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arXiv 2018年

作者： Cai, Qi Wu, Yuanxin Zhang, Lilian Zhang, Peike Shanghai Key Laboratory of Navigation and Location-based Services School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China School of Aeronautics and Astronautics Central South University Changsha Hunan410083 China College of Mechatronics and Automation National University of Defense Technology Changsha410073 China

Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the essential matrix to get multiple solutions of the relative pose, from which the right solution is picked out by reconstructing the three-dimension (3D) feature points and imposing the constraint of positive depth. This paper revisits the two-view geometry problem and discovers that the two-view imaging geometry is equivalently governed by a Pair of new Pose-Only (PPO) constraints: the same-side constraint and the intersection constraint. From the perspective of solving equation, the complete pose solutions of the essential matrix are explicitly derived and we rigorously prove that the orientation part of the pose can still be recovered in the case of pure rotation. The PPO constraints are simplified and formulated in the form of inequalities to directly identify the right pose solution with no need of 3D reconstruction and the 3D reconstruction can be analytically achieved from the identified right pose. Furthermore, the intersection inequality also enables a robust criterion for pure rotation identification. Experiment results validate the correctness of analyses and the robustness of the derived pose solution/pure rotation identification and analytical 3D reconstruction. Copyright © 2018, The Authors. All rights reserved.

关键词： Singular value decomposition

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Maglev self-excited vibration suppression with a virtual sky-hooked damper

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Journal of Central South University 2016年第6期23卷 1363-1371页

作者：李金辉李杰周丹峰王连春 College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 China Science and Technology on Near-surface Detection Laboratory Wuxi 214035 China

This work addresses the problem of self-excited vibration,which degrades the stability of the levitation control,decreases the ride comfort,and restricts the construction cost of maglev ***,a minimum model containing a flexible bridge and a single levitation unit is *** on the simplified model,the principle underlying the self-excited vibration is *** investigations about the energy transmission between the levitation system and bridge,it is concluded that the increment of modal damping can dissipate the accumulated energy by the bridge and the self-excited vibration may be *** enlarge the equivalent modal damping of bridge,the sky-hooked damper is ***,to avoid the hardware addition of real sky-hooked damper,considering the fact that the electromagnet itself is an excellent actuator that is capable of providing sufficiently fast and large force acting on the bridge to emulate the influence of the real sky-hooked damper,the technique of the virtual sky-hooked damper is *** principle underlying the virtual sky-hooked damper by electromagnet is explored and the vertical velocity of bridge is ***,numerical and experimental results illustrating the stability improvement of the vehicle-bridge interaction system are provided.

关键词： maglev vehicle-bridge interaction system self-excited vibration sky-hooked damper

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Containment Control of Multiagent Systems: A DOBC Approach

Containment Control of Multiagent Systems: A DOBC Approach

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IEEE International Conference on automation Science and engineering

作者： Bo Xiao Tao Han Qian Tang Tao Jin College of Mechatronics and Control Engineering Hubei Normal University Huangshi China Department of Automation Wuhan University Wuhan China

The containment control problem of multi-agent systems with exogenous disturbances is investigated in this paper, where the disturbances are generated by an exogenous system. Consequently, a disturbance observer-based control (DOBC) approach is used to estimate the exogenous disturbances, and a distributed containment control protocol are proposed via the state feedback control. Moreover, using the tools from the algebraic graph theory and Lyapunov stability theory, sufficient conditions are obtained to guarantee the containment control of multi-agent systems with exogenous disturbances can be achieved by the DOBC approach. Finally, a numerical simulation is presented to illustrate the effectiveness of the theoretical results.

