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第三十九届中国控制会议

作者： Yin Wan Ding Liu Junchao Ren Congcong Liu Jie Sun National & Local Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

Aiming at the complex nonlinear dynamic time-varying characteristics for Czochralski（Cz） silicon single crystal growth process and the difficulty in modeling and controlling the crystal diameter by conventional mechanisms, based on the idea of data-driven modeling and control, this paper proposes an improved model-free sliding mode iterative learning control（MFA-SMILC） method. First, a data-driven model of crystal diameter is established using an extreme learning machine（ELM）with actual process data;Then, based on the compact-format dynamic linear（CFDL） data model, a discrete sliding mode control algorithm is used to design a data-driven controller structure for crystal diameters, and the stability of the iterative tracking error is verified by the stability analysis;Finally, the proposed MFA-SMILC controller is applied to silicon single crystal diameter control, and compared with the conventional model-free adaptive iterative learning control（MFA-ILC）, it is found that MFASMILC has faster response speed and convergence speed, which verifies the effectiveness of the proposed control method.

关键词： Cz silicon single crystal growth Crystal diameter Model free iterative learning control Sliding mode control

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Model analysis and experimental research on hydraulic high-speed impact system 8

Model analysis and experimental research on hydraulic high-s...

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8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019

作者： Wang, Shoukun Shi, Mingxin Chen, Zhihua Beijing Institute of Technolog Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China Key Laborator Yof Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9781728103112

ISBN: (纸本)9781728103112

High-speed impact simulation test is an important test method to study the fatigue properties or limit parameters of materials. With the advantages of great impact energy, good program control and convenient test operation, hydraulic impact is widely used in high-speed impact field. A hydraulic high speed impact simulation system is designed in this paper, which uses high pressure accumulator to supply oil and converts hydraulic energy into impact energy through servo valve controlled cylinder system. This system can simulate dynamic change process of impact velocity and acceleration of projectile, and has impact angle adjustment and end buffer function. First, the composition and working principle of this hydraulic impact simulation system is introduced, as well as the analysis of the hydraulic impact mechanism. Second, the system dynamics model of servo valve controlled cylinder based on accumulator oil is built, and the simplified model and its basic characteristics are analyzed. Then, the Influences of various parameters in impact dynamic model on impact process are also discussed. Finally, the simulation system and physical prototype system of hydraulic impact is presented, the simulation and actual impact test data and corresponding analysis conclusions are also given. © 2019 IEEE.

关键词： Software testing

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Fault-tolerant sampled-data synchronization of Markovian jumping complex dynamical networks via looped-functional approach

Fault-tolerant sampled-data synchronization of Markovian jum...

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International Symposium on Autonomous systems (ISAS)

作者： Wang Xin Sun Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728112992

In this paper, the issue of sampled-data synchronization of Markovian jumping complex dynamical networks with sensor fault is investigated. Here, we utilize looped-functional approach to constructed Lyapunov functional with more information about r(t k ) and r(t k+1 ), which has contribution to decrease the conservatism of stability condition. Then, we design a sampled-data controller for Markovian jumping complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.

关键词： complex networks control system synthesis fault tolerant control Lyapunov methods Markov processes network theory (graphs) sampled data systems stability synchronisation sampled data system fault-tolerant control control system synthesis Lyapunov methods Markov chain complex networks data synchronization Jumping Data sampling

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Further results on mixed H∞ and passive sampled-data synchronization of complex dynamical networks via looped-functional approach

Further results on mixed H∞ and passive sampled-data synchr...

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International Symposium on Autonomous systems (ISAS)

作者： Wang Xin Sun Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728112992

This paper investigates the issue of H ∞ and passive sampled-data synchronization of delayed complex dynamical networks. By taking more information about r(t k ) and r(t k+1 ) into account, which has contribution to decrease the conservatism of stability condition, a novel Lyapunov-Krasovskii looped-functional is constructed. Then, we design a H ∞ and passive sampled-data controller for complex dynamical networks. Finally, the feasibility and superiority of our method are proved by several numerical and simulation examples.

关键词： complex networks control system synthesis delays H∞ control Lyapunov methods sampled data systems stability synchronisation sampled data system control system synthesis Lyapunov methods complex networks Data sampling data synchronization delay Conservatism

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A Heuristic Algorithm for Solving Resource Constrained Project Scheduling Problem with Transfer Time under Resource Bundle

A Heuristic Algorithm for Solving Resource Constrained Proje...

