (NDVI). We attempted to determine the correlation between stem water potential (SWP) and canopy NDVI with and without shade. Results indicated that removing the shade from the canopy improved the correlation between the NDVI of canopy and SWP with coefficient of determination (R 2 ) from 0.001 to 0.0052. We further compared SWP and the NDVI of the canopy without shade over a period of one week to four weeks. The correlation between NDVI with SWP was highest in the time range of three weeks. However, both cases show that there is no obvious relationship between NDVI of canopy and SWP. Therefore, canopy level NDVI does not indicate water stress. Further research is needed beyond pretty pictures.

关键词： Stress Vegetation Irrigation Cameras Water resources Correlation

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Evacuation Control of Crowds of Pedestrians: Distributed or Decentralized? ⁎

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IFAC-PapersOnLine 2020年第5期53卷 318-323页

作者： Kecai Cao YangQuan Chen Chenglin Liu Nanjing Institute of Technology Nanjing 211167 China Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Merced CA USA 95343 Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi 214122 China

Evacuation of crowds in a corridor with only one exit has been considered in this paper where distributed controllers have been constructed to regulate the crowd’s evacuation speed so that stampede tragedy can be avoided. Macroscopic model for crowds of pedestrians has been firstly derived based on inspiration of LWR (Lighthill-Whitham and Richards) model and Greenshields model from traffic system where finite volume method has been introduced to simplify the obtained PDEs into finite ODEs. Distributed evacuation controllers have been constructed based on inspiration of multi-agent system and stability analysis of obtained closed-loop system has been simplified to linear system with the delicate controllers proposed. Comparisons between distributed evacuation controllers and previous evacuation controllers have also been presented to show the advantages and disadvantages of different controllers under different initial density of crowds so that tragedy of crowd stampede can be effectively avoided with appropriate selection of different controllers.

关键词： Distributed evacuation controller Decentralized evacuation controller Stampede

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Survey of Thermal Infrared Remote Sensing for Unmanned Aerial systems

Survey of Thermal Infrared Remote Sensing for Unmanned Aeria...

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International Conference on Unmanned Aircraft systems

作者： Brandon Stark Brendan Smith YangQuan Chen Mechatronics Embedded Systems and Automation Lab School of Engineering University of California

ISBN: (纸本)9781479923779

As Unmanned Aerial System (UAS) technology matures, the list of potential civilian applications continues to grow substantially. Currently, the majority of applications are centered around providing optical imagery, either in real-time video or high resolution mapping. But as more sophisticated applications are desired, the limitations of simple imagery are becoming more evident, especially for precision agricultural applications. However, recent advancements in UAS based precision agriculture have demonstrated the effectiveness of including thermal infrared (TIR) cameras. In many situations, decision support indicators are evident in the TIR spectrum, whereas they are undetectable in the visible light and near-infrared spectrum. In this paper, a survey of some of the applications under development utilizing TIR imagery is presented along with implementation strategies to provide guidance for researchers wishing to add TIR imagery into their applications.

关键词： ANTENNA SYSTEM infrared remote sensing TOTAL INDICATED RUNOUT Thermal Infrared NEAR-INFRARED CORRELATION SPECTROSCOPY UNMANNED real-time video Imagery (Psychotherapy) images precision agriculture High definition

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Multi-UAV-based Optimal Crop-dusting of Anomalously Diffusing Infestation of Crops

Multi-UAV-based Optimal Crop-dusting of Anomalously Diffusin...

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American Control Conference

作者： Jianxiong Cao YangQuan Chen Changpin Li Department of Mathematics Shanghai University Shanghai 200444 China Mechatronics Embedded Systems and Automation Lab University of California Merced 5200 N Lake Road Merced CA 95343 USA

ISBN: (纸本)9781479917730

This paper presents a UAV-based optimal cropdusting method to control anomalously diffusing infestation of crops. Two anomalous diffusion models are considered, which are, respectively, time-fractional order diffusion equation and space-fractional order diffusion equation. Our problem formulation is motivated by real-time pest management by using networked unmanned cropdusters where the pest spreading is modeled as a fractional diffusion equation. We attempt to solve the optimal dynamic location of actuators by using Centroidal Voronoi Tessellations. A new simulation platform (FO-DiffMAS-2D) for measurement scheduling and controls in fractional order distributed parameter systems is also introduced in this paper. Simulation results are presented to show the effectiveness of the proposed method as well as the role of fractional order in the overall control performance.