关键词： DOBC sufficient conditions obtained

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A Fractional Micro-Macro Model for Crowds of Pedestrians Based on Fractional Mean Field Games

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IEEE/CAA Journal of Automatica Sinica 2016年第3期3卷 261-270页

作者： Kecai Cao Yang Quan Chen Daniel Stuart College of Automation Nanjing University of Posts and Telecommunications IEEE Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Department of Electrical and Computer Engineering Utah State University

Modeling a crowd of pedestrians has been considered in this paper from different aspects. Based on fractional microscopic model that may be much more close to reality, a fractional macroscopic model has been proposed using conservation law of mass. Then in order to characterize the competitive and cooperative interactions among pedestrians, fractional mean field games are utilized in the modeling problem when the number of pedestrians goes to infinity and fractional dynamic model composed of fractional backward and fractional forward equations are constructed in macro scale. Fractional micromacro model for crowds of pedestrians are obtained in the end. Simulation results are also included to illustrate the proposed fractional microscopic model and fractional macroscopic model, respectively. © 2014 Chinese Association of automation.

关键词： Control systems Electrical engineering

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Integration of enhanced background filtering and wavelet fusion for high visibility and detection rate of deep sea underwater image of underwater vehicle 5

Integration of enhanced background filtering and wavelet fus...

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5th International Conference on Information and Communication Technology, ICoIC7 2017

作者： Ghani, Ahmad Shahrizan Abdul Nasir, Ahmad Fakhri Ab. Tarmizi, Wan Faizura Wan Innovative Manufacturing Mechatronics and Sports Lab Faculty of Manufacturing Engineering Universiti Malaysia Pahang Pekan26600 Malaysia Fac. of Electrical and Automation Eng. Tech. TATI University College Jalan Panchor Kijal Kemaman Terengganu24000 Malaysia

ISBN: (纸本)9781509049127

This paper presents an enhanced technique for contrast and visibility improvement for deep sea underwater image which is normally used for underwater robot. The proposed technique uses an integration approach of enhanced background filtering and wavelet fusion methods (EBFWF). The novelty lies in this case in its methodology and capability of the proposed approach to minimize negative underwater effects such as blue and green color casts, low contrast, and low visibility in comparison with other state-of-the-art methods. The proposed method consists of a few steps that aims to eliminate negative effects and thus improving the contrast and visibility of underwater image. This purpose is carried out to provide a better platform for object detection and recognition processes. The input image is first sharpen before the low frequency background is removed. This minimizes the probability of image data to be regarded as noise in the consequences processes' steps. Image histograms are then mapped based on the intermediate color channel to reduce the gap between the inferior and dominant color channels. Wavelet fusion is applied followed by adaptive local histogram specification process. Based on the conduced tests, the proposed EBFWF technique, computationally, more effective and significant in improving the overall underwater image quality. The resultant images processed through the proposed approach could be further used for detection and recognition to extract more valuable information. © 2017 IEEE.

关键词： Visibility

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Decentralized second-order sliding mode control design for a small-scale magnetic levitation platform

Decentralized second-order sliding mode control design for a...

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Asian Control Conference

作者： Arnold Tshimanga Banza Qiang Chen Department of Electrical and Electronic Engineering The University of Melbourne Victoria Australia College of Mechatronics Engineering and Automation National University of Defense Technology Changsha China

ISBN: (纸本)9781509015740;9781509015733

A new decentralized controller is proposed to guarantee input-to-state stability of an Electro-magnetically suspended plant (EMS System). First a mathematical modelling is presented, followed by the sliding mode controller design aimed to mitigate the model uncertainties and, latter simulation as well as experiments results are provided to show the effectiveness of the proposed approach.

关键词： Uncertainty Suspensions Mathematical model Magnetic levitation Stability analysis Sliding mode control Tracking

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Mapping the absolute magnetic field and evaluating the quadratic Zeeman-effect-induced systematic error in an atom interferometer gravimeter

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Physical Review A 2017年第3期96卷 033414-033414页

作者： Qing-Qing Hu Christian Freier Bastian Leykauf Vladimir Schkolnik Jun Yang Markus Krutzik Achim Peters Institut für Physik Humboldt-Universität zu Berlin Berlin 12489 Germany College of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 China

