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Personnel localization algorithm of prison supervision system based on RFID

International Journal of Smart Home 2016年第12期10卷 77-84页

作者： Yuping, Zhang Ying, Chang Chen, Li Zhong, Zhang College of Measure-Control Tech. and Communication Engineering of Harbin University of Science Technology The Higher Educational Key Laboratory for Measuring Control Technology and Instrumentations of Heilongjiang Province Harbin150080 China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China

The particularity of the prison decides the importance of its security system, and how to improve the accuracy of personnel positioning for prison monitoring system is the problem to be solved to realize intelligent prison monitoring management. RFID positioning technology with non line-of-sight transmission and large transmission range is widely applied in the personnel positioning system. RFID technology is used to design the monitoring and management system of prison in this paper. The Trilateral Ranging Method was adopted to realize personnel positioning. RSSI positioning algorithm its technology is relatively simple was adopted when calculating the trilateral distance and correcting the errors in order to improve the positioning precision. Simulation test results show that the positioning precision for the distance between a single reader and the tag is increased by 2.17% on average, up to 4.54% after the error correction. The personnel location coordinates, X direction average error is 2.96%, average error is 3.12%, Y direction, and meeting the requirements of the system design. © 2016 SERSC.

关键词： Radio frequency identification (RFID)

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A new-style decentralized nonlinear robust coordinated control of multiple static synchronous compensators

A new-style decentralized nonlinear robust coordinated contr...

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第35届中国控制会议

作者： Bangjun Lei Xiang Wu Shumin Fei Electrical Engineering College Guizhou Institute of Technology College of Mathmatics and Computer Science Guizhou Normal University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of Automation Southeast University

ISBN: (纸本)9781509009107

Using the pseudo-generalized Hamiltonian method, this paper investigates the decentralized nonlinear robust coordinated control of multiple static synchronous compensators(STATCOMs) in multi-machine multiload power systems. First,the uncertain nonlinear differential algebraic equation model is constructed for the power system. Then, the dissipative pseudogeneralized Hamiltonian realization of the system is established by means of variable transformation and prefeedback ***, based on the obtained dissipative pseudo-generalized Hamiltonian realization, a new-style decentralized nonlinear robust coordinated controller is put forward. Simulation results demonstrate the effectiveness and robustness of the control scheme.

关键词： Pseudo-generalized Hamiltonian function method Uncertain nonlinear differential algebraic system Multimachine power systems Multiple STATCOMs Decentralized nonlinear robust coordinated control

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Adaptive Sliding Mode control for Re-entry Attitude of Near Space Hypersonic Vehicle Based on Backstepping Design

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 94-101页

作者： Jingmei Zhang Changyin Sun Ruimin Zhang Chengshan Qian the Flight Control Research Center Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University the College of Information and Control Nanjing University of Information Science & Technology

Combining sliding mode control method with radial basis function neural network (RBFNN), this paper proposes a robust adaptive control scheme based on backstepping design for re-entry attitude tracking control of near space hypersonic vehicle (NSHV) in the presence of parameter variations and external disturbances. In the attitude angle loop, a robust adaptive virtual control law is designed by using the adaptive method to estimate the unknown upper bound of the compound uncertainties. In the angular velocity loop, an adaptive sliding mode control law is designed to suppress the effect of parameter variations and external disturbances. The main benefit of the sliding mode control is robustness to parameter variations and external disturbances. To further improve the control performance, RBFNNs are introduced to approximate the compound uncertainties in the attitude angle loop and angular velocity loop, respectively. Based on Lyapunov stability theory, the tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control system attains a satisfied control performance and is robust against parameter variations and external disturbances. © 2014 Chinese Association of Automation.

关键词： Airships Angular velocity Attitude control Backstepping control theory Design Functions Hypersonic aerodynamics Hypersonic vehicles Navigation Radial basis function networks Sliding mode control Uncertainty analysis Vehicles

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A JPSO algorithm for SML estimation of DOA

A JPSO algorithm for SML estimation of DOA

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International Symposium on communications and Information Technologies (ISCIT)

作者： Haihua Chen Shibao Li Jianhang Liu Chen Gong Fen Liu Masakiyo Suzuki College of Computer and Communication Engineering China University of Petroleum Qingdao Shandong College of Information and Control Engineering China University of Petroleum Qingdao Shandong China Graduate School of Engineering Kitami Institute of Technology Kitami Hokkaido Japan

ISBN: (纸本)9781509041008

The estimation of DOA is an important problem in sensor array signal processing and its industrial applications. Among all the solving techniques for DOA, the Stochastic Maximum Likelihood (SML) algorithm is well-known for its high accuracy of DOA estimation. However, its computational complexity is very high because a multi-dimensional nonlinear optimization problem is involved. The Particle Swarm Optimization (PSO) algorithm is considered as a rather efficient way for multi-dimensional non-linear optimization problems in DOA estimation. However Conventional PSO algorithm usually needs a large number of particles and the iteration number is also a litter high when all the particles converge. As a result, the computational complexity is still a litter high. This paper proposes a low complexity Joint-PSO (JPSO) algorithm for SML estimation. It uses the solution of Estimation of Signal Parameters via Rotational Invariance Techniques (ESPRIT) and stochastic Cramer-Rao bound (CRB) to determine a novel initialization space. In this case, smaller number of particles and less iteration number are required. Therefore, the computational complexity can be greatly reduced. Simulation results are also shown to demonstrate the validity of proposed JPSO algorithm.

