作者：
Shen, DongXiong, GangChinese Acad Sci
Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China
This note gives a brief survey on discrete-time stochastic iterative learning control (SILC) from three aspects, namely, SILC for linear system, nonlinear system and system with other stochastic signal. Two major appr...
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ISBN:
(纸本)9781467313988
This note gives a brief survey on discrete-time stochastic iterative learning control (SILC) from three aspects, namely, SILC for linear system, nonlinear system and system with other stochastic signal. Two major approaches, stochastic Kalman filtering approach and stochastic approximation approach, for SILC are proposed. Some open questions are also included.
The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is propo...
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The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.
Evacuees' behaviors have a significant impact on evacuation efficiency. Evacuation clearance time is one of the key indicators in the evacuation planning and management. Evacuees' departure time choice, destin...
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ISBN:
(纸本)9781467330633
Evacuees' behaviors have a significant impact on evacuation efficiency. Evacuation clearance time is one of the key indicators in the evacuation planning and management. Evacuees' departure time choice, destination choice and route choice behavior based on real-time traffic information are three crucial factors used to estimate evacuation clearance time. In this paper, we use the orthogonal experimental design method to determine values of these three factors simultaneously, which can reduce evacuation clearance time significantly. Once we obtain these values, we can guide evacuees' departure time choice, destination choice and route choice behavior to approximate these values and evacuation efficiency will improve greatly. The dynamic traffic evacuation process is modeled using a rule-based multi-agent microscopic traffic simulation system called TransWorld. The simulation experiment results illustrate the effectiveness and reliability of the proposed method. The proposed methodology, computational results and discussions can be used for future emergency evacuation planning and management.
The application of spatial database is increasingly widespread. How to effectively store and organize multidimensional space data and improve the processing efficiency of multidimensional data has become a central iss...
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ISBN:
(纸本)9781457713798
The application of spatial database is increasingly widespread. How to effectively store and organize multidimensional space data and improve the processing efficiency of multidimensional data has become a central issue. R-tree is one of the most widely used spatial indexes. Due to the existing large overlap and coverage among the nodes of R-tree, the search path of a data object is not unique, and the search efficiency declines sharply when the amount of data increases. Based on the analysis and research of previous index trees, a novel DR-tree index based on the diagonal lines of MBR is proposed in this paper. DR-tree uses the diagonal line of MBR to indicate spatial data objects and construct R-tree, still adopt the endpoint coordinates of MBR diagonal to signify the location of leaf nodes or non-leaf nodes. Since MBR is simplified, the coverage and overlap among regions are also reduced. Experimental results show that the new index tree is superior to R-tree in performance. The query paths of data objects are single, the insertion, deletion, and query efficiency of data objects are significantly improved, and the performance of the new index tree becomes more apparent when the amount of data objects increases.
Smart homes of the future will include automation systems that will provide lower energy consumption costs and comfortable environments to end users. In this work we propose an algorithm, based on the "Mixed-Inte...
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As a new research field in wireless sensor network (WSN), wireless video sensor network (WVSN) makes surveillance multifunctional and intelligent, with rich and intuitive sensing information. It attracts more and more...
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In this paper, a visual control system is proposed to locate the start welding position and track the narrow butt welding seam in container manufacturing. It estimates the error between the welding torch and the weldi...
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In this paper, a visual control system is proposed to locate the start welding position and track the narrow butt welding seam in container manufacturing. It estimates the error between the welding torch and the welding seam with a camera and a panel computer. It adjusts the torch's position via a stepper motor to eliminate the error. A decision controller with three gates is designed to decide the working procedure. Feature extraction algorithms are designed according to the seams and pre-weld spots. The seam line and the position of the pre-weld spot are detected to locate the start welding position in initial aligning. Then the torch is aligned to the seam. In the welding stage, the reference feature is determined with many frames of images based on their statistical property. The current estimated feature is checked to ensure only normal features to be used for welding seam tracking. Experiments are well conducted to verify the effectiveness of the proposed system and methods.
In this paper an optimal controller for battery management in smart home environments is presented in order to save costs and minimize energy waste. The considered scenario includes a load profile that must always be ...
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To enhance classification performance by making use of easily available unlabelled data to overcome the scarcity of labelled data, this paper proposes an Embedded Co-Adaboost algorithm that integrates multi-view learn...
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