Precisely evaluating the systematic error induced by the quadratic Zeeman effect is important for developing atom interferometer gravimeters aiming at an accuracy in the μGal regime (1μGal=10−8m/s2≈10−9g). This paper reports on the experimental investigation of Raman spectroscopy-based magnetic field measurements and the evaluation of the systematic error in the gravimetric atom interferometer (GAIN) due to quadratic Zeeman effect. We discuss Raman duration and frequency step-size-dependent magnetic field measurement uncertainty, present vector light shift and tensor light shift induced magnetic field measurement offset, and map the absolute magnetic field inside the interferometer chamber of GAIN with an uncertainty of 0.72 nT and a spatial resolution of 12.8 mm. We evaluate the quadratic Zeeman-effect-induced gravity measurement error in GAIN as 2.04μGal. The methods shown in this paper are important for precisely mapping the absolute magnetic field in vacuum and reducing the quadratic Zeeman-effect-induced systematic error in Raman transition-based precision measurements, such as atomic interferometer gravimeters.

关键词： Atom interferometry Atomic spectra Fine & hyperfine structure Light-matter interaction Magneto-optical spectra Quantum measurements Zeeman effect

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Identification of Neuro-Fuzzy Hammerstein Model Based on Probability Density Function

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Journal of Donghua University(English Edition) 2016年第5期33卷 703-707页

作者：方甜莲贾立 Shanghai Key Laboratory of Power Station Automation Technology College of Mechatronics Engineering and AutomationShanghai University

A new identification method of neuro-uzzy Hammerstein model based on probability density function(PDF) is presented,which is different from the idea that mean squared error(MSE) is employed as the index function in traditional identification ***,a neuro-fuzzy based Hammerstein model is constructed to describe the nonlinearity of Hammerstein process without any prior process ***,a kind of special test signal is used to separate the link parts of the Hammerstein *** specifically,the conception of PDF is introduced to solve the identification problem of the neuro-fuzzy Hammerstein *** antecedent parameters are estimated by a clustering algorithm,while the consequent parameters of the model are identified by designing a virtual PDF control system in which the PDF of the modeling error is estimated and controlled to converge to the *** proposed method not only guarantees the accuracy of the model but also dominates the spatial distribution of PDF of the model error to improve the generalization ability of the *** results show the effectiveness of the proposed method.

关键词： Probability clustering guarantees separate converge prior generalization conception squared nonlinearity

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Small UAV Autonomous Localization Based on Multiple Sensors Fusion

Small UAV Autonomous Localization Based on Multiple Sensors ...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Bingfei Li Huawei Liu Jianye Zhang Xiaolin Zhao Boxin Zhao Key Laboratory of Science and Technology on Avionics Integration Technologies Aeronautics and Astronautics Engineering College Air Force Engineering University College of Mechatronics Engineering Automation National University of Defense Technology

Autonomous localization is a challenge for small UAVs in the environment where GPS signal is unavailable. In this paper, we propose a novel autonomous localization algorithm for small UAVs without map

ISBN: (纸本)9781467389808

关键词： Visual odometer Autonomous localization Map construction flight conditions Unmanned Aerial Vehicle flight state Sensor fusion odometry Not Available drone honey bees terraces

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The Gateway Anomaly Detection And Diagnosis In WSNs 28

The Gateway Anomaly Detection And Diagnosis In WSNs

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第28届中国控制与决策会议

作者： Feng Zhen Fu JingQi Su Wei School of Mechatronic Engineering and Automation Shanghai University College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781467397155

The gateway plays the essential role in wireless sensor networks,which is critical component in terms of sending and receiving *** abnormal of gateway will have a great influence on data transmission and reduce the stability and reliability of *** research described in the paper origins from equipment monitoring system based on the wireless sensor network system,which is deployed at Cold Rolling and Continuous Annealing line(CRCAL) in steel *** communication data of gateway state were analyzed with statistic method in cluster using the diagnosis *** with the theory of multivariate statistical process control(MSPC),we propose a method of gateway anomaly detection based on Principal Component Analysis(PCA).Finally,the method is proved to be reliable and effective based on the actual data from field monitoring network system.

关键词： Wireless sensor networks(WSN) Gateway Anomaly detection Anomaly diagnosis Principal Component Analysis(PCA)

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