关键词： Direction-of-arrival estimation Computational complexity Signal processing algorithms Covariance matrices Sensor arrays Maximum likelihood estimation

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Vibration isolation system with a compact damping system for power recycling mirrors of KAGRA

arXiv

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arXiv 2019年

作者： Akiyama, Y. Akutsu, T. Ando, M. Arai, K. Arai, Y. Araki, S. Araya, A. Aritomi, N. Asada, H. Aso, Y. Bae, S. Baiotti, L. Barton, M.A. Cannon, K. Capocasa, E. Chen, C.-S. Chiu, T.-W. Cho, K. Chu, Y.-K. Craig, K. Dattilo, V. Doi, K. Enomoto, Y. Flaminio, R. Fujii, Y. Fujimoto, M.-K. Fukunaga, M. Fukushima, M. Furuhata, T. Haino, S. Hasegawa, K. Hashimoto, Y. Hashino, K. Hayama, K. Hirayama, T. Hirose, E. Hsieh, B.H. Huang, C.-Z. Ikenoue, B. Inoue, Y. Ioka, K. Itoh, Y. Izumi, K. Kaji, T. Kajita, T. Kakizaki, M. Kamiizumi, M. Kanbara, S. Kanda, N. Kanemura, S. Kang, G. Kasuya, J. Kawai, N. Kawasaki, T. Kim, C. Kim, W.S. Kim, J. Kim, J.C. Kimura, N. Kirii, S. Kitaoka, Y. Kitazawa, H. Kojima, Y. Kokeyama, K. Komori, K. Kong, A. Kotake, K. Kozu, R. Kumar, R. Kuo, H.-S. Kuroki, S. Kuroyanagi, S. Lee, H.K. Lee, H.M. Lee, H.W. Leonardi, M. Lin, C.-Y. Lin, F.-L. Liu, G.C. Marchio, M. Matsui, T. Michimura, Y. Mio, N. Miyakawa, O. Miyamoto, A. Miyoki, S. Morii, W. Morisaki, S. Moriwaki, Y. Musha, M. Nagano, S. Nagano, K. Nakamura, K. Nakamura, T. Nakano, H. Nakano, M. Narikawa, T. Quynh, L. Nguyen Ni, W.-T. Nishizawa, A. Obuchi, Y. Oh, J. Oh, S.H. Ohashi, M. Ohishi, N. Ohkawa, M. Okutomi, K. Ono, K. Oohara, K. Ooi, C.P. Pan, S.-S. Paoletti, F. Park, J. Passaquieti, R. Peña Arellano, F.E. Sago, N. Saito, S. Saito, Y. Sakai, K. Sakai, Y. Sasai, M. Sato, S. Sato, T. Sekiguchi, T. Sekiguchi, Y. Shibata, M. Shimoda, T. Shinkai, H. Shishido, T. Shoda, A. Someya, N. Somiya, K. Son, E.J. Suemasa, A. Suzuki, T. Suzuki, T. Tagoshi, H. Tahara, H. Takahashi, H. Takahashi, R. Takeda, H. Tanaka, H. Tanaka, K. Tanaka, T. Tanioka, S. San Martin, E.N. Tapia Tomaru, T. Tomura, T. Travasso, F. Tsubono, K. Tsuchida, S. Uchikata, N. Uchiyama, T. Uehara, T. Ueno, K. Uraguchi, F. Ushiba, T. van Putten, M.H.P.M. Vocca, H. Wakamatsu, T. Watanabe, Y. Xu, W.-R. Yamada, T. Yamamoto, K. Yamamoto, K. Yamamoto, S. Yamamoto, T. Yokogawa, K. Yokoyama, J. Yokozawa, T. Yoshioka, T. Yuzurihara, H. Zeidler, S. Zhu, Z.-H. Graduate School of Science and Engineering Hosei University TokyoKoganei184-8584 Japan National Astronomical Observatory of Japan TokyoMitaka181-8588 Japan Department of Physics University of Tokyo TokyoBunkyo113-0033 Japan University of Tokyo KashiwaChiba277-8582 Japan High Energy Accelerator Research Organization TsukubaIbaraki305-0801 Japan Earthquake Research Institute University of Tokyo TokyoBunkyo113-0032 Japan Department of Physics University of Tokyo TokyoBunkyo113-0033 Japan Department of Mathematics and Physics Hirosaki University AomoriHirosaki036-8561 Japan National Astronomical Observatory of Japan GifuHida506-1205 Japan Korea Institute of Science and Technology Information Yuseong Daejeon34141 Korea Republic of Department of Physics Osaka University ToyonakaOsaka560-0043 Japan University of Tokyo TokyoBunkyo113-0033 Japan Department of Physics National Taiwan Normal University Taipei116 Taiwan Department of Physics Sogang University Seoul121-742 Korea Republic of PisaCascinaI-56021 Italy Department of Physics University of Toyama ToyamaToyama930-8555 Japan Department of Astronomy University of Tokyo TokyoBunkyo113-0032 Japan Advanced Technology Center National Astronomical Observatory of Japan TokyoMitaka181-8588 Japan Institute of Physics Academia Sinica TaipeiNankang11529 Taiwan Department of Applied Physics Fukuoka University FukuokaJonan814-0180 Japan Yukawa Institute for Theoretical Physics Kyoto University KyotoSakyo606-8502 Japan Graduate School of Science Osaka City University OsakaSumiyosi558-8585 Japan Institute of Space and Astronautical Science Japan Aerospace Exploration Agency SagamiharaKanagawa252-5210 Japan University of Tokyo GifuHida506-1205 Japan Graduate Schoool of Science and Technology Tokyo Institute of Technology MeguroTokyo152-8551 Japan Department of Physics Ewha Womans University SeoulSeodaemun-gu03760 Korea Republic of National Institute for