关键词： Diffusion equation control performance fractional order Problem Formulation actuators DIFFUSION MODELS Optimal

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Control Performance Assessment with Fractional Lower Order Moments

Control Performance Assessment with Fractional Lower Order M...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Kai Liu Paweł D. Domański YangQuan Chen Mechatronics Embedded Systems & Automation (MESA) Lab University of California Merced CA USA Warsaw University of Technology Institute of Control and Computation Engineering Warsaw Poland University of California Merced CA USA

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

Non-Gaussian statistical signal processing is be-coming increasingly significant in the current complex world. However, the variance of a non-Gaussian distribution may not exist, therefore many conventional methods will be considerably weakened, meaningless or even misleading. For example, the least-squares criterion may not be robust in the non-Gaussian environment, owing to the impulsive behaviors and outliers. In the paper, the statistical measures with fractional lower order moments (FLOM) are used instead of second-order moments to assess the control performance for non-Gaussian processes. The results show that FLOM is robust against outliers for the non-Gaussian signals. In the end, Hurst exponent fitting with FLOM and multifractal detrended fluctuation analysis (MFDFA) with FLOM are applied to the real data.

关键词： Dispersion Next generation networking Information technology Gaussian distribution Fitting Time series analysis Robustness

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Backstepping-based observer for output feedback stabilization of a boundary controlled fractional reaction diffusion system

Backstepping-based observer for output feedback stabilizatio...

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Asian Control Conference

作者： Juan Chen Baotong Cui Yang Quan Chen Li Mao Ministry of Education Jiangnan University Wuxi PR China Mechatronics Embedded Systems and Automation Lab University of California Merced CA USA School of IoT Engineering Jiangnan University Wuxi PR China

ISBN: (纸本)9781509015740;9781509015733

This paper is concerned with observer-based output feedback boundary control for a fractional reaction diffusion (FRD) system. The considered FRD system is endowed with only boundary sensing available and boundary actuation. First, to design a backstepping-based observer for the FRD system. Second, to combine a separately backstepping-based feedback controller and the proposed observer to generate an output feedback controller for stabilizing the FRD system. Third, to analyze the Mittag-Leffler stability of the observer error system and the controlled FRD system. Finally, to verify the validness of our proposed method for the controlled FRD system and the observer error system through a numerical example.

关键词： Observers Kernel Output feedback Numerical stability Stability analysis Boundary conditions

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Optimal 3D Reconstruction of Caves Using Small Unmanned Aerial systems and RGB-D Cameras

Optimal 3D Reconstruction of Caves Using Small Unmanned Aeri...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Guoxiang Zhang YangQuan Chen Holley Moyes MechatronicsEmbedded Systems and Automation LabSchool of Engineering University of California Merced Merced CA USA Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Merced Merced CA USA School of Social Sciences Humanities and Arts University of California Merced Merced CA USA

This paper discusses our work on building a SmartCaveDrone system [1] to function as “Co-Archaeologists” that can map large caves and enter dangerous or hard-to-reach spaces. We present an optimal 3D reconstruction framework that combines both sparse feature matching and dense surface alignment. Sparse feature matching is used for visual odometry and global camera pose optimization after loops are detected, while dense surface alignment is the way of closing large loops and solving surface mismatching problem. We collected data inside Maya caves in Belize, and evaluated different methods applied on this dataset. Our experiments demonstrate that sparse feature-based tracking is robust for steady tracking, while it is effective and critical to close surface loops. After our experiments, we discussed new emerging research problems that can be explored.

关键词： Cameras Three-dimensional displays Solid modeling Feature extraction Optimization Surface reconstruction Tracking loops

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Probabilistic Consensus of Multi-agent System under Joint Control of SMC and Minimum Entropy Compensation

Probabilistic Consensus of Multi-agent System under Joint Co...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Xuerou Zhang Jing Wang Jinglin Zhou Yangquan Chen Cunwu Han College of Information Science and Technology Beijing University of Chemical Technology Beijing China Key Laboratory of Beijing for Fieldbus Technology and Automation North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California Merced USA

ISBN: (数字)9781728182162

ISBN: (纸本)9781728182179

Due to the stochastic of multi-agent systems, it is difficult to achieve strict consensus. In this paper, consensus in the sense of probability is achieved by reducing the output error entropy of multi-agent system. Sliding mode controller is the core to keep the system stability and probability density function(PDF) compensator is used to reduce the chattering effect of sliding mode and compensate the random part of the system. Radial basis function neural network combined with the minimum entropy criterion is used to model the PDF compensator, and the output error entropy of the system is minimized through the training of weights, so as to optimize the control effect. Finally, the simulation results verify the effectiveness of the method.

关键词： Training Simulation Stochastic processes Probability density function Control systems Entropy Multi-agent systems

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