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Gaussian Mixture PHD Smoother for Jump Markov Models in Multiple Maneuvering Targets Tracking

Gaussian Mixture PHD Smoother for Jump Markov Models in Mult...

引用

2011 American Control Conference (ACC)

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.

关键词： Target tracking Approximation methods Markov processes Covariance matrix Smoothing methods Radar tracking Computational efficiency

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Design of a Robot Cloud Center

Design of a Robot Cloud Center

引用

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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Robust L_(2) - L_(infinity) Consensus Control of the Second-order Multi-agent systems with Time-delay

Robust L_(2) - L_(infinity) Consensus Control of the Second-...

引用

IEEE Conference on Decision and Control

作者： Yan Cui Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University 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

Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L_(2) - L_(infinity) control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the convergence to consensus of the network under fixed or switching topology. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.

关键词： Topology Europe

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Two alternative approaches to stochastic discrete-time iterative learning control systems

Two alternative approaches to stochastic discrete-time itera...

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IEEE Conference on Decision and Control

作者： Deyuan Meng 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 aims to address the robust convergence problem that arises from discrete-time iterative learning control (ILC) systems subject to random disturbances. Two alternative approaches are considered in order to achieve the perfect output tracking of the stochastic discrete-time ILC systems in the sense of both expectation and variance, which use the tracking error and the input error for analysis, respectively. It is shown that the convergence results of two approaches to ILC can be established by developing some statistical expressions in super-vector forms. Moreover, it is demonstrated that the convergence results of two approaches to ILC are not always equal, and they can keep the same only in the case where the controlled plants are square.

关键词： Iterative learning control discrete-time systems random disturbances

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Collision Avoidance Maneuver Design Based on Equidistance Interpolation

Collision Avoidance Maneuver Design Based on Equidistance In...

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IEEE Conference on Decision and Control

作者： Yongqiang Qi 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 deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust Vision measurement Switch control law The specified trajectory Equidistance interpolation

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Gaussian mixture PHD filter for multiple maneuvering extended targets tracking

Gaussian mixture PHD filter for multiple maneuvering extende...

引用

IEEE Conference on Decision and Control

作者： Wenling Li 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 addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.

关键词： Maneuvering Filters shape parameter extended target Gauss Subset numerical example

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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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Dynamics of passively phased fiber laser arrays.

Dynamics of passively phased fiber laser arrays.

引用

Conference on Lasers and Electro-Optics Europe (CLEO EUROPE)

作者： A. Jacobo P. Colet E.J. Bochove Y. Braiman A.B. Aceves R. Deiterding C.A. Miller C. Rhodes S.A. Shakir UlB-CSIC Instituto de Fisica Interdisciplinary Sistemas Complejos (CSIC-UIB) Palma de Mallorca Spain Max Planck Institute Physics of Complex Systems Dresden Germany Directed Energy Directorate Air Force Research Laboratory NM USA Center for Engineering Science Advanced Research Computer Science and Mathematics Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Mathematics Southern Methodist University Dallas TX USA Department of Mechanical AeroSpace and Biomedical Engineering University of Tennessee Knoxville TN USA Department of Mathematics University of Tennessee Knoxville TN USA Libration Systems Management Inc. Albuquerque NM USA TASC Inc. Albuquerque NM USA

ISBN: (纸本)9781457705328

This paper considers a passively phased array of N rare earth doped fibers that are mutually locked in phase though coherent interaction in a spatially filtering external cavity. By linear stability analysis and numerical simulations, it is shown that, for one fiber, the system has a stable CW regime above threshold, for low pumping powers. Is is also shown that the system can become unstable for high pump intensities first exhibiting pulsating behavior and then becoming chaotic. For two fibers these dynamical regimes the instabilities appear for lower powers as the difference in length between the fibers is increased.

关键词： Fiber lasers High power fiber lasers High power fibers Laser arrays Phased arrays Refractive index

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on Control, Automation and systems ( ICCAS)

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

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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A simple password less authentication system for web sites

A simple password less authentication system for web sites

引用

7th International Conference on Information Technology - New Generations, ITNG 2010

作者： Sælensminde, Kirit Boonjing, Veera Software Systems Engineering Laboratory Department of Computer Science King Mongkut's Institute of Technology Ladkrabang Bangkok 10520 Thailand

ISBN: (纸本)9780769539843

Many web sites have features that are only accessible after registering a user account on them. These sites include forums, on-line games, corporate Intranets and many on-line shops. The sites are typically secured through a system whereby a user chooses both a unique user name and a password that will be used to authenticate them. An alternative system proposed here is more convenient for users, and in many cases more secure by removing the requirement for the user to choose or remember a password. © 2010 IEEE.

关键词： Websites

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