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IEEE Conference on Computer Vision and Pattern Recognition

作者： Han Hu Zhouchen Lin Jianjiang Feng Jie Zhou State Key Laboratory on Intelligent Technology and Systems TNList Department of Automation Tsinghua University Key Lab. of Machine Perception School of EECS Peking University

ISBN: (纸本)9781479951192

Subspace clustering is a powerful technology for clustering data according to the underlying subspaces. Representation based methods are the most popular subspace clustering approach in recent years. In this paper, we analyze the grouping effect of representation based methods in depth. In particular, we introduce the enforced grouping effect conditions, which greatly facilitate the analysis of grouping effect. We further find that grouping effect is important for subspace clustering, which should be explicitly enforced in the data self-representation model, rather than implicitly implied by the model as in some prior work. Based on our analysis, we propose the SMooth Representation (SMR) model. We also propose a new affinity measure based on the grouping effect, which proves to be much more effective than the commonly used one. As a result, our SMR significantly outperforms the state-of-the-art ones on benchmark datasets.

关键词： Mathematical model Equations Face Vectors Clustering algorithms Green products Computer vision

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Path Planning and Decision Making for Autonomous Vehicle in Urban Environment

Path Planning and Decision Making for Autonomous Vehicle in ...

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International Conference on intelligent Transportation

作者： Mengyin Fu Wenjie Song Yang Yi Meiling Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China State Key Lab. of Intell. Control & Decision of Complex Syst. Beijing Instn. of Technol. China

ISBN: (纸本)9781467365970

In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle - IN 2 BOT, which has taken part in "Chinese intelligent Vehicle Challenge" for many times, this method is proved more effective than our previous method after experiments under various conditions.

关键词： Path planning Roads Vehicles Decision making Planning Mobile robots Image edge detection

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A Multi-homed VPN Architecture Based on Extended SOCKS+TLS Protocols

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Journal of Shanghai Jiaotong university(Science) 2005年第3期10卷 250-255页

作者：张宝良胡汉平陈翔 State Education Ministry Key Lab. of Image Information & Intelligent Control In st. of Pattern Recognition & Artificial Intelligence Huazhong Univ. of Science & Technology Wuhan 430074 China

A multi-homed VPN architecture based on extended SOCKSv5 and TLS was proposed. The architecture employs a dynamic connection mechanism for multiple proxies in the end system,i n which the security-demanded transmission connections can switch smoothly among the multiple proxies by maint aining a coherent connection *** mechanism is transparent to application programs and can support th e building of *** the cooperation of some other security components,the mechanism guarantees the reso urce availab.lity and reliability of the end system against some attacks to the specific ports or hosts.

关键词： multi-homed SOCKSv5 security connection context virtual private network （VPN）

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Analysis of foundation grounding system buried in a horizontal multilayer soil by means of the fictitious conductivity concept

Analysis of foundation grounding system buried in a horizont...

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作者： Zou, J. Lee, J.B. Chang, S.H. Zhang, B. He, J.L. Ji, Y.F. State Key Lab. of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua University Beijing 100084 China Electrical Environment and Transmission Group Korea Electrotechnology Research Institute Changwon 641600 Korea Republic of

The theoretical model for the analysis of grounding system encased in the foundation region in a horizontal multilayer soil is presented. By means of fictitious conductivity concept, the effects of foundation are replaced by a set of equivalent current sources. The analysis of grounding system can be carried out by combining the moment method with additional equivalent current sources. The main advantage of the proposed approach is that it can be linked with the existing codes easily. The results are compared with those found in the literature and obtained by other popular software. © 2007 IEEE.

关键词： Electric grounding

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REINFORCEMENT LEARNING control FOR SHIP STEERING USING RECURSIVE LEAST-SQUARES ALGORITHM

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IFAC Proceedings Volumes 2005年第1期38卷 133-138页

作者： Zhi-peng Shen Chen Guo Shi-chun Yuan 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

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.

关键词： Recursive squares methods Learning algorithm Action network Ship control Simulation

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Design of real-time database for industry control system based on cloud theory

Design of real-time database for industry control system bas...

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International Conference on control and Automation (ICCA)

作者： Li De-wen Huang Wen-jun Li Long State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China State Key Lab. of Ind. Control Technol. Zhejiang Univ. Hangzhou China

The design of a distributed real-time database based on cloud theory is proposed. A distributed indexing mechanism is researched to achieve more efficient management of industrial data. A real-time transaction scheduling algorithm in distributed environment is designed to improve transaction processing efficiency. A network dynamic routing and business related load balancing mechanism is researched to deal with modification of system scale and make full use of system resources. These technologies are utilized to implement distributed real-time database for large-scale process industry. Experimental results show that the cloud-based database has better performance and significantly improves data throughput, fault tolerance and scalab.lity.

