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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

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Consensus for networked multi-agent systems with unknown communication delays

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Journal of the Franklin Institute 2016年第16期353卷 4176-4190页

作者： Xiaoyu Liu Lihua Dou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China School of Automation Beijing Institute of Technology 100081 P.R. China

The problem of consensus for linear discrete-time networked multi-agent systems with directed topologies and communication delays is investigated in this paper. The communication delays are assumed to be constant but unknown. A consensus protocol is designed to compensate for the unknown delays based on the networked predictive control scheme. A sufficient condition for the consensus of multi-agent systems is derived. Finally, a numerical example is given to illustrate that the consensus protocol proposed in this paper is effective.

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12.2: A 3D Display Parallel system: Light Field Re-rendering and Depth Sense Optimization

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SID Symposium Digest of Technical Papers 2018年第S1期49卷

作者： Renjing Pei Kui Ma Feiyue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye's visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer's demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance.

关键词： 3D Display Parallel system Depth Sense Light Field Re-rendering 3D Video Processing One-shot Segmentation

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Interval Kalman Filter Based RFID Indoor Positioning

Interval Kalman Filter Based RFID Indoor Positioning

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第28届中国控制与决策会议

作者： Ning Li Hongbin Ma Chenguang Yang School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Zienkiewicz Centre for Computational Engineering Swansea University

ISBN: (纸本)9781467397155

Radio Frequency Identification(RFID) technology has shown its potential in the field of indoor positioning in recent years,and has been widely used in large establishments such as the airport lobby,supermarkets,libraries,underground parking and so ***,the complexity of the indoor environments make positioning a challenging problem in terms of accuracy,stability,reliability,and interference *** this paper,we develop an algorithm of passive RFID indoor positioning based on interval Kalman filter,according to the geometric constraints of responding tags,combined with the target motion *** interval Kalman filter is adopted to integrate target position of one preceding time point and reference tags position to estimate the current *** of this algorithm is to use passive tags to reduce hardware costs,and on the other hand the introduction of filtering algorithm improves the positioning accuracy.

关键词： RFID Indoor positioning Interval Kalman Filter Interval arithmetic

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Modified EKF-based Nonlinear Filtering over Wireless Channels with Transmission Failure and Fading

Modified EKF-based Nonlinear Filtering over Wireless Channel...

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第35届中国控制会议

作者： Luyu Li Zhen Li Xiangdong Liu Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper addresses the stochastic stability problem of a modified extended Kalman filter(MEKF), targeted at the state estimation of the nonlinear system through wireless channel, where both transmission failure and channel fading are practically under consideration. For a class of nonlinear systems whose observation's Jacobi Matrix is always invertible, the sufficient conditions of the error covariance matrices are accordingly established. Moreover, the conditions for the stochastic stability of the estimation error are also derived, which is tighter than the conditions of boundedness of the error ***, a numerical example is given to demonstrate the feasibility of the proposed method.

关键词： Extended Kalman filter stochastic stability transmission failure fading

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H∞ Polytopic Filter Design for Nonlinear systems

H∞ Polytopic Filter Design for Nonlinear Systems

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第35届中国控制会议

作者： Yin Yu Zhen Li Jian Li Luyu Li Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

This paper proposes an H polytopic lter design for a nonlinear system. Based on the polytopic approximation of the nonlinear system, the polytopic lter design is converted into a group of linear matrix inequalities（LMIs） so that the polytopic lter parameters can be effectively acquired by numerical convex optimization algorithms. At this stage, the tensor product（TP） model transformation is utilized to compute the polytopic approximation of the nonlinear system. Particularly, a new recti cation procedure is further developed to obtain a specific polytopic approximation with all the vertex systems being stable, which premises the solvability of the LMIs. The method is much easier to be implemented than traditional approaches such as the Hamilton-Jacobi inequality（HJI）-based methods. Simulation demonstrates the method is much less conservative than the existing method and has good estimation performance.

关键词： H_∞ lter nonlinear systems polytopic model tensor product model transformation

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Application of fuzzy cognitive map in information intelligent push

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Journal of Beijing Institute of Technology 2015年第4期24卷 553-557页

作者：张佳徐胜利邓方 School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Since computer system functions are becoming increasingly complex, the user has to spend much more time on the process of seeking information, instead of utilizing the required infor- mation. Information intelligent push technology could replace the traditional method to speed up the information retrieval process. The fuzzy cognitive map has strong knowledge representation ability and reasoning capability. Information intelligent push with the basis on fuzzy cognitive map could ab- stract the computer user＇ s operations to a fuzzy cognitive map, and infer the user＇ s operating inten- tions. The reasoning results will be translated into operational events, and drive the computer system to push appropriate information to the user.

关键词： fuzzy cognitive map artificial intelligence information intelligent push

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Shadow lane robust detection by image signal local reconstruction

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2016年第3期9卷 89-102页

作者： Du, Mingfang Junzheng, Wang Nan, Li Duoyang, Li School of Automation Beijing Union University Beijing China State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Key Laboratory of Information Service Engineering

In order to resolve shadow interference and slow image processing speed in the visual navigation of unmanned vehicles on city roads, a new lane detection algorithm based on the Inverse Perspective Mapping(IPM) of vertical sub-image reconstruction using local bands was proposed. The lane’s IPM aerial image was obtained using the projective transformation of three-dimensional images of city roads. The ROI portion of the IPM map was decomposed and analyzed using the sym3 wavelet, and after analyzing and comparing the experimental results the first and second levels of the vertical sub images were selected for the reconstruction, compression, and removal of shadows from the original image. The Canny algorithm was proposed and adopted in order to extract the edge features of the reconstructed images according to real-time road image quality. A modified, polar angle, constraint-based, fast Hough transform was used to locate the candidate lanes. Finally, the main control point, straight-line-fitting algorithm was used to fit the final lanes, which achieved the precise location and recognition of the lane lines. The California Polytechnic lane data set, a public data platform, which is now widely used in road visual recognition fields around the world, was selected for the testing and verification of the algorithm. The results of the experiment and actual operation indicated that, despite having a storage space of approximately one tenth the size of similar algorithms, this detection algorithm effectively solves the issue of shadow removal, meets the real-time requirements of roadway image processing systems for unmanned vehicles with a recognition time of less than 20ms, and is robust. © 2016 SERSC.

关键词： Wavelet transforms

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GW28-e0435 Prediction and intervention of coronary heart disease based on data mining

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Journal of the American College of Cardiology 2017年第16期70卷 C76-C76页

作者： Qiming Chen Lina Han Shuli Guo National key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Department of Cardiology Internal Medicine Nanlou Branch of Chinese PLA General Hospital

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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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