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Localization and mapping in urban area based on 3D point cloud of autonomous vehicles

Journal of Beijing Institute of Technology 2016年第4期25卷 473-482页

作者：王美玲李玉杨毅朱昊刘彤 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points （ICP） algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles＇ importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles＇ poses, which would decrease particle numbers, increase algorithm speed and restrain particles＇ impoverishment. The calculation of particles＇ importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.

关键词： simultaneous localization and mapping （SLAM） Rao-Blackwellized particle filter （ RB-PF） VoxelGrid filter ICP algorithm Gaussian model urban area

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Optimal switching integrity attacks in cyber-physical systems

Optimal switching integrity attacks in cyber-physical system...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guangyu Wu Jian Sun The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9781538629024

In this paper, an optimal switching data integrity attack schedule method is presented. It is assumed that an attacker is able to inject false data to partial actuators of a healthy system at each instant. Optimal switching attack represents a growing class of cyber-physical attacks that aim to damage a target system via a controlled switching of attacked units. A feedback attack law is proposed to maximize a weighted quadratic performance. Two switching conditions are designed to obtain the optimal sequence of the attacked actuators via the Maximum Principle. Finally, numerical results are provided to illustrate the effectiveness of the proposed method.

关键词： Switches Actuators Cyber-physical systems Jamming Optimal control system performance

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A Modified system Model and its Application on SINS/GPS Integrated system

A Modified System Model and its Application on SINS/GPS Inte...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Xuan Xiao Xiang Guo Yuan Liang Chao Shi Songtian Shang Hong Hu School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538604915

Kalman filter has been extensively applied in vast areas. However, the performance of Kalman filter rests on the accuracy of prior information such as model construction. In the integrated system of Strapdown Inertial Navigation system (SINS)/Global Positioning system (GPS), the model construction is affected by a certain error sources. The most significant one is computational errors, which are caused by improper reference frame and the absence of true values. To solve the problem, this paper presents a modified system model which reduce the impact of computational errors by selecting computational frame as reference coordinate frame and removing all true values. Simulation results have demonstrated that modified system model effectively improves the performance of Kalman filter in SINS/GPS integrated system.

关键词： Kalman filters systems modelling Integrated system strapdown inertial navigation system Error Sources Modified

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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American control Conference (ACC)

作者： Yi Yang Hao Li Hao Zhu Ningyi Lyu Wenjie Song School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing Beijing CN School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach.

关键词： Hidden Markov models Roads Global Positioning system Three-dimensional displays Urban areas Laser radar Autonomous vehicles

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Joint space compliance control for a hydraulic quadruped robot based on force feedback

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Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

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Covert Attacks against Output Tracking control of Cyber-Physical systems

Covert Attacks against Output Tracking Control of Cyber-Phys...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Fangyuan Hou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper is concerned with the problem of designing successful covert attacks against output tracking control of cyber-physical systems from the covert agent's angle. Based on the perfect model knowledge and no model knowledge, the covert agent designs two kinds of covert attacks which can compromise the output tracking control system without being detected. Two sufficient conditions under which the covert agent can successfully compromise the output tracking control system are proposed. The designed covert attacks are illustrated through two numerical examples.

关键词： control systems Numerical models Kalman filters system dynamics State estimation Cyber-physical systems system performance

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Dynamic Output Feedback control of Networked control systems with Aperiodic Sampling and Time-Varying Delays

Dynamic Output Feedback Control of Networked Control Systems...

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Asian control Conference

作者： Su Meng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781509015740;9781509015733

This paper investigates the stability and stabilization issues for networked control systems with both aperiodic sampling and time-varying transmission delays in a general case. The delays vary within a given interval which could be larger than the sampling interval. By applying model transformation methods of aperiodic sampling and time-varying delays as well as the lifting method, the discretized closed-loop system with time-varying delays is converted to a discrete-time system with time-varying delays and norm-bounded uncertainties coming from aperiodic sampling, and is then modeled as an interconnected system of which the forward channel is delay-free. An asymptotic stability condition for the closed-loop system is derived, and a dynamic output feedback controller design method is also proposed. A numerical example is finally provided to illustrate the effectiveness of the proposed method.

