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2018 IEEE CSAA Guidance, Navigation and control Conference, CGNCC 2018

作者： Jiang, Yuehan Wang, Qing Dong, Chaoyang Zhou, Min Zhong, Kewei Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing100854 China Shanghai Aerospace Control Technology Institute Shanghai201100 China

ISBN: (纸本)9781538611715

For robots to work effectively, the availability of a map with detailed information surrounding the workspace is an important requirement for indoor and outdoor tasks. This is usually achieved with using visual odometry techniques with feature-based methods. In this paper, we compare the performance of three different feature extraction methods: Scale Invariant Feature Transform (SIFT), Speed Up Robust Features (SURF) and Oriented FAST Rotated BRIEF (ORB). This paper presents experimental results on standard evaluation datasets and all experiments use measurement of the number of image correspondences as well as the ratio of good matched for the evaluation purpose. The results of experiments demonstrate that the performances of three methods in processing time, matching capability and accuracy. SIFT presents its stability in most scenarios although it is very slow. SURF is faster than SIFT and outperform SIFT on some scenarios. ORB is the most efficient feature and shows strong performance. © 2018 IEEE.

关键词： Vision

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Parameter Estimations of Heston Model Based on Consistent Extended Kalman Filter

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IFAC-PapersOnLine 2017年第1期50卷 14100-14105页

作者： Wang, Ximei He, Xingkang Zhao, Yanlong Zuo, Zhiqiang Key Laboratory of System and Control Academy of Mathematics and System Science Chinese Academy of Sciences Beijing100190 China School of Electrical Engineering and Automation Tianjin University China

Heston model is widely applied to financial institutions, while there still exist difficulties in estimating the parameters and volatilities of this model. In this paper, the pseudo-Maximum Likelihood Estimation and consistent extended Kalman filter (PMLE-CEKF) are implemented synchronously to estimate the Heston model. For parameter estimations, PMLE for the state equation and the measurement equation of the Heston model are conducted independently. For volatility estimations, the consistent extended Kalman filter (CEKF) algorithm is introduced to ensure the volatility to be well evaluated. Additionally, the estimation results of the Heston model are compared between PMLE-CEKF and PMLE-EKF algorithm. The numerical simulations illustrate that PMLE-CEKF algorithm works more efficiently than PMLE-EKF algorithm. Application of the PMLE-CEKF to S&P 500 shows the utility of the proposed algorithm. © 2017

关键词： Parameter estimation Bandpass filters Equations of state Extended Kalman filters Maximum likelihood estimation Molar mass Estimation results Financial institution Heston model Measurement equations Pseudo maximum likelihood estimations State equations volatility Volatility estimations

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Enhanced Moth-flame Optimization Based on Cultural Learning and Gaussian Mutation

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Journal of Bionic engineering 2018年第4期15卷 751-763页

作者： Liwu Xu Yuanzheng Li Kaicheng Li Gooi Hoay Beng Zhiqiang Jiang Chao Wang Nian Liu State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical Engineering and Electronics Huazhong University of Science and Technology Wuhan 430074 China School of Automation Ministry of Education Key Laboratory of lmage Processing and Intelligence Control Huazhong University of Science and Technology Wuhan 430074 China Nanyang Technological University Singapore 639798 Singapore School of Hydropower and lnformation Engineering Huazhong University of Science and Technology Wuhan 430074 China China Institute of Water Resources and Hydropower Research Beijing 100038 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beij'ing 102206 China

This paper presents an Enhanced Moth-Flame Optimization （EMFO） technique based on Cultural Learning （CL） and Gaussian Mutation （GM）. The mechanism of CL and the operator of GM are incorporated to the original algorithm of Moth-Flame Optimization （MFO）. CL plays an important role in the inheritance of historical experiences and stimulates moths to obtain information from flames more effectively, which helps MFO enhance its searching ability. Furthermore, in order to overcome the disadvantage of trapping into local optima, the operator of GM is introduced to MFO. This operator acts on the best flame in order to generate several variant ones, which can increase the diversity. The proposed algorithm of EMFO has been comprehensively evaluated on 13 benchmark functions, in comparison with MFO. Simulation results verify that EMFO shows a significant improvement on MFO, in terms of solution quality and algorithmic reliability.

关键词： bioinspired computing moth-flame optimization cultural learning Gaussian mutation benchmark functions

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A New Robust Fault-tolerant control Strategy for Aircraft with Asymmetric Structure Damage 36

A New Robust Fault-tolerant Control Strategy for Aircraft wi...

