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Intelligent vehicle monitoring system based on WebGIS and mobile video

Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2010年第SUPPL. 1期40卷 192-197页

作者： Zhou, Hui Ye, Hua Yang, Yanlan School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Edu. Southeast University Nanjing 210096 China

In order to solve the problems of inaccurate positioning in current vehicle monitoring systems, an intelligent vehicle monitoring system based on mobile video and WebGIS (Web geographic information system) is proposed and designed. The system is composed of front-end equipment, system platform and client. The instant image information captured by vehicle mobile video and the GPS(global positioning system) positioning location information received by the terminal are transmitted from front-end to system platform via the GPRS(general packet radio service) mobile communications platform. Also, a highly compressed digital video and audio codec technology standard named H.264/AVC is employed to compress the real-time mobile video information and the Google Maps API is called to display the current position of vehicles on the electronic map. Furthermore, the spatial analysis capabilities of GIS plus the GPS information not only make tracking feasibly, but also provide aid in decision making. It is shown that the system can not only reproduce the video data timely and accurately, but also accurately position the mobile vehicles so as to provide a better service in monitoring, control, management, analysis, decision-making and command functions, which expands the application fields and development prospects of WebGIS and mobile video monitoring technology.

关键词： Global positioning system

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Adaptive control for a class of discrete-time time-delay systems with regard to delay parameter

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Journal of systems engineering and Electronics 2009年第1期20卷 159-167页

作者： Chai Lin Cheng Ming Fei Shumin Zhai Junyong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast Univ. Nanjing 210096 P. R. China School of eleetrics Southeast Univ. Nanjing 210096 P. R. China

The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our designed adaptive control law, the unknown time-delay parameter is included in memory state feedback controller. Using LMI technique, delay-dependent sufficient conditions for the existence of the feedback controller are obtained. Finally, the effectiveness of the proposed design method is demonstrated by a numerical example.

关键词： discrete-time time-delay systems adaptive control linear matrix inequality.

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Novel dimension reduction method of gabor feature and its application to face recognition

Novel dimension reduction method of gabor feature and its ap...

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2009 2nd International Congress on Image and Signal Processing, CISP'09

作者： Xiaodong, Li Shumin, Fei Tao, Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South-East University Nanjing China

ISBN: (纸本)9781424441310

In order to improve the face recognition performance using Gabor wavelet, a multi-channel dimension reduction scheme (MDRS) employing PCA algorithm is proposed. In addition, the selection of scales and orientations in Gabor transformation is investigated. Different from existing dimension reduction methods which employed ensemble dimension reduction scheme (EDRS), in MDRS model, PCA algorithm is performed on total convolution results related to a certain Gabor filter to get feature vector whose dimensions are reduced. The process is repeated according to the number of other different Gabor filters. So a given face image sample has the same number of feature vectors as that of Gabor filters, and the final augmented feature vector could be derived by concatenating all these feature vectors. The experiment results in the popular face databases such as YALE and FERET demonstrate not only that the proposed method is effective but also that the traditional selection of scale and orientation is not optimal. ©2009 IEEE.

关键词： Face recognition

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Modified Particle Filter for Object Tracking in Low Frame Rate Video

Modified Particle Filter for Object Tracking in Low Frame Ra...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Tao Zhang Shumin Fei Hong Lu Xiaodong Li the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationInstitute of AutomationSoutheast University the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Institute of AutomationSoutheast University School of Automation Nanjing Institute of Technology

Object tracking algorithm using modified Particle filter in low frame rate(LFR) video is proposed in this paper,which the object moving significantly and randomly between consecutive frames in the low frame rate ***,Particle filtering use motion transitions to model the movement of the ***,in object tracking with low frame rate sequences,it is very difficult to model significant random jumps of *** key notion of our solution is that using the object detection and extraction to locate the tracked object,while not using the dynamical *** propagate the sample set around the detected regions,which the samples are assumed to be uniformly distributed in the neighborhoods of the detected *** is similar to the general particle filter to propagate *** we compute the likelihood between the target model and the candidate regions,which are based on color histogram *** extensive experiments show that the proposed algorithm performs robustly in a large variety of tracking scenarios.

关键词： frame filter Modified Particle Filter for Object Tracking in Low Frame Rate Video Object Filter

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Scene specified control for internet-based mobile robot operation

Scene specified control for internet-based mobile robot oper...

