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第35届中国控制会议

作者： XING Zirui XIA Yuqing Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

This paper presents the problem of optimal distributed weighted Kalman filter fusion for a class of multi-sensor unreliable networked systems with uncorrelated *** distributed multi-sensor data fusion system suffers measurements delay or loss due to unreliability of networked systems with uncorrelated *** the addressed model,an optimal local Kalman filter with a finite buffer is derived for each subsystem,which can also be used as a centralized optimal Kalman filter fusion *** on the new optimal local Kalman filter,multi-sensor optimal distributed weighted Kalman filter fusion with finite buffers has been ***,compared with the centralized optimal Kalman filter fusion algorithm,the proposed distributed weighted Kalman filter fusion algorithm developed in this paper has stronger fault-tolerance *** results are provided to illustrate the effectiveness of the proposed approaches.

关键词： Multi-sensor unreliable networked systems Distributed weighted Kalman filter fusion Network delay Buffers

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The Forecasting Research on the Model of the Hysteresis Brake based on Elman Multi-Hidden Layers Neural Network Algorithm with the Speed and Directional Factor 35

The Forecasting Research on the Model of the Hysteresis Brak...

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第35届中国控制会议

作者： ZHANG Bo SHEN Wei WANG Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509009107

Hysteresis brake,which provides for step-less torque and high speed,is a stable and reliable device used for loading,but with some problems,such as the large time-lag,strong nonlinearity,and difficulty in modeling et *** to the above-mentioned issues,the special working conditions of hysteresis brake developed by our project team and the advantage of the dynamical performance of the Elman Multi-Hidden Layers Neural Network,this paper employs modified neural network algorithm with Elman dynamic recursive structure to accomplish the model of hysteresis brake,and guarantees the accuracy of output loaded *** this algorithm,we introduce the speed,the given and desired torque,and a directivity factor respectively as a disturbance variable and two input vectors of the system,and then train the model and *** numerical results validate the effectiveness of the algorithm proposed.

关键词： Hysteresis brake strong nonlinearity neural network algorithm with Elman dynamic recursive structure

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M4CD: A robust change detection method for intelligent visual surveillance

arXiv

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arXiv 2018年

作者： Wang, Kunfeng Gou, Chao Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Innovation Center for Parallel Vision Qingdao Academy of Intelligent Industries Qingdao266000 China Research Center for Computational Experiments Parallel Systems Technology National University of Defense Technology Changsha410073 China

In this paper, we propose a robust change detection method for intelligent visual surveillance. This method, named M4CD, includes three major steps. Firstly, a sample-based background model that integrates color and texture cues is built and updated over time. Secondly, multiple heterogeneous features (including brightness variation, chromaticity variation, and texture variation) are extracted by comparing the input frame with the background model, and a multi-source learning strategy is designed to online estimate the probability distributions for both foreground and background. The three features are approximately conditionally independent, making multi-source learning feasible. Pixel-wise foreground posteriors are then estimated with Bayes rule. Finally, the Markov random field (MRF) optimization and heuristic post-processing techniques are used sequentially to improve accuracy. In particular, a two-layer MRF model is constructed to represent pixel-based and superpixel-based contextual constraints compactly. Experimental results on the CDnet dataset indicate that M4CD is robust under complex environments and ranks among the top methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Pixels

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Pursuit-evasion Games of Multi-players with a Single Faster Player 35

Pursuit-evasion Games of Multi-players with a Single Faster ...

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第35届中国控制会议

作者： WANG Duo PENG Zhihong School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theory of differential games, which helps simplify computation complexity and meet an ideal result. We discuss the situation of one faster pursuer and one evader under some basic assumptions in which the amount of evaders increases by steps in the full visibility case. We apply the task allocation method to simulate the optimal motion track in both fixed sequence capture mode and free sequence capture mode of the pursuer. The optimal motion strategies acquired by differential games theory respond faster than those acquired in traditional ways. We prove all the chase process discussed with differential games by MATLAB simulation.

关键词： differential games pursuit-evasion game optimal strategy capture sequence

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New advances in complex motion control for single robot systems and multi-agent systems

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Science China(Technological Sciences) 2016年第12期59卷 1963-1964页

作者： FANG Hao LU Shao Lei CHEN Jie School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081China

CHEN Jie,email：chenjie@***

关键词： robot advances email cooperation simplified decomposed scenarios classic climbing obstacles

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A Real-time Hand Postures Estimation Method

A Real-time Hand Postures Estimation Method

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Sunjie Chen Hongbin Ma Cong Han School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781538604915

Hand postures can be used to achieve friendly human-machine interaction (HMI) for the advantages of simple expressions, informative instructions and unconstrained operations. However, most previous postures estimation methods have problems such as poor real time performance, low estimation accuracy, being sensitive to the varying illumination and relying on marks on hands or special assistant devices. In this paper, we will introduce an efficient real-time method to estimate hand postures with an ordinary monocular camera. This method contains two stages, which are hand segmentation and postures recognition. Rather segment objects from the whole image, we locate the hand within a local area first and then adapt motion, color and contour informations to segment the hand region accurately. After that, template matching algorithm is used to recognize hand postures with fingertips and shape features. The experimental results demonstrated that the introduced method realizes high estimation accuracy and fast processing speed. Furthermore, the method is robust to varying illumination conditions.

关键词： Microsoft Windows Image segmentation Image color analysis Estimation Motion segmentation Support vector machines Lighting Motion segmentation image colour analysis Microsoft Windows(software) Lighting Hand body position Support Vector Network image segmentation Subdivision of hand

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A new framework of science and technology innovation education for k-12 in Qingdao, China

A new framework of science and technology innovation educati...

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2017 ASEE International Forum

作者： Liu, Xiwei Gong, Xiaoyan Wang, Fei-Yue Sun, Rui Gao, Yanqing Zhang, Yu Zhou, Jiehan Deng, Xiaofei State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Intelligent Education Institution Qingdao Academy of Intelligent Industries China Qingdao Experimental High School China Oregon Institute of Technology United States University of Oulu Finland

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A survey on the security of cyber-physical systems

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control Theory and Technology 2016年第1期14卷 2-10页

作者： Guangyu WU Jian SUN Jie CHEN School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Cyber-physical systems （CPSs） are integrations of computation, communication, control and physical processes. Typical examples where CPSs are deployed include smart grids, civil infrastructure, medical devices and manufacturing. Security is one of the most important issues that should be investigated in CPSs and hence has received much attention in recent years. This paper surveys recent results in this area and mainly focusses on three important categories： attack detection, attack design and secure estimation and control. We also discuss several future research directions including risk assessment, modeling of attacks and attacks design, counter-attack strategy and testbed and validation.

关键词： Security cyber-physical systems attack detection secure estimation and control

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General formation control for multi-agent systems with double-integrator dynamics

arXiv

引用

arXiv 2018年

作者： Wang, Chen Xia, Weiguo Sun, Jinan Fan, Ruifeng Xie, Guangming State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China National Engineering Research Center for Software Engineering Peking University Beijing100871 China

We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations that the distances between neighboring agents or the distances from each agent to the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors. A distributed control law is designed using the limit-cycle based idea to solve the problem. One merit of the controller is that it can be implemented by each agent in its Frenet-Serret frame so that only local information is utilized without knowing global information. Theoretical analysis is provided of the equilibrium of the N-agent system and of the convergence of its converging part. Numerical simulations are given to show the effectiveness and performance of the proposed controller. Copyright © 2018, The Authors. All rights reserved.

关键词： Mobile agents

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