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第36届中国控制会议

作者： Pianpian Zuo Ke Yi Qingdong Li Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University System Engineering Research Institute

ISBN: (纸本)9781538629185

This paper focuses on the control problem of the aircraft with asymmetric structure *** contribution of this study is to present a new robust fault-tolerant control strategy based on nonlinear extended state observer and nonlinear dynamic inverse,which well balances the system performance and the tolerance of ***,the dynamic model of the aircraft with asymmetric structure damage is built adopting micro-element ***,the damaged aircraft control problem can be transformed into the problem of the suppression and adaptation of uncertain ***,simulations are carried on to demonstrated the control law based on the proposed strategy with NASA Generic Transport *** show that the aircraft tracks the control commands quickly and accurately and the flight performance is well ensured after asymmetric structure damage occurring.

关键词： asymmetric structure damage robust fault-tolerant control extended state observer dynamic inverse control

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Robust MPC for constrained uncertain systems with data-driven improvement

Robust MPC for constrained uncertain systems with data-drive...

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第37届中国控制会议

作者： Lingyi Yang Dewei Li Jianbo Lu Yugeng Xi Bin Li Department of Automation Shanghai Jiaotong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education Department of Automation Sichuan UniversitySchool of Electrical Engineering and Information

The adaptive model predictive control is regarded as an effective control method for unknown constrained ***, the adaptive model predictive control needs model identification. The process of identification demands a certain amount of data and places some requirements on data which makes it difficult to be implemented. To handle it, this paper proposes a novel data-driven approach without model identification. The data of previous time is utilized to describe state space and input space of the uncertain system instead of identifying the true model. Based on the data-driven method, the Quasi-MinMax control strategy is used to design the robust data-driven MPC controller which directly calculates the input from the past data. Combined with the data-driven method, a free control variable is introduced to compensate for the insufficiency of past data. It is shown that adopting the data-driven controller can reduce conservatism by lessening model uncertainty and improve control performance. Meanwhile, the proposed design is proven to be recursively feasible and stabilizing. A numerical example demonstrates the effectiveness and advantages of the proposed control method.

关键词： Adaptive learning control Data-driven approach Model predictive control

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Vision-inertia Virtual Glasses Relative Attitude Estimate within a Rotation Free Cabin

Vision-inertia Virtual Glasses Relative Attitude Estimate wi...

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第三届机电控制技术与交通运输国际学术会议

作者： Keqiang Wu Hai Zhang Youze Mao School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University Beijing Institute of Electronic System Engineering

This paper presents a visual and inertial measurements fusion scheme to estimate the relative attitude when the cabin and the virtual glasses in it are both free to move. A Euler angle filter is designed when the cabin rotation rate can be provided with high frequency. Another orientation error filter is developed when only the cabin attitude can be obtained. Both of these algorithms are based on low cost MEMS inertial measurement unit, experiment has proved that the relative attitude can be fast and accurately estimated. The main advantages are the measurement noise can be well suppressed and the relative attitude estimation can be continuous even though the glasses are invisible to the optical tracking system.

关键词： Inertial measurement unit Optical tracking system Fusion Relative attitude Virtual reality

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Robust adaptive attitude control for carrier based aircrafts in the landing process under the carrier air wake disturbance 36

Robust adaptive attitude control for carrier based aircrafts...

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第36届中国控制会议

作者： Jianglong Yu Yongzhao Hua Peng Yang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Aviation System Research Department System Engineering Research Institute

ISBN: (纸本)9781538629185

When naval vessels moving on the sea, the carrier air wake disturbance will arise. The carrier air wake makes the landing environment of carrier aircraft fair adverse, which puts forward a high demand for the high precise attitude control of carrier based aircrafts. In this paper, high precise robust attitude control problems for carrier based aircrafts with the carrier air wake disturbance are investigated. Firstly, the small disturbance linearization method is introduced to transform the nonlinear system into a linear one, which is a necessary procedure for aircraft system analysis and controller design. Secondly, the model of the carrier air wake disturbance is established and its effects on the aerodynamic parameters are analyzed in detail. Then the effects are transformed into the augmented disturbance in the system. Thirdly, a nonlinear extended state observer is utilized to estimate the disturbance. Besides, a robust adaptive attitude controller with integral term is proposed to achieve high precision attitude tracking. The stability of the closed-loop system is prove based on Lyapunov theory. Finally, a numerical example is provided to demonstrate the effectiveness of the obtained results.