关键词： Real-time systems Distributed databases Routing Servers Load management Indexing

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Measurement System of Ferromagnetic Film Magnetic Properties Based on Mazneto-optical Kerr Effect

Measurement System of Ferromagnetic Film Magnetic Properties...

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Chinese control Conference (CCC)

作者： Xueying Fu Wenqin Mo Shun Yuan Liming Xu Junlei Song Kaifeng Dong Fang Jin Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Hubei key Lab. of Adv. Control & Intell. Autom. for Complex Syst. Wuhan China

A new measuring system for magnetic properties of the ferromagnetic thin film has developed based on magneto-optical Kerr effect (MOKE). This system can realize both polar MOKE and longitudinal MOKE measurements through the optimization of optical path and electromagnet's poles. The signal processing software on lab.View has been also designed to acquire the Kerr signal and plot the hysteresis loop. The MOKE measurements have been performed to investigate the magnetic properties of ferromagnetic films such as CoFeSiB, permalloy and NiFe/Ag/NiFe multilayer. The experimental results proved that the system has a high angular accuracy of 0.0008°.

关键词： Magnetic field measurement Magnetic fields Kerr effect Magnetic hysteresis Optical variables measurement Optical films Biomedical measurement

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Output error method for identification of multiple-model process with transition

Output error method for identification of multiple-model pro...

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作者： Zhao, Yu Huang, Biao Su, Hongye Chu, Jian State Key Lab. of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou 310027 China University of Alberta Canada Department of Chemical and Materials Engineering University of Alberta Edmonton AB T6G 2G6 Canada

This paper is concerned with the identification of multiple model process with transition using the output error (OE) method. Local multiple linear models with output error model structure are identified at fixed operating points first and then a global nonlinear model is approximated by interpolating the multiple linear models with exponential weighting functions. With all the obtained initial values of the system's parameters, nonlinear optimization strategy is implemented to find the optimal values of the parameters for both the local multiple models and their corresponding weighting functions. Finally a more accurate global model can be obtained. The effectiveness of the proposed approach is demonstrated through simulation examples. © 2011 Zhejiang University.

关键词： Errors

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Design and dynamic analysis for Amoeba-like robot's turning-mechanism applied with spring and damp system

Design and dynamic analysis for Amoeba-like robot's turning-...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Xiang Dong HengHui Sun Zeng Fu Wang Long Cheng Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui CN The State Key Lab. of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing Beijing CN

ISBN: (纸本)9781509033652

A new turning-mechanism for Amoeba-like Robot was proposed in this paper, which based on the amoeba-like robot kinematics characteristics of tail contracting and skin flipping. First, one kind of variable-speed node composed of the spring and damp was designed. Because of the existing of the variable-speed nodes, the velocities of the two strip-skins depended not only on the velocities of threads that gone through the variable-speed nodes, but also on the spring and damp it contained. So, although the velocities of threads that induced the velocities of the strip-skins were the same, the velocities of the strip-skins still can be different since the variable-speed nodes existed. That difference in velocities made the turning movement possible. Second, the dynamic model for the turning movement of the Amoeba-like Robot was established and analyzed. The analysis results included the angular velocity and angle curve related to time, which were computed with the dynamic model when shortening speed of thread's length was constant. The results achieved in this paper provided an important basic for the research on the behaviors and control strategy of amoeba-like robot. The new turning-mechanism can be popularized to the tracked mobile robot, for it provided a new and availab.e turning method.

关键词： Conferences Robots Mechatronics

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Adaptive and impulsive cluster synchronization of a general complex dynamical network

Adaptive and impulsive cluster synchronization of a general ...

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2010 International Conference on Networking, Sensing and control, ICNSC 2010

作者： Shi, Bingxiong Lu, Junan Lü, Jinhu Yu, Xinghuo College of Mathematics and Statistics State Key Lab. of Software Engineering Wuhan University Wuhan 430072 China Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing 100190 China School of Electrical and Computer Engineering RMIT University Melbourne 3000 Australia School of Electrical and Computer Engineering RMIT University Melbourne VIC 3001 Australia

ISBN: (纸本)9781424464531

Recently, cluster synchronization has attracted an increasing interest in various disciplines, includingmathematics, physics, and engineering sciences. This paper further investigates the cluster synchronization of a complex dynamical network by using adaptive and impulsive control techniques, respectively. Based on a complex dynamical network with two different clusters, several adaptive and impulsive cluster synchronization criteria are then proposed. It should be especially pointed out that the dynamics and its dimensions of the individual dynamical systems are different in the two different clusters. Also, some numerical simulations are given to verify the effectiveness of the above theoretical results. ©2010 IEEE.

关键词： Dynamical systems

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