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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Risk-Sensitive Cubature Filtering for Jump Markov Nonlinear systems and Its Application to Land Vehicle Positioning ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 20-25页

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.

关键词： Markov models Kalman filters estimation theory target tracking

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An active visual loop closure detection and validation system for topological SLAM

An active visual loop closure detection and validation syste...

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2010 Australasian Conference on robotics and Automation, ACRA 2010

作者： Wen, Lik Lui, Dennis Jarvis, Ray Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780980740417

Loop closing is a vital component for mobile robot navigation without a priori information of the environment, since the mobile robot has to explore, build and at the same time maintain a globally consistent map. Moreover, it allows the mobile robot to recover from positional drifts due to errors associated with sensor measurements once loop closing is performed. In this paper, an active loop closing detection and validation system for a fully autonomous vision-based mobile robot performing topological SLAM is presented. It integrates an appearance-based mapping and localization system with the path planner to achieve an active loop closing system. This system does not only detect loop closures but actively validates them by taking advantage of the tight integration with the path planner. Experimental results conducted in a semi-outdoor environment validate the proposed system.

关键词： Mobile robots

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB)

作者： Danny Plass-Oude Bos Matthieu Duvinage Oytun Oktay Jaime Delgado Saa Huseyin Guruler Ayhan Istanbullu Marijn van Vliet Bram van de Laar Mannes Poel Linsey Roijendijk Luca Tonin Ali Bahramisharif Boris Reuderink HMI group Faculty of EEMCS University of Twente Netherlands TCTS Laboratory Electrical Engineering University of Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal Üniversitesi Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Faculty of Engineering and Natural Sciences VPA Laboratory Sabanci University Turkey Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Institute for Computing and Information Sciences Radboud University Nijmegen Nijmegen Netherlands

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment.

关键词： Pipelines Accuracy Electrooculography Electrodes Training Electroencephalography Games

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Adaptive Iterative Learning Control for Uncertain Delay systems Based on Model Matching Technique

Adaptive Iterative Learning Control for Uncertain Delay Syst...

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2011 American Control Conference (ACC)

作者： Haixia Su Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

In this paper, an adaptive iterative learning control (ILC) scheme is proposed for trajectory tracking of uncertain delay systems based on model matching technique. The reference model is a delay system operating over in a finite time interval. An iterative model matching controller is designed and an iteration domain adaptive law is chosen to estimate the unknown parameters. It shows that the model matching technique can be applied in a straightforward method to ILC problem. A simulation example is included to illustrate the designed scheme.

关键词： Adaptation models Polynomials Adaptive systems Delay effects Delay systems

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Gaussian Mixture PHD Smoother for Jump Markov Models in Multiple Maneuvering Targets Tracking

Gaussian Mixture PHD Smoother for Jump Markov Models in Mult...

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2011 American Control Conference (ACC)

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.

关键词： Target tracking Approximation methods Markov processes Covariance matrix Smoothing methods Radar tracking Computational efficiency

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One Day Smart Grid Supersession - Analytics and Integration

One Day Smart Grid Supersession - Analytics and Integration

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General Meeting of the IEEE-Power-and-Energy-Society (PES)

作者： Liu, W-H Edwin McArthur, Stephen Giri, Jay Miu, Karen Pratt, Rob Wen, Jun Uluski, Bob Dow, Luther Labut, Gerard IEEE Computing and Analytical Methods Subcommittee United States IEEE PES Intelligent Systems Subcommittee United States IEEE PES Multi-Agent System Working Group United States Power Systems Technology and Strategic Initiatives ALSTOM Grid Redmond WA United States Electrical and Computer Engineering Department Drexel University United States Pacific Northwest National Laboratory's (PNNL's) Smart Grid R and D Program U.S. Department of Energy United States Transmission and Interconnection Planning Group Southern California Edison (SCE) Company United States WECC Modeling and Validation Working Group United States EPRI Power Delivery and Utilization Area United States Distribution and West Coast Operations Quanta Technology United States Distribution Operations SmartCurrentssm Program Strategy DTE Energy Detroit MI United States

ISBN: (纸本)9781457710018

The effort of "Smart Grid" is to modernize grid infrastructure and build-in intelligence to power grids and delivery systems, and their interfaces to customer premises. However, the perspectives range from an emphasis on infrastructure to an emphasis on new paradigm-shifting applications. Alternatively, the smart grid can be thought of as the advanced information technologies that enable the desired analytical applications. As a general understanding, we believe that Smart Grid needs to integrate power system analysis, computing and economics to enhance grid reliability, efficiency, and security, and contributes to the climate change strategic goal. In this Supersession, the analytics that empowers smart grid applications is discussed;and the practical implementation and integration challenges will be presented.

关键词： smart grid analytical applications system integration

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Effective structure learning for EDA via L1-regularized Bayesian networks 10

Effective structure learning for EDA via L1-regularized Baye...

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12th Annual Genetic and Evolutionary Computation Conference, GECCO-2010

作者： Yang, Jiadong Xu, Hua Cai, Yunpeng Jia, Peifa Key Laboratory on Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing 100084 China Department of Electrical and Computer Engineering University of Florida Gainesville FL 32608 United States

ISBN: (纸本)9781450300728

The Bayesian optimization algorithm (BOA) uses Bayesian networks to explore the dependencies between decision variables of an optimization problem in pursuit of both faster speed of convergence and better solution quality. In this paper, a novel method that learns the structure of Bayesian networks for BOA is proposed. The proposed method, called LIBOA, uses L1-regularized regression to find the candidate parents of each variable, which leads to a sparse but nearly optimized network structure. The proposed method improves the efficiency of the structure learning in BOA due to the reduction and automated control of network complexity introduced with L1-regularized learning. Experimental studies on different types of benchmark problems are carried out, which show that LIBOA outperforms the standard BOA when no a-priori knowledge about the problem structure is available, and nearly achieves the best performance of BOA that applies explicit complexity controls. Copyright 2010 ACM.

关键词： Bayesian networks

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A pure vision-based approach to topological SLAM

A pure vision-based approach to topological SLAM

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Wen Lik Dennis Lui Ray Jarvis Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Australia

This paper describes a topological SLAM system using a purely vision-based approach. This robot utilizes a GPU-based omnidirectional catadioptric stereovision system to perceive and plan its path in the environment. Subsequently, the omnidirectional images generated are used to incrementally build a database of image signatures based on the standard 2D Haar Wavelet decomposition. In order to maintain a globally consistent topological map, a relaxation algorithm, which requires local metric information between nodes, is employed each time the appearance-based localization system revisits an existing node in the topological map. The relative transformation of the current position of the robot with respect to the actual position of the matched node is recovered by using a least squares estimation of the transformation parameters of two 3D point patterns generated by the stereovision system. In addition, local metric information is obtained by using the proposed visual odometry system which combines distance measurements calculated by using optical flow techniques which estimates the movement of a web camera relative to the ground being observed and bearing estimates from the omnidirectional catadioptric vision system. Experiments were conducted in a variety of environments ranging from indoor to outdoor environments which demonstrate the feasibility of this approach.

关键词： Visualization Robot kinematics Three dimensional displays Databases Cameras Robustness

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