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American Control Conference

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the resampling problem of particle filters. We firstly demonstrate the performance of classical Resampling algorithm (also called as systematic resampling algorithm) using a novel metaphor, through which the existing defects of Resampling algorithm is vividly reflected simultaneously. In order to avoid these defects, the exquisite resampling (ER) algorithm is induced which involves some exquisite actions such as comparing the weights by stages and generating the new particles based on quasi-Monte Carlo method. Simulations indicate that the proposed ER algorithm can reduce the sample impoverishment effectively and improve the accuracy of estimation evidently, which confirm that ER algorithm is a competitive alternative to Resampling algorithm.

关键词： resampling algorithm Particle filters

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Design of a Robot Cloud Center

Design of a Robot Cloud Center

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International Symposium on Autonomous Decentralized systems (ISADAS)

作者： Zhihui Du Weiqiang Yang Yinong Chen Xin Sun Xiaoying Wang Chen Xu Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing China School of Software and Microelectronics Peking University Beijing China School of Computing Informatics and Decision Systems Engineering Arizona State University Tempe AZ USA International School Beijing University of Posts and Telecommunications Beijing China

Service-oriented architecture and cloud computing have become the prevalent computing paradigm. In this paradigm, computing resources can be accessed like other utility services available in today's society. In the meantime, robotics applications are joining the trend. More and more robot applications are shifting from manufacture to non-manufacture and service industries. However, for the on-demand supply of the large-scale heterogeneous robots, It is still a problem have not yet been studied, including the fundamental management and efficiency issues in using of these resources. In this paper, we design a framework of "Robot Cloud Center" (RCC) following the general cloud computing paradigm to address the current limitations in capacity and versatility of robotic applications. In this framework, a robot can be provided as a service just like a public utility service so that everyone can access the powerful robotic services easily, efficiently, and cheaply. Based on a given scenario, a robot scheduling algorithm in RCC is proposed to take advantage of the heterogeneous robot resources to meet the end user's requirement with the minimum cost.

关键词： Service robots computer architecture Service oriented architecture Hardware Cloud computing Computational modeling

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Finite-time consensus control for multiple manipulators with unmodeled dynamics

Finite-time consensus control for multiple manipulators with...

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American Control Conference

作者： Bin Zhang Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479901777

This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.

关键词： unmodeled dynamics control strategy Manipulators two degrees of freedom multi-robot systems Stability analysis distributed protocol

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Non-Fragile Control for Trajectory Tracking of Nonholonomic Mobile Robots

Non-Fragile Control for Trajectory Tracking of Nonholonomic ...

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American Control Conference

作者： Na Ni Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.

关键词： Trajectory Mobile robots Control systems Tracking Robot kinematics Orbital robotics State feedback Error correction Sliding mode control Laboratories

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Column Formation Control of Multi-robot systems with Input Constraints

Column Formation Control of Multi-robot Systems with Input C...

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IEEE Conference on Decision and Control

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.

关键词： Column formation control multi-robot systems leader-follower input constraints elliptic approximation

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Cooperative Bicircular Target Tracking Using Multiple Unmanned Aerial Vehicles

Cooperative Bicircular Target Tracking Using Multiple Unmann...

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IEEE Annual Conference on Decision and Control

作者： Yueqian Liang Yingmin Jia Junping Du Fumitoshi Matsuno Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China Department of Mechanical Engineering and Science Kyoto University Kyoto 606-8501 Japan

ISBN: (纸本)9781467360890

This paper investigates the problem of tracking a moving target using multiple fixed-wing unmanned aerial vehicles (UAVs) under a new bicircular formation. This new formation for cooperative standoff target tracking is first developed by maximizing the amount of Fisher information. Guidance vector fields are designed, and based on them, a cooperation approach is proposed to adapt the unknown target velocity and achieve the cooperative bicircular tracking. Speed and heading rate are firstly controlled to track the guidance vector fields separately for each UAV, then the speed is further adjusted to maintain the desired angular separation between the UAVs. Simulation experiments are given to verify the effectiveness of the proposed approach.

关键词： bicircular Target tracking vehicle

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Output feedback tracking control for spacecraft relative translation subject to input constraints and partial loss of control effectiveness

Output feedback tracking control for spacecraft relative tra...

