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6th International Conference on complex Medical Engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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Teleoperation of a Virtual iCub Robot under Framework of Parallel system via Hand Gesture Recognition

Teleoperation of a Virtual iCub Robot under Framework of Par...

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IEEE International Conference on Fuzzy systems

作者： Chen Li Hongbin Ma Chenguang Yang Menyin Fu School of Automation as well as State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479920747

This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.

关键词： Solid modeling Mathematical model MATLAB Robot kinematics Gesture recognition Fuzzy logic

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Improved ICCP algorithm and its application in gravity matching aided inertial navigation system

Improved ICCP algorithm and its application in gravity match...

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Chinese control Conference (CCC)

作者： Meiqi Liu Bo Wang Zhihong Deng Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing Beijing CN

Considering two disadvantages in traditional gravity matching aided inertial navigation system, low matching accuracy and error accumulation, we propose an improved gravity matching algorithm and aided method for inertial navigation system. Instead of using the sequence sampling, the single point sampling is applied to improve the structure of proposed algorithm, enhancing the matching speed and efficiency. In the aided navigation system method, we use combination of Sage-Husa adaptive filter and strong-tracked Kalman filter to make further optimal estimation of the matching trajectory. Simulation results show the effectiveness of the real-time ICCP algorithm and the combined filter algorithm. Comparing to the traditional methods, proposed method provides higher matching and navigation accuracy.

关键词： Gravity Filtering algorithms Algorithm design and analysis Navigation Accuracy Filtering theory

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Decentralized Valley-fill Charging control of Large-population Plug-in Electric Vehicles

Decentralized Valley-fill Charging Control of Large-populati...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zhongjing Ma School of Automation Beijing Institute of Technology (BIT) and the Key Laboratory of Complex System Intelligent Control and Decision (BIT) Ministry of Education

Optimal charging control of large-population autonomous plug-in electric vehicles (PEVs) in power grid can be formulated as a class of constrained non-linear timevariant optimization problems. To overcome the computational complexity of this class of optimization problems, the author and his collaborators proposed a game-based decentralized control method such that individual agents update their best charging strategies simultaneously with respect to a common electricity price signal which is determined by the total demand in the grid. Due to the heterogeneity of individual PEVs, the game systems converge to a nearly valley-fill NE strategy with nontrivial deviation costs due to the heterogeneity property of individual PEV charging characteristics. In this paper the author proposed a novel algorithm to implement the optimal decentralized valley fill strategies for the charging problems of the PEV population which is composed of disjoint homogeneous subpopulations. The author introduces a cost which penalizes against the deviation of strategy of individual agent in a subpopulation from the average value of the subpopulation. It can be shown that in case that the update algorithm converges, the system reaches the optimal valley-fill equilibrium strategy where the introduced agent deviation cost vanishes. Simulation examples are used to illustrate the results developed in this paper.

关键词： Decentralized charging control Plug-in electric vehicles (PEVs) Valley-fill (VF) Nash equilibrium (NE)

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Maximum likelihood ratio detection of abrupt state change for MIMO linear systems based on frequency domain data

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International Journal of Robust and Nonlinear control 2013年第8期23卷 858-877页

作者： Xia, Yuanqing Liu, Bo School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Summary This paper is devoted to the detection of abrupt changes for multiple-input, multiple-output (MIMO) linear systems based on frequency domain data. The real discrete-time Fourier transform is used to map the measured inputs and outputs from the time domain to the frequency domain. Under the hypothesis that the state change occurrence time is k, the system is split up into two systems at the time instant k. One of them describes the frequency dynamics before the hypothetical state change occurs, whereas the other describes the frequency dynamics after the hypothetical occurrence. Thus, the latent state change is modeled as an initial state disturbance to be estimated on the basis of frequency domain samples. Furthermore, the occurrence time is estimated by maximizing a likelihood ratio function. Finally, a numerical example is presented to show the performance. © 2012 John Wiley & Sons, Ltd.