关键词： Delays Time-varying systems Closed loop systems Output feedback Stability analysis Asymptotic stability Uncertainty

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An Adaptive INS/GPS/VPS Federal Kalman Filter for UAV Based on SVM

An Adaptive INS/GPS/VPS Federal Kalman Filter for UAV Based ...

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IEEE International Conference on Automation Science and Engineering

作者： Xuan Xiao Chao Shi Yi Yang Yuan Liang Xiang Guo School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

In this paper, an adaptive modified federal Kalman filter is applied to the autonomous navigation with multi-sensors in condition that Unmanned Aerial Vehicle (UAV) is dynamically tracking Unmanned Ground Vehicle (UGV). To satisfy the autonomous navigation demands such as good accuracy, real time and high reliability for UAV, a new integrated navigation mode, in which Inertial Navigation system (INS) is aided by Global Position system (GPS)/Visual Positioning system (VPS), is proposed. Subsequently, a novel method is introduced which determined the information-sharing factors dynamically based on Singular Value Decomposition (SVD), and it not only solves the blindness of the information distribution factor of the conventional federated filter but also reduces the amount of calculation. According to the analysis of the theory about Support Vector Machine (SVM), an optimal objective kernel function is designed to select the effective source of information, thus it isolates the fault sensor. Simulation results show that the proposed integrated navigation system can provide abundant navigation information with sub-level navigation accuracy and good fault-tolerant performance. UAV can obtain reliable navigation information by this modified federal Kalman filter algorithm even when GPS or VPS is continuously interrupted for a period.

关键词： UGV UAV provide abundant

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Improving Auction Mechanisms for Online Real-Time Bidding Advertising with a Two-stage Resale Model

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IFAC-PapersOnLine 2017年第1期50卷 13575-13580页

作者： Qin, Rui Yuan, Yong Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China Research Center of Military Computational Experiments and Parallel System National University of Defense Technology Changsha China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China

Real Time Bidding (RTB), widely publicized as one of the most promising big-data-driven business models for online computational advertising, has the potential of effectively monetizing user clicks and impressions via two-stage auctions with resale. Demand side platforms (DSPs) play a key role as intermediators in this auction process. Typically, the first-stage auctions will be conducted separately in each DSP to determine one winning advertiser registered on it, and in the second-stage auction, each DSP submits a bid based on its winning advertiser's bid to the ad exchange platform (AdX). The highest-bid DSP wins the ad impression from AdX and resells it to its winning advertiser in pursuit of the intermediate fee. This two-stage resale auction is a critical component in maintaining the effectiveness and efficiency of RTB ecosystems. In this paper, we strive to identify and design potential improvements for this auction mechanism with the aim of enhancing the total revenue of both advertisers and DSPs. We also validated our proposed auction mechanisms using the computational experiment approach. The experimental results indicate that our proposed mechanisms can make both advertisers and DSPs better off. Our work represents the first step towards a new research area of optimal mechanism design for RTB auctions, and is expected to provide useful managerial insights in RTB market practice. © 2017

关键词： Sales Commerce Machine design Auction mechanisms Computational advertisings Computational experiment Critical component Demand side Effectiveness and efficiencies Optimal mechanism designs Real time

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A Real-time Hand Postures Estimation Method

A Real-time Hand Postures Estimation Method

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Sunjie Chen Hongbin Ma Cong Han School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781538604915

Hand postures can be used to achieve friendly human-machine interaction (HMI) for the advantages of simple expressions, informative instructions and unconstrained operations. However, most previous postures estimation methods have problems such as poor real time performance, low estimation accuracy, being sensitive to the varying illumination and relying on marks on hands or special assistant devices. In this paper, we will introduce an efficient real-time method to estimate hand postures with an ordinary monocular camera. This method contains two stages, which are hand segmentation and postures recognition. Rather segment objects from the whole image, we locate the hand within a local area first and then adapt motion, color and contour informations to segment the hand region accurately. After that, template matching algorithm is used to recognize hand postures with fingertips and shape features. The experimental results demonstrated that the introduced method realizes high estimation accuracy and fast processing speed. Furthermore, the method is robust to varying illumination conditions.

关键词： Microsoft Windows Image segmentation Image color analysis Estimation Motion segmentation Support vector machines Lighting Motion segmentation image colour analysis Microsoft Windows(software) Lighting Hand body position Support Vector Network image segmentation Subdivision of hand

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