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2016 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system

The Application of Square-Root Cubature Kalman Filter in the...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Dongyang Zhang Zhihong Deng Bo Wang Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Nanjing University of Science and Technology

ISBN: (纸本)9781467383196

The integrated navigation system can improve the navigation accuracy utilizing the redundant *** Extended Kalman Filter(EKF) is commonly used in the integrated navigation *** usually takes only one-order of Taylor expansion and needs to calculate the Jacobian matrix,which will affect the accuracy and numerical stability of the system *** in this paper the application of Square-Root Cubature Kalman Filter(SCKF) method was proposed to solve the above problems in the SINS/CNS integrated navigation *** simulation results show that the position,velocity and attitude errors are reduced effectively compared with the EKF *** SCKF method is more suitable for the state estimation problems in integrated navigation system.

关键词： The Application of Square-Root Cubature Kalman Filter in the SINS/CNS integrated navigation system Kalman CNS Filter

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Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements

Cooperative navigation for multiple autonomous underwater ve...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Yuantao Qi Bo Wang Shunting Wang Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Nanjing University of Science and Technology

ISBN: (纸本)9781467383196

Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles(MAUVs).In this work,in order to solve the invalidation of location due to the time delayed measurements,an algorithm which based on the augmented extended Kalman filter(AEKF) is *** algorithm expands the variable dimension of slave AUV according to the time delayed measurements,and infers the fundamental equations of *** to the traditional EKF method,simulation results prove that AEKF has higher positioning accuracy.

关键词： AUV EKF Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements

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Disturbance Rejection based on Equivalent-Input-Disturbance Approach for Nonlinear Time-Delay systems

Disturbance Rejection based on Equivalent-Input-Disturbance ...

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Asian control Conference

作者： Fang Gao Min Wu Jinhua She Mingxing Fang Youwu Du Fang Wang College of Physics and Electronic Information Anhui Normal University Wuhu Anhui China School of Automation China University of Geosciences Wuhan Hubei China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Electrical and Information Engineering Zhengzhou University of Light Industry Zhenzhou Henan China

ISBN: (纸本)9781509015740;9781509015733

A new disturbance rejection method to achieves good control performance for a nonlinear time-delay system is presented in this paper. This method effectively reject any disturbances. First, the configuration of the control system is constructed based on the equivalent-input-disturbance method. Then, a sufficient condition for global uniform ultimate boundedness and feedback controller are developed using linear matrix inequality. Finally, the effectiveness of the method is proved by a numerical simulation.

关键词： Matrix decomposition Observers Symmetric matrices Adaptive control Closed loop systems Steady-state

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The paralleleye dataset: Constructing large-scale artificial scenes for traffic vision research

arXiv

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arXiv 2017年

作者： Li, Xuan Wang, Kunfeng Tian, Yonglin Yan, Lan Wang, Fei-Yue School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China Department of Automation University of Science and Technology of China Hefei230027 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Video image datasets are playing an essential role in design and evaluation of traffic vision algorithms. Nevertheless, a longstanding inconvenience concerning image datasets is that manually collecting and annotating large-scale diversified datasets from real scenes is time-consuming and prone to error. For that virtual datasets have begun to function as a proxy of real datasets. In this paper, we propose to construct large-scale artificial scenes for traffic vision research and generate a new virtual dataset called "ParallelEye". First of all, the street map data is used to build 3D scene model of Zhongguancun Area, Beijing. Then, the computer graphics, virtual reality, and rule modeling technologies are utilized to synthesize large-scale, realistic virtual urban traffic scenes, in which the fidelity and geography match the real world well. Furthermore, the Unity3D platform is used to render the artificial scenes and generate accurate ground-truth labels, e.g., semantic/instance segmentation, object bounding box, object tracking, optical flow, and depth. The environmental conditions in artificial scenes can be controlled completely. As a result, we present a viable implementation pipeline for constructing large-scale artificial scenes for traffic vision research. The experimental results demonstrate that this pipeline is able to generate photorealistic virtual datasets with low modeling time and high accuracy labeling. Copyright © 2017, The Authors. All rights reserved.