关键词： Frequency domain analysis

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Performance analysis of networked predictive control systems with data dropout

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Optimal control Applications and Methods 2013年第6期34卷 742-756页

作者： Xia, Yuanqing Xie, Wen Zhu, Zheng Wang, Ge Wang, Xiaoyun School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This paper is concerned with the design of networked control systems with random network data dropout. It presents a new control scheme, which is termed networked predictive control. This scheme mainly consists of the control prediction generator and network data dropout compensator. Besides, the control prediction generator provides a set of future control predictions to make the closed-loop system achieve the desired control performance, and the network data dropout compensator removes the effects of the network transmission data dropout. Simulation results are presented to illustrate the effectiveness of the control strategy via comparing with other three existing control schemes. Copyright © 2012 John Wiley & Sons, Ltd. Copyright © 2012 John Wiley & Sons, Ltd.

关键词： Networked control systems

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Synchronization of Networked Multi-agent system with Delayed Information from Neighbors

Synchronization of Networked Multi-agent System with Delayed...

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The 24th Chinese control and decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Lijing Dong Senchun Chai Baihai Zhang School of Automation Beijing Institute of Technology Beijing 100081 Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing 100081

—In this paper, a synchronization of discrete multi-agent systems with random network delays was studied. By employing the graph and matrix theory, a model based predictive control algorithm is proposed to achieve leader-following consensus in a network of agents. Furthermore, a consensus protocol is developed based on this strategy. Numerical simulation examples are provided to illustrate the effectiveness of the theoretical results.

关键词： Multi-agent Synchronization and Time Delay

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complex Terrain Perception based on Hidden Markov Model

Complex Terrain Perception based on Hidden Markov Model

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IEEE International Conference on intelligent Transportation systems

作者： Meiling WANG Liang ZUO Yi YANG Qiangrong YANG Tong LIU School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

Terrain perception in complex environment is important for Autonomous Land Vehicle to drive automatically. In order to access the terrain information, in this paper, we present a terrain perception method based on Hidden Markov Model (HMM) which combines LIDAR with machine vision. On the basis of spatial fan-shaped model, terrain feature extraction is performed to acquire the observation model. Hidden markov models describe the vertical structure of the driving space and Viterbi algorithm is used for terrain classification. Then the navigation decision is given based on the perception of the complex environment. Experiment results show that the method can give an accurate environment description for ALV.

关键词： terrain perception sensor fusion feature extraction principal component analysis multihidden markov models

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TDMA based IEEE 802.15.4 for Simple/Secured Low Latency Deterministic Networked control systems

TDMA based IEEE 802.15.4 for Simple/Secured Low Latency Dete...

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第三十四届中国控制会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

In this paper, we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE802.15.4 network in star topology for secured and unsecured low latency deterministic networks(LLDN) for industrial control systems. This protocol ensures total superframe time as low as ten milliseconds as compared to minimum possible superframe time of 15.36 milliseconds. In these networks, Each end device transmits its data frame in their allotted timeslot. The timeslot and inter timeslot spacing is optimized for channel bandwidth utilization and reliable data frame exchange. While this TDMA based protocol eliminates the risk of frame collisions to great extent, MAC sub-layer tweaking improves the non-determinism of the network and increases its bandwidth efficiency. We also investigate the security impact on the performance of LLDN. A mathematical model is developed that takes empirical values as input and predicts the worst case arrival times of network devices at coordinator. Experiments were conducted to evaluate the suggested protocol and mathematical model.

关键词： IEEE 802.15.4,Networked control system,Low latency deterministic networks(LLDN),Medium access control(MAC),TDMA,security

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Distributed Efficient Charging Coordinations for Electric Vehicles under Progressive Second Price Auction Mechanism

Distributed Efficient Charging Coordinations for Electric Ve...

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IEEE Annual Conference on decision and control

作者： Suli Zou Zhongjing Ma Xiangdong Liu School of Automation BIT Beijing China School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781467357159

We designed a distributed charging coordination method for electric vehicles over a multi-time interval with the so-called progressive second price (PSP) auction mechanism which was proposed by Lasar and Semret in order to efficiently allocate the divisible resources among multi agents. The incentive compatibility holds for the auction games under the PSP mechanism. However due to the cross-elastic correlation among the different charging instants, the marginal valuation of an individual agent at each instant is determined by both the demand at this instant and the total demand at the whole interval. This phenomena makes the underlying auction games distinct from those studied in the literature. As a main contribution of the paper, we showed that the efficient bid profile over the multi-time interval is a Nash equilibrium of the auction systems.

关键词： Plug-in electric vehicles Efficient charging coordinations Auction Progressive second price auction Mechanism Game theory Nash equilibrium

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