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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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Robot-assisted Upper-limb Progressive Anti-resistance Training and Clinical Experimental Study

Robot-assisted Upper-limb Progressive Anti-resistance Traini...

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IEEE International Conference on Robotics and Biomimetics

作者： Guozheng Xu Aiguo Song Huijun Li Jianwei Cui Zhiwei Liang Baoguo Xu Lizheng Pan Network Robot Labortory College of Automation Nanjing University of Posts and Telecommunications Jiangsu Province Key Laboratory of Remote Measuring and Control School of Instrument Science and Engineering Southeast University

ISBN: (纸本)9781457721366

The purpose of our study is to develop a new fuzzy adaptive impedance force supervisory control method to solve the problem where the training resistive force can not be real-time regulated with the recovery level of the impaired limb's muscle strength in the upper-limb progressive anti-resistance training. A hierarchical fuzzy adaptive force controller including high-level basal resistive force fuzzy regulator and low-level fuzzy impedance force controller is constructed. The high-level regulator is developed to obtain the basal resistive force for each training session based on the evaluation of the imparied limb's recovery level while the low-level controller is designed to further adjust the interactive force between the robot and impaired limb. Clinical experimental results on two recruited stroke patients verify the effectiveness and potentialities of the proposed therapy control strategy.

关键词： level controller Force Muscle Strength Economic Resources Functional training Fuzzy Limb controllers Robot LOW LEVEL LIMBS

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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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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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Design of Time-constrained Guidance Laws via Virtual Leader Approach

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Chinese Journal of Aeronautics 2010年第1期23卷 103-108页

作者： Zhao Shiyu Zhou Rui Wei Chen Ding Quanxin School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100191 China National Defense Key Lab of Fire Control Technique Luoyang Institute of Electro-optical Equipment of A VIC Luoyang 471009 China

Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual leader for real missiles to convert a guidance problem with time constraints to a nonlinear tracking problem,thereby making it possible to settle the problem with a variety of control methods. A novel time-constrained guidance （TCG） law, which can control the flight time of missiles to a prescribed time,is designed by using the virtual leader scheme and stability method. The TCG law is a combination of the well-known proportional navigation guidance（PNG） law and the feedback of flight time error. What＇ s more, this law is free of singularities and hence yields better performances in comparison with optimal guidance laws with time constraints. Nonlinear simulations demonstrate the effectiveness of the proposed law.

关键词： guidance missiles salvo attack time constraint virtual leader

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Statistical analysis and verification of the satellite line of sight pointing jitter

Statistical analysis and verification of the satellite line ...

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1st International Conference on Pervasive Computing, Signal Processing and Applications, PCSPA 2010

作者： Dong, De-Zhi Wang, Jiang-Yun Ping, Zhang Liang, Tang School of Automation Science and Electrical Engineering Beihang University Beijing China National Laboratory of Space Intelligent Control Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9780769541808

A method of statistical analysis and verification of the satellite line of sight jitter is discussed. For the case that the jitter measurement is random, the verification of jitter is achieved by estimate the probability that the jitter requirement is not met. The binary analysis method of simulation result is introduced and the miss rate which can be calculated from the result of the binary analysis is proposed for the fact that the statistical mean of the miss rate is an estimate of the probability of jitter requirement misses. The distribution of the miss rate is discussed for the purpose of estimate the statistics of miss rate. To avoid trivial simulation replications in analysis and verification, the bootstrap method is used to obtain a normally distributed miss rate sample, from which the mean miss rate and its variance can be estimated. As thus the confidence interval of miss rate is evaluated to provide a much safer verification result. The credibility and time cost of the method is discussed in case study, and an introductive example is presented to give an introduction of application of the method. © 2010 IEEE.

关键词： Jitter

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A research of efficiency characteristic for buck converter

A research of efficiency characteristic for buck converter

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2010 2nd International Conference on Industrial Mechatronics and automation, ICIMA 2010

作者： Leng, Zhaoxia Liu, Qingfeng Sun, Jinkun Liu, Jian School of Automation and Information Engineering Xi'an University of Technology Xi'an China School of Electrical and Control Engineering Xi'an University of Science and Technology Xi'an China

ISBN: (纸本)9781424476541

For improving the resource availability of paralleled converter system, paralleled system should be designed based on the enough understanding to efficiency characteristics of DC-DC converter. So, Buck converter was regarded as the research target in this paper. Power losses in different operation modes were calculated. Relevant parameters in efficiency equation were deduced according to basic circuit balance law. The efficiency characteristics of converter were obtained by deducing the function relationship between efficiency and output current. Numerical simulation and experiment results validated the validity of theory analysis, which are efficiency of converter in continuous inductor current mode gradually increases during incipient power scope and gradually decreases during later power scope, efficiency in discontinuous inductor current mode gradually increases following output power increasing and the efficiency is relatively low. © 2010 IEEE.

关键词： Efficiency

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Flashover pattern recognition by HMM based on spectrum characteristics of leakage current on HV insulators

Flashover pattern recognition by HMM based on spectrum chara...

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2010 International Conference on Computer Application and System Modeling, ICCASM 2010

作者： Hui, Ali Lin, Hui School of Electrical and Control Engineering Xi'an University of Science and Technology Xi'an China School of Automation Northwest Polytechnical University Xi'an China

ISBN: (纸本)9781424472369

With the increase of voltage grade in power transmission system and the aggravation of industrial pollution, flashover of contaminated insulators in HV and UHV system is more and more serious, threatening the security of power transmission severely. The key of improving the security of system is exploring the methods of monitoring and recognizing states of insulator's surface by some character values. In this paper, multi-characteristic Hidden Markov Model is founded with spectrum and bispectrum characteristics of leakage current(LC), through which the flashover patterns are recognized during the developing stages. The results show that spectrum characteristics HMM recognized flashover pattern efficiently and successfully, and that is useful to help related stuff to make correct decision and ensure the security of power delivery. © 2010 IEEE.

关键词： Flashover

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A component-based method for software architecture refinement

A component-based method for software architecture refinemen...

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2010 International Conference on Intelligent control and Information Processing, ICICIP 2010

作者： Gao, Bingzhi Ban, Xiaojuan Lv, Qiang Li, Xiaoli School of Information Engineering University of Science and Technology Beijing Shougang Automation Information Technology Co. Ltd. Beijing China School of Information Engineering University of Science and Technology Beijing China Control Theory and Control Engineering China

ISBN: (纸本)9781424470488

As a formal method from abstraction to concretion, architecture refinement gradually becomes an important academic research field of modern software engineering since it was presented. Well architecture refinement not only could ensure the integrity and consistency of software architecture, but also could cut down the cost and improve the quality of software. But the research of stepwise architecture refinement for software architecture is considered to be an underway stage on the facts of the complexity of the conversion from the abstract to the specific architecture. The article illustrates the features and usefulness of component-based refinement method and proposes a novel architecture refinement approach framework. It is based on the component of the architecture and on a series of formal languages for architecture refinement. In this refinement steps, different levels of architecture has been formally refined from points of both structure and behavior, both static and dynamic. A simple example will be illustrated to show the eminent feasibility and effectiveness of this approach with π-ARL(Architecture Refinement Language). © 2010 IEEE.

关键词： Abstracting

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