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Multi-UCAVs task assignment simulation platform based on parallel ant colony optimization

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2008年第SUPPL.期29卷 192-197页

作者： Duan, Haibin Ding, Quanxin Chang, Junjie Liu, Senqi School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083 China Provincial Key Laboratory for Information Processing Technology Suzhou University Suzhou 215006 China Key Laboratory of National Defense Science and Technology on Fire Control Technology Luoyang Electro-Optical Equipment Research Institute AVIC I Luoyang 471009 China

Multiple unmanned combat aerial vehicles (UCAVs) coordinated combat is the main mode to put UCAVs into the battle, while multiple UCAVs task assignment is the key problem of multiple UCAVs coordinated combat. There have recently been some reports on approaches to multiple UCAVs task assignment. But these approaches have some disadvantages, such as being complex on computing, long computing time and so on. In order to overcome the shortages of these approaches, a novel method based on improved ant colony optimization (ACO) is proposed in this paper. Firstly, various air combat predominance functions are deduced, and the comprehensive situation assessment function is built. On the introduction of basic ACO principle and mathematical model, a parallel ACO model is proposed to solve the multiple UCAVs target assignment problem. Subsequently, the parallel ACO pseudo-codes are given in detail. Finally, a multiple UCAVs task assignment simulation platform based on parallel ACO is developed. This platform takes MATLAB graphical user interface (GUI) as the developing tool. Exact applications show that this simulation platform is efficient, easy to use and modify.

关键词： Unmanned aerial vehicles (UAV)

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Automatic route tracking of smartcar based on fuzzy control

Automatic route tracking of smartcar based on fuzzy control

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World Congress on Intelligent control and automation (WCICA)

作者： Guiyou Chen Zhenhua Li Ping Yang School of Control Science and Engineering Shandong University Jinan Shandong China Key Laboratory of Complex System and Intelligent Sciences Institute of Automation Chinese Academy of Sciences Chinese Academy of Sciences Beijing China

The principle of fuzzy control and its application in automatic route tracking of smartcar are presented in the paper. The fuzzy controller is established to control the steering servo motor of the smartcar. Simulation of the designed controller based on MATLAB fuzzy logical toolbox is proposed. And the fuzzy controller is realized using freescale fuzzy inference machine. It is successfully applied in the automatic route tracking. The hardware design of the smartcar introduced. Then, the process of establishing the fuzzy controller is described in detail, including the choice of fuzzy input and output variables, linguistic values, domain, input and output membership functions, rule base, fuzzification, rule inference, defuzzification. The validity of the designed controller is verified by MATLAB simulation and actual operating results.

关键词： Fuzzy control Microcontrollers control systems DC motors Servomotors MATLAB Mathematical model

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A new track initiation method for multi-target tracking

A new track initiation method for multi-target tracking

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Ben-Lian Xu Qing-Lan Chen Zhi-Quan Wang School of Automation Nanjing University of Science and Technology of PLA Nanjing China Department of Information and Control Engineering Changshu Institute of Technology Changsha China Department of Mechanism and Electronics Changshu Institute of Technology Changsha China

This paper introduces a novel track initiation technique for the bearings-only two-sensor-multi-target tracking system. Observing that each target is of the characteristic of uniform rectilinear motion, a new objective functional derived from the thought of Hough transform is investigated. On the basis of it, the ant colony optimization (ACO) algorithm, a kind of heuristic optimization method, is utilized to initiate tracks of interest. Numerical simulation results are presented and show that the proposed ACO-based track initiation method performs well compared with other traditional ones such as rule-based, logic-based, and Hough-transform-based track initiation approaches.

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Corrigendum to “A neural networks based model for rate-dependent hysteresis for piezoceramic actuators” [Sens. Actuators A 143 (2008) 370–376]

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Sensors and Actuators A: Physical 2008年第1期148卷 350-351页

作者： Ruili Dong Yonghong Tan Hui Chen Yangqiu Xie A0503221 Department of Automation Shanghai Jiaotong University Shanghai 200040 China School of Electronic Engineering University of Electronic Science and Technology of China Chengdu 610054 China Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China Department of Electronic Engineering Xidian University Xi’an 710071 China

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Output feedback control of linear systems with input and output quantization

Output feedback control of linear systems with input and out...

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IEEE Conference on Decision and control

作者： Daniel Coutinho Minyue Fu Carlos E. de Souza Group of Automation and Control Systems Faculty of Engineering Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Systems and Control Laboratory Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

ISBN: (纸本)9781424431236

A considerable amount of research has been done on the use of logarithmic quantizers for networked feedback control systems. However, most results are developed for the case of a single quantizer (either measurement or control signal quantization). In this paper, we investigate the case of simultaneous input and output quantization for SISO linear output feedback systems. Firstly, we show that the problem of quadratic stabilization via quantized feedback can be addressed with no conservativeness by means of the sector bound approach. Secondly, we provide a bound on the maximal admissible sector bound via a scaled H ¿ optimization problem.

关键词： Output feedback Linear feedback control systems control systems Linear systems Quantization Communication system control Feedback control Communication channels Digital control Bandwidth

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A novel design of flexible foot system for humanoid robot

A novel design of flexible foot system for humanoid robot

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IEEE Conference on Robotics, automation and Mechatronics

作者： Hongqiao Yang Mei Shuai Zhen Qiu Hui Wei Qi Zheng Information Center Second Affiliated Hospital of PLA General Hospital Beijing China Department of Mechatronics Engineering Beihang University Beijing China Department of Biomedical Engineering University of California슠Davis Davis CA USA Department of Measuring and Control Technology & Instrument Beihang University Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot's foot is not matching with the unknown model of the ground. Therefore, the humanoid robot's foot should have the flexibility mimic the human's foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we've set up a new multidegree- of-freedom flexible foot mechanism which can make the humanoid robot's walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot's walking stability and speediness on the large-scale uneven ground.