关键词： Pipelines

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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

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Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Application of Hilbert-Huang decomposition to reduce noise and characterize for NMR FID signal of proton precession magnetometer

arXiv

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arXiv 2017年

作者： Huan, Liu Haobin, Dong Liu, Zheng Ge, Jian Bai, Bingjie Zhang, Cheng School of Automation China University of Geosciences Hubei Wuhan430074 China School of Engineering University of British Columbia Okanagan Campus KelownaBCV1X 1V7 Canada Institute of Geophysics and Geomatics China University of Geosciences Hubei Wuhan430074 China Hubei Key Laboratory of Advance Control and Intelligent Automation for Complex Systems Hubei Wuhan430074

The parameters in a nuclear magnetic resonance (NMR) free induction decay (FID) signal contain information that is useful in magnetic field measurement, magnetic resonance sounding (MRS) and other related applications. A real time sampled FID signal is well modeled as a finite mixture of exponential sequences plus noise. We propose to use the Hilbert-Huang Transform (HHT) for noise reduction and characterization, where the generalized Hilbert-Huang represents a way to decompose a signal into so-called intrinsic mode function (IMF) along with a trend, and obtain instantaneous frequency data. Moreover, the HHT for an FID signal's feature analysis is applied for the first time. First, acquiring the actual untuned FID signal by a developed prototype of proton magnetometer, and then the empirical mode decomposition (EMD) is performed to decompose the noise and original FID. Finally, the HHT is applied to the obtained IMFs to extract the Hilbert energy spectrum, to indicate the energy distribution of the signal on the frequency axis. By theory analysis and the testing of an actual FID signal, the results show that, compared with general noise reduction methods such as auto correlation and singular value decomposition (SVD), combined with the proposed method can further suppress the interfered signals effectively, and can obtain different components of FID signal, which can use to identify the magnetic anomaly, the existence of groundwater etc. This is a very important property since it can be exploited to separate the FID signal from noise and to estimate exponential sequence parameters of FID signal. Copyright © 2017, The Authors. All rights reserved.

关键词： Singular value decomposition

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Robust stability for a class of nonlinear Lurie systems with unmatched uncertainties 35

Robust stability for a class of nonlinear Lurie systems with...

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第35届中国控制会议

作者： GUO Yang GUO Shuli HAN Lina Key Lab of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Mathematical Institute University of Oxford Andrew Wiles Building Radcliffe Observatory Quarter Department of Cardiovascular Internal Medicine.Chinese PLA General Hospital

ISBN: (纸本)9781509009107

In this paper, a strategy is established to design the robust controller for a class of continuous-time nonlinear systems with Lurie *** uncertainty is decomposed into matched and unmatched components, and an augmented control is introduced for the unmatched uncertainty. An optimal control algorithm based on Hamilton-Jacobi-Bellman(HJB) equation is proposed for the design of a bounded robust controller and finite-time-horizon nonlinear systems. In this case, the robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainties,regulation, and control. The bounded controller no longer requires the knowledge of the upper bound of systems uncertainty.A computable sufficient condition is also derived to ensure that the solution to the corresponding optimal control problem is a solution to the robust control problem. A simulation example is provided to verify the effectiveness under the present robust control scheme.

关键词： Robust control Uncertain Nonlinear systems Optimal control HJB Equation Lyapunov Stability

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Optimal sequential estimation for multirate dynamic systems with unreliable measurements and correlated noise

Optimal sequential estimation for multirate dynamic systems ...

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第35届中国控制会议

作者： Liping Yan Jun Liu Lu Jiang Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

In the field of target tracking and navigation,multi-sensor data fusion has been widely *** of the data fusion algorithms are built on the premise that the sensor observation information is ***,in practical problems,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen *** addition,at present a lot of research is aimed at the situation where measurement noise between various sensors is not relevant,and process noise and measurement noise is *** correlation is more *** this paper,a multi-rate multi-sensor data fusion state estimation algorithm with unreliable observations under correlated noises is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation sequential fusion correlated noise unreliable measurements

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Image Matching Based on Multiscale Increment Sign Correlation and Iterative Correction

Image Matching Based on Multiscale Increment Sign Correlatio...

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第35届中国控制会议

作者： Liping Yan Sai Yang Shuo Li Yuanqing Xia Bo Xiao Yang Liu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

By combining wavelet transform and increment sign correlation with iterative correction,we present a robust image matching method,which effectively reduced ***,by decomposing the sensed image and the reference image with wavelet,smooth images are generated in coarse *** the use of increment and decrement information of adjacent pixels,smooth images are encoded into binary images,and the matching position can be found by use of the cross correlation *** decomposition can effectively remove noise and greatly improve the real-time performance of matching algorithm while increment sign correlation method is not sensitive to the gray level of *** combination of wavelet transform and increment sign correlation can deal with noise,shadow and occlusion as well as improve the matching speed compared with traditional matching *** the condition of heavy noise and occlusion that the matching method mentioned above can not find the correct position in condition of heavy noise and occlusion,we present an iterative correction image matching method,*** the above matching result as prior knowledge and achieve the correct matching position by correcting matching results *** analysis shows the feasibility of the presented method,and our experiments show its validity.

关键词： Image Matching Wavelet Decomposition Increment Sign Correlation Iterative Correction

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