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28th IEEE intelligent Vehicles Symposium, IV 2017

作者： Song, Wenjie Fu, Mengyin Yang, Yi Wang, Meiling Wang, Xinyu Kornhauser, Alain State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China Princeton University United States Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9781509048052

This paper presents a real-Time and robust lane detection and forward collision warning technique based on stereo cameras. First, obstacles image is obtained through stereo matching and UV-disparity segmentation algorithm. Then, Inverse Perspective Mapping(IPM) and Sobel filtering are conducted to generate a low-noise top view of the road by fusing the obstacles image and the original image. Next, Hough Transformation for the top view map is completed and the extreme points(poles) are calculated as the detected lanes according to the traffic lanes model. Besides, the host lane is selected or supplemented among all the detected lanes and the nearest obstacle in this host lane is detected for the forward collision warning. Experimental results on the public data set indicate that our method can work effectively and real-Timely in the normal structured environment. © 2017 IEEE.

关键词： Roads Cameras Image segmentation Robustness Real-time systems Automobiles Alarm systems

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An Adaptive Event-triggered Nonlinear Filtering for Power systems Subject to Hybrid Measurements and Multiple Cyber-Attacks 8

An Adaptive Event-triggered Nonlinear Filtering for Power Sy...

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8th International Conference on control Science and systems Engineering, ICCSSE 2022

作者： Huang, Jinpeng Hu, Jun Li, Jiaxing Cao, Zhipeng Harbin University of Science and Technology Department of Mathematics Harbin150080 China Harbin University of Science and Technology Heilongjiang Prov. Key Lab. of Optimization Control and Intelligent Analysis for Complex Systems Harbin150080 China

ISBN: (纸本)9781665484138

In this paper, an adaptive event-triggered filtering problem is discussed for power systems subject to multiple cyberattacks and hybrid measurements. A model describing the multiple cyber-attacks is constructed, which includes the denial of service attack and replay attack. In order to decrease the data transmission frequency, according to the practical requirements, an adaptive event-triggered strategy is adopted to schedule the node transmission. To be specific, the upper bound of the estimation error covariance is firstly obtained by solving the difference equations and employing the time-stamp method. Next, the desired estimator gain matrix is designed by minimizing the corresponding upper bound. Finally, an illustrative example is used to demonstrate the effectiveness of the proposed estimation algorithm. © 2022 IEEE.

关键词： Denial-of-service attack

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Reinforcement learning control for ship steering using recursive least-squares algorithm

Reinforcement learning control for ship steering using recur...

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作者： Shen, Zhi-Peng Guo, Chen Yuan, Shi-Chun Lab. of Simulation and Control of Navigation Systems Dalian Maritime Univ. Dalian 116026 China State Key Laboratory of Intelligent Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)008045108X

Recursive least-squares temporal difference algorithm (RLS-TD) is deduced, which can use data more efficiently with fast convergence and less computational burden. Reinforcement learning based on recursive least-squares methods is applied to ship steering control, as provides an efficient way for the improvement of ship steering control performance. It removes the defect that the conventional intelligent algorithm learning must be provided with some sample data. The parameters of controller are on-line learned and adjusted. Simulation results show that the ship course can be properly controlled in case of the disturbances of wave, wind, current. It is demonstrated that the proposed algorithm is a promising alternative to conventional autopilots. Copyright © 2005 IFAC.

关键词： Learning algorithms

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Design of a High Speed 360-degree Panoramic Video Acquisition System Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Evolution of Cooperation in Snowdrift Game with Multi-Memory Mechanism 42

Evolution of Cooperation in Snowdrift Game with Multi-Memory...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Yaojun Liu, Xingwen Tashi, Nyima College of Electrical Engineering Southwest Minzu University Lab. of Complex Systems & Intelligent Control Key Lab. of Electronic Information of State Ethnic Affairs Commission Sichuan Chengdu610225 China Engineering Research Center for Tibetan Information Processing School of Information Science and Technology Tibet University Lhasa850000 China

ISBN: (纸本)9789887581543

Cooperative behavior has been of great concern in evolutionary game researches because of its important role in social life and natural evolution. Since memory can greatly influence the emergence of cooperative behavior, memory-based research on evolutionary games has proliferated in recent years. In the present paper, inspired by the well-known 'Stanford marshmallow experiment' (SME), we proposed a multi-memory mechanism in Snowdrift game (SDG) on spatial lattice networks whose core lies in what follows: Players are divided into two groups according to individual self-control;different memory lengths are set by group and by time in a single realization. The simulation results show that our proposed mechanism promotes cooperation level of the considered evolutionary game. More specifically, as memory length increases to an intermediate length, the cooperation level increases as well. For mechanism with short memory length, the effect of population structure is obvious and small values of adjusting factor can intensively facilitate high-frequency cooperative behavior. These findings may be helpful to understand the connection between population heterogeneity and the emergence of high cooperation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Behavioral research

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PSO-based design of PID controller with notch filter for flexible structures 7