A vibration isolation system called Type-Bp system used for power recycling mirrors has been developed for KAGRA, the interferometric gravitational-wave observatory in Japan. A suspension of the Type-Bp system passively isolates an optic from seismic vibration using three main pendulum stages equipped with two vertical vibration isolation systems. A compact reaction mass around each of the main stages allows for achieving sufficient damping performance with a simple feedback as well as vibration isolation ratio. Three Type-Bp systems were installed in KAGRA, and were proved to satisfy the requirements on the damping performance, and also on estimated residual displacement of the optics. Copyright © 2019, The Authors. All rights reserved.

关键词： Mirrors

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Coordination control of dual-arm robot based on modeled predictive control

Coordination control of dual-arm robot based on modeled pred...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Ming Jiang Ming-Qu Fan Ai-Min Li Xue-Wen Rong Hui Kong Rui Song College of Electronic Communication and Physics Shandong University of Science and Technology Qingdao China College of Electrical Engineering and Automation Shandong University of Science and Technology Jinan China Shandong University of Science and Technology Qingdao Shandong CN School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9781467389600

This paper presents a master-slave force hybrid coordinated motion control method which is based on the model predictive control (MPC) algorithm. In the paper, the kinematics model of the dual 6-DOF arms is build. Six axis force sensors are installed at the ends of the two arms, the master arm adopts the position control method and the based on the model predictive control algorithm DMC theory force/position hybrid control method is adopted in the slave arm. According to the kinematic model of the dual-arms, the end pose and joint angle rule conversion library is established, and the motion prediction model of the manipulator also is established. By using these models, the slave arm can acquire the position and direction of the master arm synchronously, and the current end position of the master arm is also used as the reference input value of the end position of the slave arm. The rotation operation sequence of the joint angle rule conversion library predicted model and end pose apply to the joint motor, drive the end of the robot arm to move to the target position. After doing these we could synchronously realize position tracking. In our experiment the current position tracking could be realized through the simulation analysis of six degree of freedom dual arm robot.

关键词： Handheld computers Decision support systems Conferences Real-time systems Robots

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Integrated navigation for pedestrian with building heading algorithm and inertial measurement unit

Integrated navigation for pedestrian with building heading a...

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International Conference on control, Automation and Information Sciences (ICCAIS)

作者： Yingbo Cai Qian Sun Ya Zhang Chunzhu Yu Hongmei Bai School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China College of Information and Communication Engineering Harbin Engineering University Harbin China Beijing Aerospace Automatic Control Research Institute Beijing China College of Automation Harbin Engineering University Harbin China

ISBN: (纸本)9781509006519

To improve the positioning accuracy in indoor environments, we use the Inertial Navigation System (INS) algorithm to perform the pedestrian tracking, and the measurements consist of two parts: the velocity error and the heading error. The velocity error can be gotten from the navigation result. Meanwhile, we get the heading error in two ways. First, taking the magnetometer as the heading resource, the magnetic perturbations can be eliminated through a new ellipsoid fitting based calibration algorithm. Furthermore, the building heading algorithm(BHA) is also adopted to aid the Inertial measurement Unit (IMU), the corresponding building heading can be derived based on the motion path. Finally, the Kalman filter (KF) is utilized to fuse the data in order to compensate the sensor error and navigation solution through a 15-dimentional state vector. As a result, some field trials were taken to prove the validity of the proposed algorithm. By contrast the result of Magnetometer (MAG)/BHA/INS and the Zero Velocity update (ZUPT) algorithms, we proved that the algorithm of MAG/BHA aiding INS can effectively improve the indoor positioning accuracy which shows better performance.