关键词： Foot Humanoid robots Legged locomotion Large-scale systems Robotics and automation Mars Human robot interaction Interference Automatic control Stability

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A new tool applied to robot perception by selecting evidence sources

A new tool applied to robot perception by selecting evidence...

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IEEE International Conference on automation and Logistics

作者： Hong Wen Xinhan Huang Xinde Li Intell. Contr. and Robot. Laboratory Department of Contr. Science and Engineering Huazhong University of Science and Technology Wuhan China Combat and Command Department Navy Submarine of Academy Qingdao China Intell. Control and Robot Laboratory Department of Contr. Science and Engineering Huazhong University of Science and Technology Wuhan China Institute of Intell.t Robot and Intell. Contr School of Automation South-East University Nanjing China

ISBN: (纸本)9781424425020

In this paper, considering the imperfect (incomplete, imprecise, uncertain, inconsistent) information sources in information fusion, To avoid and reduce the influence of the mistaken or misleading information on the final precision of fusion, the ESMS (evidence supporting measure of similarity) filter is designed and added to generalized fusion machine (GFM), and an ESMS function (not unique) to select evidence sources before the multi-sources information entering into the Fusion Machine is proposed and proved. Due to considering the barycentre of belief masses in four cases respectively, the fusion result becomes more precise. At last, we apply the new tool coupling with the fusion machine based on DSmT and PCR5 to robotpsilas robot perception. It shows a better performance in solving the challenging work with ESMS filter than that without one.

关键词： Information filters Filtering theory Information filtering Robots Distance measurement Sensors Reliability

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Research on rough set theory and applications in China

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Lecture Notes in Computer science

作者： Wang, Guoyin Zhang, Qinghua Huang, Houkuan Ye, Dongyi Hu, Qinghua Hu, Xuegang Shi, Zhongzhi Li, Yongli Shang, Lin An, Liping Sai, Ying Chen, Shanben Liang, Jiye Qin, Keyun Zeng, Huanglin Xie, Keming Miao, Duoqian Min, Fan Wu, Zhaocong Wu, Weizhi Dai, Jianhua Institute of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing 400065 China School of Information Science and Technology Southwest Jiaotong University Chengdu 610031 China School of Computer and Information Technology Beijing Jiaotong University Beijing 100044 China College of Math. and Computer Fuzhou University Fuzhou 350002 China Harbin Institute of Technology PO Box 458 Harbin 150006 China School of Computer and Information Hefei University of Technology Hefei 230009 China Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 China Lanzhou University No.222 Tianshui South Rd. Lanzhou 730000 China State Key Laboratory for Novel Software Technology Nanjing University Nanjing 210093 China Management Science and Engineering Department Business School Nankai University Tianjin 300071 China Shandong University of Finance No.40 Shun-geng Road Jinan 250014 China Welding Engineering Institute Shanghai Jiaotong University Shanghai 200030 China School of Computer and Information Technology Shanxi University Taiyuan 030006 China Intelligent Control Development Center Southwest Jiaotong University Chengdu 610031 China Artificial Intelligence of Key Laboratory Sichuan University of Science and Engineering Zigong 643000 China Department of Automation College of Information Engineering Taiyuan University of Technology Taiyuan 030024 China 4800 CaoAn Highway Shanghai 201804 China School of Computer Science and Technology University of Electronic Science and Technology of China Chengdu 610054 China School of Remote Sensing Information Engineering Wuhan University Wuhan 430079 China Institute for Information and System Sciences Faculty of Science Xi'an Jiaotong University Xi'an 710049 China Information College Zhejiang Ocean University Zhejiang 316004 China Institute of Artificial Intelligence Zhejiang University Hangzhou 310027 China

ISBN: (纸本)3540850635

This article gives a capsule view of research on rough set theory and applications ongoing at universities and laboratories in China. Included in this capsule view of rough set research is a brief description of the following things: Chinese research groups on rough set with their URLs for web pages, names of principal researchers (supervisors), numbers of graduate students, and topics being investigated. Statistical summaries showing the growth in the research on rough set theory and application in China are included. In addition, an introduction summarizing the research interests of Chinese researchers is included in this article. The contribution of this article is a complete overview of the principal research directions in rough set theory and its applications in China. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Rough set theory

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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Classification and recognition of character using WP decomposition, zernike moments and fuzzy integral

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Journal of Computational Information Systems 2007年第2期3卷 577-581页

作者： Yang, Xin Fei, Shumin Chen, Lijuan School of Automation Southeast University Nanjing 210096 China School of Information and Control Nanjing University of Information Science and Technology Nanjing 210000 China School of Electrical Engineering Southeast University Nanjing 210096 China

An algorithm was proposed to recognize characters based on optimal wavelet packet (WP), Zernike moments and fuzzy integral. At first, optimal wavelet decomposition of the given character image was gotten by fuzzy rules, and characters in training set were put into n subspaces through optimal wavelet packet. Then, for each subspace, the Zernike moments were employed to get the mean membership grades of test characters with respect to each class in training set, separately. At last, the final class that test characters belonged to was declared according to aggregating the above membership grades and the fuzzy measures using fuzzy integral. The experiment proved that the proposed algorithm had a better recognition effect.

关键词： Character recognition

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