PSO-based design of PID controller with notch filter for fle...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Zhang, Xuenan Hong, Juan Song, Zhuoyue State Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education of China China School of Automation Beijing Institute of Technology No.5 South Venue of ZhongGuan Village Beijing100081 China Beijing Institute of Aerospace Control Devices No.52 YongDing Road 100143 China

ISBN: (纸本)9784990534349

This paper addresses the tuning problem of a proportional-integral-derivative(PID) controller with notch filter for flexible space structure model based on the particle swarm optimization (PSO). For flexible structures, once vibration occurs, PID controller often fails to suppress the high amplitude and high order vibration in the system. Notch filter is used to minimize the effect of bending vibration caused by flexible structure but it may decrease of stability margin. In order to minimize the effect of bending vibration and guarantee both stability margin and time response performance at the same time, PSO algorithm is introduced to optimize both the PID controller and notch filter parameters. Simulation results demonstrate the effectiveness of the proposed design strategy. © 2016, Fuji Technology Press. All rights reserved.

关键词： Flexible structures

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A Fast Quantity and Position Detection Method Based on Monocular Vision for a Workpieces Counting and Sorting System

A Fast Quantity and Position Detection Method Based on Monoc...

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第三十八届中国控制会议

作者： Xin Wang Baokui Li Hongbin Ma Man Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

With the rapid development of machine vision, many technologies have been applied to the robots for improving the efficiency in the industrial field. This paper concerns the industrial sorting and counting technology problems in a workpieces counting and sorting system, and puts forward a solution using monocular vision. The main process consists of three parts. The rough positioning is accomplished first by using the pixel intensity comparison-based object detection(PICO). Then, image preprocessing and extracting geometric features are established, composing of binarization, morphological operation, optimizing the foreground,finding inner as well as outer contours, and calculating areas. Finally, the center coordinates and categories of workpieces are obtained. We choose nuts and gears as experimental objects, and complete the fast detection. The results of counting nuts and locating gears illustrate that the proposal solution not only has high speed, but also can ensure a high accuracy.

关键词： Monocular Vision the PICO Detector Workpieces Counting Fast Positioning

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Improving Constraint Handling for Multiobjective Particle Swarm Optimization

Improving Constraint Handling for Multiobjective Particle Sw...

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第三十三届中国控制会议

作者： Erdong Yu Qing Fei Hongbin Ma Qingbo Geng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781479947249

In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.

关键词： multiobjective,constraint handling,particle swarm optimization,adaptive grid,voting mechanism

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An Adaptive Sliding Mode controller with The Exponential and Power Reaching Law for Discrete systems

An Adaptive Sliding Mode Controller with The Exponential and...

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第37届中国控制会议

作者： Xiaofei Zhang Hongbin Ma Zhuang Li Wenchao Zao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

With the development of aeronautics and astronautics, the response speed of servo system need be faster. First, In order to improve the dynamic quality of servo system, the exponential and power reaching law, which combines the advantages of the exponential reaching law and the power reaching law, is introduced. Second, the chattering of the sliding mode controller（SMC） with the exponential and power reaching law for discrete systems is investigated. Finally, the adaptive sliding mode controller（ASMC） with the exponential and power reaching law is introduced. The stability of the ASMC with the exponential and power reaching law for discrete systems is analyzed, and the simulation of this approach on one joint of a six degrees of freedom robot is carried out. The experimental results indicate that the ASMC with the exponential and power reaching law is effective in reducing the time of arriving the sliding mode surface. The experimental results also indicate that the ASMC with the exponential and power reaching law may make output error reach zero in a shorter time.

关键词： adaptive sliding mode controller reaching law

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Multimodal Multilevel Attention for Semi-Supervised Skeleton-Based Gesture Recognition

SSRN

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SSRN 2024年

作者： Liu, Jinting Gan, Ming-Gang He, Yuxuan Guo, Jia Hu, Kang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

Although skeleton-based gesture recognition based on supervised learning has made promising achievements, the reliance on large amounts of annotation for training poses a significant cost. This paper addresses semi-supervised gesture recognition, aiming to learn feature representations effectively from unlab.led data. To resolve this problem, we propose a novel multimodal multilevel attention network to achieve semi-supervised learning. This model uses an attention mechanism to polymerize multimodal and multilevel complementary semantic information of the hand skeleton, designing a multimodal multilevel contrastive loss to measure the similarity of features for semi-supervised learning. Specifically, our method explores the relationships between joint, bone, and motion to learn more discriminative feature representations. Considering the hierarchy of the hand skeleton, the skeleton data is divided into multilevel (i.e., hand-level, finger-level, and joint-level) to capture complementary semantic information. Furthermore, a multimodal contrastive loss measure similarity among multilevel representations. The proposed method outperforms the semi-supervised skeleton-based gesture recognition tasks, according to extensive experimentation on two challenging datasets from SHREC-17 and DHG 14/28 datasets. © 2024, The Authors. All rights reserved.

关键词： Gesture recognition

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