关键词： Navigation Magnetometers Buildings Micromechanical devices Calibration Automation Conferences

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Research on credibility measurement method of data in big data

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Journal of Information Hiding and Multimedia Signal Processing 2016年第4期7卷 846-857页

作者： Cheng, Xiao-Rong Li, Tian-Qi Hou, Si-Zu Zhao, Hui-Lan Wang, Hong-Yu School of control and computer engineering North China Electric Power University BaodingHebei071003 China Department of Electronic & Communication Engineering North China Electric Power University BaodingHebei071003 China College of information technology Hebei Normal University ShijiazhuangHebei050024 China

On the basis of analytical theory of credible traditional data, this paper constructs a hierarchical trusted network model of dynamic data analysis by increasing time factor, penalty factor and other weight parameters, which puts the credibility of the analysis of the problem down to the big data combinatorial problems of between the data sources, data source and data dissemination network path. That is, by calculating the credibility between data sources, the credibility of data and data source, the paper dynamically constructs the Big Data networks of the trusted analysis through analytical data calculating the overall credibility of data. The simulation results show that the model can satisfy the requirement of the credibility of Big Data better, and provide the ideas to solve the problem of the credibility measure for prospective research is feasible. © 2016.

关键词： Big data

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Inertial navigation system positioning assisted by star sensor

Inertial navigation system positioning assisted by star sens...

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International Conference on control, Automation and Information Sciences (ICCAIS)

作者： Hongsong Du Qian Sun Ya Zhang Zhao Qi Ya Wen Navy Academy of Armament The Research Institute of Ships Beijing China College of Information and Communication Engineering Harbin Engineering University Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Beijing Aerospace Automatic Control Research Institute Beijing China

ISBN: (纸本)9781509006519

The Star Sensor can be used to assist the inertial navigation system (INS) for navigation and positioning, restraining the accumulated error caused by the inertial components. During the integrated navigation process, the Star Sensor is installed above the INS, generated installation errors between the INS body coordinate system and the Star Sensor body coordinate system. In order to increase the system accuracy, a new gyro error model is established in this paper which taken full account of various error factors. The gyro drifts and the gyro errors coefficients are considered as the state variables. The attitude information of Star Sensor is used as the high-accurate information to construct the observation with the attitude information of INS. Taken the nonlinearity of the actual system into account, the nonlinear filter Cubature Kalman Filter (CKF) is used to estimate the gyro errors commendably. The experiment results showed that the positioning error reduced a lot by utilizing this novel method.

关键词： Mathematical model Inertial navigation Calibration Satellite navigation systems Automation Quaternions

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Building of numerical models and simulation research for magnetite core inductive sensor

Building of numerical models and simulation research for mag...

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International Conference on Electronic engineering and Information Science, ICEEIS 2015

作者： Wang, L.J. Han, Y.B. Chen, H.Q. Xiao, S.Y. Hui, D.D. Li, J.X. Sun, L.K. College of Measure-Control Technology and Communication Engineering Harbin University of Science and Technology Higher Educational Key Laboratory on Measuring & Control Technology and Instrumentations of Heilongjiang Province Harbin China Harbin Normal University High School Harbin China College of Geoscience and Surveying Engineering China University of Mining and Technology Beijing China College of Measure-Control Technology and Communication Engineering Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781138027725

From perspective of magnetite iron core inductive sensor, iron grade’s quick detecting method for magnetite is given. Sensing mechanism of the sensor is analyzed. Magnetic field model is built, and numerical analytic expressions are given among magnetic induction intensity, inductance value and induced electromotive force of the iron core inductive sensor. By using the finite element energy method, numerical model of inductance of cylindrical solenoid iron core winding is solved. Boundary conditions are set according to geometric characteristics of the winding, and adopting ANSYS finite element analysis software, simulation models for windings of the iron grade sensor are built;influence regulations of changing of self-inductance coefficients of the winding on output inductance value of the sensor are gotten, furthermore, optimal combination of self-inductance coefficients of structure of the magnetite core inductance sensor is determined. The research lays foundation for ultimate realization of real-time monitoring of iron grade for the magnetite. © 2015 Taylor & Francis Group, London.

关键词： Finite element method

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