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IEEE International Conference on Mechatronics and automation

作者： Xudong Ma Xianzhong Dai Fang Fang Ningting Cheng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation South East University Nanjing China

A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information. Therefore it must be tolerate of the significant and unpredicted time latency that might mislead the robot for time and scene-dependent operations. A series of strategies are presented in this paper to decrease the latency impact and implement scene specified control of a Internet-based mobile robot. Time stamps are attached to each communication packet of scene video, audio and environment information from the robot to remote operator's computer for display, which then sends back control decision or command of the right time stamps with the scene when needed. By allocating a memory buffer for current display and recent status even including video frames the robot recalls the environment with the event time stamps as searching index, which helps to estimate the exact robot position or operation. Reverse position and motion are conducted according to estimation from the memorized information. The strategies have been introduced to improve a practical networked mobile robot control platform with experiment validity given in detail.

关键词： Layout Internet Mobile robots Computer displays Delay Communication system control Auditory displays IP networks Supervisory control Feedback

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Finite-time tracking control of bank-to-turn missiles using terminalsliding mode

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ICIC Express Letters 2009年第4期3卷 1373-1380页

作者： Wang, Zhao Li, Shihua Fei, Shumin Key Laboratory of Measurement and Control of Complex Systems ofEngineering School of Automation Southeast University Nanjing 210096 China College of Information and Control Engineering China University of Petroleum Dongying 257061 China

In this paper, a finite-time controller for bank-to-turn (BTT,) missiles isdesigned based on nonsingular terminal sliding mode (NTSM,) technique. Theproposed controller allows that roll rate and angle of attack can track thedesired commands in finite-time with sideslip angle maintained in a small degreerange. Input/output (I/O) feedback linearizaiton technique is used in thecontroller design. Since the dynamics of BTT missile contains uncertainties,nonsingular terminal sliding mode control technique is applied to yield betterrobustness and disturbance rejection properties. Computer simulation results arepresented to validate the effectiveness of our method. ICIC International © 2009.

关键词： Disturbance rejection

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New delay-dependent stability criteria for linear stochastic systems with time-varying delay

New delay-dependent stability criteria for linear stochastic...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jianjiang Yu Kanjian Zhang Shumin Fei the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Information Science and Technology Yancheng Teachers University the School of Automation Southeast University

In this paper, the problem of the stability for a class of stochastic systems with time-varying delay is investigated. By dividing the delay interval into multiple segments and choosing different weighting matrices in the new LyapunovKrasovskii functional, the delay-dependent sufficient criterion is derived in terms of linear matrix inequalities(LMIs). Neither model transformations nor bounding techniques for cross terms is employed, so the derived criterion is less conservative than the most existing results. Meanwhile, the computational complexity of the obtained stability conditions is reduced because less variables are involved. A numerical example is given to show the application of the proposed method.

关键词： New delay-dependent stability criteria for linear stochastic systems with time-varying delay

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A New Method for Robust H∞ Filtering of Uncertain Discrete-time systems

A New Method for Robust H∞ Filtering of Uncertain Discrete-...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Pingli Lu Ying Yang School of Automation Beijing Institute of Technology State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringPeking University

This paper deals with the robust H filtering problem for discrete-time linear systems with polytopic *** from existing results,we assume that not only the Lyapunov functions are parameter-dependent in the whole polytope domain,but also the filter is dependent of the parameters which belong to a *** results contain no constant matrix variable for the entire polytope domain,which guarantees to provide extra free dimensions in the solution space for the H filtering problem and establish less conservative filter design *** addition,the robust H filter can be established by linear matrix inequalities（LMIs） which can be solved numerically by efficient convex optimization *** effectiveness of the proposed design methods is finally verified by a numerical example at the end of the paper.

关键词： A New Method for Robust H Filtering of Uncertain Discrete-time systems filter

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Synchronization of nonlinear pendulum-like systems

Synchronization of nonlinear pendulum-like systems

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Pingli Lu Ying Yang School of Automation Beijing Institute of Technology State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringPeking University

This paper deals with the chaos synchronization problem for a class of nonlinear pendulum-like systems with multiple *** on the method of periodic Lyapunov functions,linear matrix inequality(LMI) formulations are established to guarantee the stable synchronization of both master and slave pendulum-like systems by feedback control ***,a concrete application to phase-locked loop(PLL) shows the applicability and validity of the proposed approach.

关键词： Synchronization of nonlinear pendulum-like systems

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Mixed model based SLAM approach for mobile robot

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Nanjing Li Gong Daxue Xuebao/Journal of Nanjing University of Science and Technology 2009年第SUPPL. 1期33卷 98-103页

作者： Fang, Fang Ma, Xu-Dong Dai, Xian-Zhong School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of CSE Complex Systems of Engineering Nanjing 210096 China

A new simultaneous localization and mapping approach based on mixed map model using laser data and odometry information is presented in this paper. Mixed model composed of occupancy grids and line maps is utilized to represent environment maps. At the same time Hough transform is introduced to extract line features. Then robot localization and map building task is accomplished using line features matching and extended Kalman filter. Experimental results indicate the feasibility and validity of this approach.

关键词： Extended Kalman filters

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