关键词： Carrier based aircraft Carrier air wake Disturbance Robust adaptive control Nonlinear extended state observer

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TransMut: a program to predict HLA-I peptide binding and optimize mutated peptides for vaccine design by the Transformer-derived self-attention model

Research Square

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Research Square 2021年

作者： Chu, Yanyi Zhang, Yan Wang, Qiankun Zhang, Lingfeng Wang, Xuhong Wang, Yanjing Wang, Jianmin Jiang, Xue Salahub, Dennis Russell Xiong, Yi Wei, Dong-Qing State Key Laboratory of Microbial Metabolism Shanghai-Islamabad-Belgrade Joint Innovation Center on Antibacterial Resistances Joint International Research Laboratory of Metabolic & Developmental Sciences School of Life Sciences and Biotechnology Shanghai Jiao Tong University Shanghai200030 China Department of Chemistry CMS - Centre for Molecular Simulation IQST - Institute for Quantum Science and Technology University of Calgary 2500 University Drive NW CalgaryABT2N 1N4 Canada Department of Clinical Oncology The University of Hong Kong-Shenzhen Hospital Shenzhen China School of Electrical Engineering and Computer Science University of Ottawa 75 Laurier Ave. OttawaONK1N 6N5 Canada The Ministry of Education Key Laboratory of System control and information processing Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200030 China Integrative Biotechnology & Translational Medicine Yonsei University Incheon21983 Korea Republic of Peng Cheng Laboratory Vanke Cloud City Phase I Building 8 Xili Street Nanshan District Guangdong Shenzhen518055 China

Computational prediction of the interaction between human leukocyte antigen (HLA) and peptide (pHLA) can speed up epitope screening and vaccine design. Here, we develop the TransMut framework composed of TransPHLA for pHLA binding prediction and AOMP for mutated peptide optimization, which can be generalized to any binding and mutation task of biomolecules. Firstly, TransPHLA is developed by using a Transformer-derived self-attention model to predict pHLA binding, which is significantly superior to 11 previous methods on pHLA binding prediction, neoantigen and human papilloma virus vaccine identification. For vaccine design, the AOMP program is then developed to automatically optimize mutated peptides to search for mutant peptides with higher affinity to the target HLA and with high homology to the source peptide. Among 3660 non-binding pHLAs, 3630 were successfully mutated. Of these, 94% were verified by the IEDB recommended method, and 88% have homology higher than 80% to the source peptide. © 2021, CC BY.

关键词： Peptides

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Semi-global leader-following output consensus of discrete-time linear multi-agent systems with input saturation

Semi-global leader-following output consensus of discrete-ti...

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2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

作者： Shi, Liangren Li, Yuanlong Lin, Zongli Brown, Charles L. Innovation Center Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Automation Shanghai Jiao Tong University China Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 CharlottesvilleVA22904-4743 United States

ISBN: (纸本)9781538668689

We consider the problem of semi-global leader-following output consensus for a group of agents, consisting of a leader agent and some follower agents, which are described by discrete-time linear systems and connected on a directed network. For each follower agent, a distributed observer is built that estimates the state of the leader. Based on the estimates of the leader state and the solution of a parameterized algebraic Riccati equation, we design low gain consensus protocols that are shown to solve the semi-global output consensus problem as long as the leader agent is reachable globally on the network. Numerical simulation shows the performance of the proposed consensus protocols. © 2018 IEEE.

关键词： Multi agent systems

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DINS: A Distributed Scheme for Sensor Fusion over Fading Channels

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IFAC-PapersOnLine 2017年第1期50卷 14284-14289页

作者： Zhu, Shanying Xu, Jinming Chen, Cailian Guan, Xinping Xue, Binqiang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore College of Automation and Electrical Engineering Qingdao University Qingdao266071 China

In this paper, we consider the problem of distributed sensor fusion in relay-assisted sensor networks with time-varying asymmetric communications over fading channels. A Distributed INnovation based Scheme (DINS) is proposed by fusing both the local measurements and the information received from neighboring nodes. We present a hybrid TDMA scheme for efficient implementation of DINS and the design of parameters of DINS to bring the effects of fading under a satisfactory level. With an appropriate design, it is shown that our algorithm is able to produce estimates with desired asymptotic properties of unbiasedness and consistency. Simulation results are provided to demonstrate the performance of DINS. © 2017

关键词： Time division multiple access Fading channels Sensor networks Appropriate designs Asymptotic properties consistency Distributed innovation Distributed schemes Distributed sensor Efficient implementation unbiasedness

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