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第三十八届中国控制会议

作者： Junqi Cai Zhihong Peng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper we investigate an extension of Resource Constrained Projected Scheduling Problem(RCPSP): the Resource Constrained Project Scheduling Problem with Transfer Time under Resource Bundle. For this complex problem, the use of a parallel scheduling scheme is proposed. Such scheme has been successfully applied to the RCPSP. Introducing transfer time and resource bundle into RCPSP causes two problems, one is the possibility of resources significantly exceed the need of a task, the other is cooperation among unfamiliar members from different team may increase the makespan of the project. In order to deal with the problem, two new concepts are developed: task-related resource weight and collaboration coefficient. Some discussion of such concepts is given of and use them for new heuristic framework we proposed. A computational test is performed and the results show that the new heuristic is very effective in finding better solutions within a very short time.

关键词： RCPSP heuristic algorithm resource bundle transfer time

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Road acceleration spectrum replication on Stewart platform with Three Variable controller

Road acceleration spectrum replication on Stewart platform w...

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第三十八届中国控制会议

作者： Hu Xiaoyu Wang Shoukun State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

Comparing to the commonly used hydraulic three-axial shaking tables, multi-degree of freedom shaking systems implemented by Stewart platform have the merits of being portable, easy to install and with high load capacity, but are not well studied because of the inherent nonlinearity and strong coupling of Stewart platform. In order to replicate multi-degree of freedom road acceleration spectrum on Stewart platform, analysis of the system was carried out. Firstly, the system structure was introduced and the linearized platform kinematic equations, at the equilibrium position, were inducted. The models of actuators that drive the platform were simplified and the principles of three variable controller(TVC) were deduced briefly. Finally, MATLAB-Adams co-simulation environment was built to perform multi-degree of freedom road acceleration spectrum replication with TVC. The results show that it can reproduce high accuracy multi-degree of freedom road acceleration spectrum with TVC on Stewart platform.

关键词： Shaking table Stewart platform three variable controller

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Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surface Vehicle in Marine Environment

Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surf...

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Information Technology,Big Data and Artificial Intelligence (ICIBA), International Conference on IEEE International Conference on

作者： Xianzhi Qi Wenxing Fu Pei An Bingli Wu Jie Ma National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728152240

ISBN: (纸本)9781728152257

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3D LiDAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LiDAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy.

关键词： Three-dimensional displays Laser radar Filtering Filtering algorithms Spatial resolution Task analysis Measurement by laser beam

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A Fast Image/Video Dehazing Algorithm Based on Modified Atmospheric Veil

A Fast Image/Video Dehazing Algorithm Based on Modified Atmo...

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第三十八届中国控制会议

作者： Kang Liu Yongqiang Bai Zhenwei Gao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

In this paper, we propose a fast image/video dehazing algorithm based on modified atmospheric veil. For a single image, the coarse atmospheric veil is quickly estimated by the minimum and maximum channels. We take the depth image estimated by the color attenuation prior as the guided image to refine the coarse atmospheric veil and use down sampling technique to speed up the process. In addition, a fast Fourier enhancement method is used to improve the high frequency details. Based on the image dehazing, we design an atmospheric light adjustment strategy and a transmission optimized framework for video dehazing, which can effectively reduce flickering artifacts. Experimental results demonstrate that the proposed algorithm can achieve a very good dehazing effect while keeping a comparable processing speed with state-of-the-art algorithms.

关键词： image/video dehazing atmospheric veil flickering artifacts optimized framework

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Road detection using lidar data based on plane assumption and graph model

Road detection using lidar data based on plane assumption an...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Min Yan Junzheng Wang Jing Li Ke Zhang Zimu Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P. R. China

ISBN: (数字)9781728124858

ISBN: (纸本)9781728124865

Detection of traversable road area is one of the key tasks for unmanned platforms to achieve autonomous navigation. We propose a road detection method using lidar data based on plane assumption and graph model in this paper. Two detection algorithms for different speeds are provided to ensure the detection accuracy and to meet the real-time requirements, respectively. First, the point cloud is projected into a real image or an imaginary image for triangulation. The road points are then extended outward from the near platform according to the plane assumption. Then the dual Voronoi diagram of the triangulation is filled according to the attribute of the central element node, and the upper part of the horizon is removed. Finally, image post-processing yields the final detection results. This method perfectly combines the classification of points and the determination of road areas and uses the mature image algorithms in the processing of point cloud data. Experimental tests have been carried out on the public KITTI-Road benchmark, obtaining positive results.

关键词： Roads Laser radar Cameras Three-dimensional displays Real-time systems Data models Task analysis

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Large-scale 3D Semantic Mapping Using Stereo Vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping （SLAM）.

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