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American Control Conference

作者： Lin Zhao Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479932757

In this paper, an adaptive output feedback tracking control scheme is proposed for spacecraft formation flying (SFF) in the presence of external disturbances, uncertain system parameters, input constraints and partial loss of control effectiveness. The proposed controller incorporates a pseudo-velocity filter to account for the unmeasured relative velocity, and the neural network (NN) technique is implemented to approximate the desired nonlinear function and bounded external disturbances. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated nonlinear function, a switch function is employed to generate a switching between the adaptive NN control and the robust controller. Moreover, a fault tolerant part is included in the controller to compensate the partial loss of actuator effectiveness fault. It is shown that the derived controller not only guarantees the tracking error in the closed-loop system to be uniformly ultimately bounded (UUB) but also ensures the control input can rigorously enforce actuator magnitude constraints. Simulation results are provided to demonstrate the effectiveness of the proposed method.

关键词： SFF UUB NN

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Real-time embedded system support for the BTeV level 1 muon trigger

Real-time embedded system support for the BTeV level 1 muon ...

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2003 IEEE Nuclear Science Symposium Conference Record - Nuclear Science Symposium, Medical Imaging Conference

作者： Haney, Michael J. Beauregard, D. Iyer, R. Kalbarczyk, Z. Liu, Q. Wang, L. Haney, M. Selen, M. Mosse, D. Shigiltchoff, O. Chopade, R. Hovey, L. Jung, M. Messie, D. Oh, J. Stone, S. Bapty, T. Neema, S. Nordstrom, S. Shetty, S. Vashishtha, S. Yao, D. Sheldon, P. Vaandering, E. Butler, J. Gottschalk, E. Kowalkowski, J. Votava, M. Appel, J. University of Illinois Urbana IL 61801 United States Des./Validation Reliable N.S.R.G. University of Illinois High Energy Physics Group Department of Physics University of Illinois Department of Computer Science Coll. in High Sch. Educ. Program University of Pittsburgh Department of Electrical Engineering Syracuse University High Energy Physics Group Department of Physics Syracuse University Inst. for Software Intgd. Systems Vanderbilt University Department of Physics BTeV Group Vanderbilt University BTeV Collaboration Particle Physics Division Fermi Natl. Accelerator Laboratory Computing Division Fermi Natl. Accelerator Laboratory Fermilab Education Office Fermi Natl. Accelerator Laboratory

The Level 1 Muon Trigger subsystem for BTeV will be implemented using the same architectural building blocks as the BTeV Level 1 Pixel Trigger: pipelined field programmable gate arrays feeding a farm of dedicated processing elements. The muon trigger algorithm identifies candidate tracks, and is sensitive to the muon charge (sign);candidate dimuon events are identified by complementary charge track-pairs. To insure that the trigger is operating effectively, the trigger development team is actively collaborating in an independent multi-university research program for reliable, self-aware, fault adaptive behavior in real-time embedded systems (RTES). Key elements of the architecture, algorithm, performance, and engineered reliability are presented.

关键词： Embedded systems

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Security analysis and improvement of hsu et al.'s threshold proxy signature scheme

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International Journal of Network Security 2006年第1期2卷 69-72页

作者： Guo, Lifeng Cheng, Xiangguo Liu, Yang Institute of Systems Science Academy of Mathematics and System Sciences Chinese Academy of Sciences Graduate School of Chinese Academy of Sciences Beijing 100080 China 21 Heng Mui Keng Terrace Singapore State Key Laboratory of Integrated Services Network Xidian University Xi'an 710071 China Software Institute School of Electronic Engineering and Computer Science Peking University 100871 China

In 1999, Sun et al. proposed a new (t, n) threshold proxy signature scheme based on Zhang's threshold proxy signature scheme. But in 2003 Hsu et al. pointed out that Sun's scheme suffered from a drawback and demonstrated an improvement to counter it. In this paper we point out that Hsu's scheme suffers from an insider attack against their scheme. That is, a malicious proxy signer can forge a valid threshold proxy signature on any message. To thwart this attack, some improvements are further proposed.

关键词： Authentication

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Stochastic H_2 Optimal Control of Discrete-Time Markov Jump systems with Periodic Coefficients

Stochastic H_2 Optimal Control of Discrete-Time Markov Jump ...

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American Control Conference

作者： Hongji Ma Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781457710957

In this paper, the H_2 optimal state-feedback control problem is investigated for discrete-time Markov jump systems subject to periodic coefficients and multiplicative noise. First of all, an exhaustive analysis is pursued to set up an H_2 performance criterion (H_2 norm), which can be characterized by the periodic solutions of two generalized Lyapunov equations. Based on the obtained H_2 norm, the H_2 optimal state-feedback controller is designed in terms of the stabilizing solution of a discrete-time generalized Riccati equation with periodic coefficients. Moreover, this stabilizing solution can be computed efficiently by the available iterative algorithm.

关键词： Markov processes Noise Educational institutions Riccati equations Optimal control

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