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第35届中国控制会议

作者： Tang Chao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.

关键词： Ad Hoc high-relative velocity motion model link lifetime

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Teleoperation of humanoid motion using 3G communication network

Teleoperation of humanoid motion using 3G communication netw...

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IEEE International Conference on Robotics and Biomimetics

作者： Qian Xu Qiang Huang Xuechao Chen Awais Yasin Zhangguo Yu Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467321259

A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.

关键词： Small Humanoid Teleoperation 3G Network Walking Planning remote operation 3G communication walking Humanoid control period Humanoid robots

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Motion-based Lidar-camera Calibration via Cross-modality Structure Consistency

TechRxiv

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TechRxiv 2023年

作者： Ou, Ni Cai, Hanyu Wang, Junzheng The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Lidar and cameras serve as essential sensors for automated vehicles and intelligent robots, and they are frequently fused in complicated tasks. Precise extrinsic calibration is the prerequisite of Lidar-camera fusion. Hand-eye calibration is almost the most commonly used targetless calibration approach. This paper presents a particular degeneration problem of hand-eye calibration when sensor motions lack rotation. This context is common for ground vehicles, especially those traveling on urban roads, leading to a significant deterioration in translational calibration performance. To address this problem, we propose a novel motion-based Lidar-camera calibration framework based on cross-modality structure consistency. It is globally convergent within the specified search range and can achieve satisfactory translation calibration accuracy in degenerate scenarios. To verify the effectiveness of our framework, we compare its performance to one motion-based method and two appearance-based methods using six Lidar-camera data sequences from the KITTI dataset. Additionally, an ablation study is conducted to demonstrate the effectiveness of each module within our framework. © 2023, CC BY.

关键词： Cameras

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Task allocation of multiple UAVs and targets using improved genetic algorithm

Task allocation of multiple UAVs and targets using improved ...

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International Conference on intelligent control and Information Processing (ICICIP)

作者： Yong Zuo Zhihong Peng Xin Liu Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education school of Automation Beijing Institute of Technology China

In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model, which just take the values of targets, UAVs and weapons into account, the fuel consumption is added into consideration to make the model much more practical. An improved genetic algorithm is proposed for such a multi-UAVs multi-targets task allocation. Simulation results show that the algorithm is significantly effective and the allocation result is reasonable.

关键词： Indexes Zinc Genetics Navigation Weapons

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Analytic Hierarchy Process（AHP） in Portfolio Selection Based on Information Granularity

Analytic Hierarchy Process（AHP） in Portfolio Selection Bas...

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第32届中国控制与决策会议

作者： Kaixin Zhao Yaping Dai Ye Ji Jiayi Sun School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Analytic Hierarchy Process（AHP） is a multi criteria decision-making method,which can describe and transform the qualitative problems quantitatively,and then get the quantitative analysis results in accordance with the causal relationship between decision *** this paper,a granular Analytic Hierarchy Process,which introduces the granularity mechanism,is proposed to solve the portfolio selection problem under the mean-risk *** the proposed method,the scale value of scheme layer is no longer limited to nine positive integers from 1 to 9,which gives granularity attributes to the comparison of advantages and disadvantages in a specific criterion layer between different *** proposed method reflects small differences between different alternative schemes through granularity attribute,so it can provide rich decision information for decision *** numeric examples from the real-world financial market（China Shanghai Stock Exchange） are provided to illustrate an essence of the proposed method.

关键词： Analytic Hierarchy Process（AHP） Portfolio Selection Information Granularity decision-making

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Dynamic Resource Scheduling Based on Improved Genetic Algorithm

Dynamic Resource Scheduling Based on Improved Genetic Algori...

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第40届中国控制会议

作者： Gui Yuanyuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at the problem of how to realize the reasonable distribution of goods and the resource scheduling of route planning under dynamic conditions, a phased refresh method is proposed to deal with the requirements in sections. At the same time, the clustering method is introduced to generate the initial population. And the cross and mutation rate is determined by a step-by-step reduction method, which is used to solve the problem of the traditional genetic algorithm falling into the local optimum caused by the uneven distribution of searchable solutions. Finally, the effectiveness of the improved method is verified by simulation experiments.

关键词： resource scheduling phased refresh improved genetic algorithm

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Targetless Extrinsic Calibration of Camera and Low-resolution 3D LiDAR

TechRxiv

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TechRxiv 2023年

作者： Ou, Ni Cai, Hanyu Yang, Jiawen Wang, Junzheng The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

Autonomous driving heavily relies on LiDAR and camera sensors, which can significantly improve the performance of perception and navigation tasks when fused together. The success of this cross-modality fusion hinges on accurate extrinsic calibration. In recent years, targetless LiDAR-camera calibration methods have gained increasing attention thanks to their independence from external targets. Nevertheless, developing a targetless method for low-resolution LiDARs remains challenging due to the difficulty in extracting reliable features from point clouds with limited LiDAR beams. In this paper, we propose a robust targetless method to solve this struggling problem. It can automatically estimate accurate LiDAR and camera poses and solve the extrinsic matrix through hand-eye calibration. Moreover, we also carefully analyze pose estimation issues existing in the low-resolution LiDAR and present our solution. Real-world experiments are carried out on a UGV-mounted multi-sensor platform containing a CCD camera and a VLP-16 LiDAR. For evaluation, we use a state-of-the-art target-based calibration approach to generate the ground-truth extrinsic parameters. Experimental results demonstrate that our method achieves low calibration error in both translation (3 cm) and rotation (0.59 ◦) [Figure presented]. © 2023, CC BY.

关键词： CCD cameras

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An Improved Part-based Compressive Tracking Method

An Improved Part-based Compressive Tracking Method

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第35届中国控制会议

作者： Qiwen Hou Wenjie Chen HuiLin Gao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our part-based method,the occluded image patches which are selected by K-means are not able to participate in determining the location of the target in order to increase tracking *** solve the problem of scale variation,an algorithm is proposed to estimate the size of target with the information of the whole *** addition,we also use the positions of every part to help us to get a precise size of the *** the combination of two methods,the scale of the target is *** compared with five state-of-the-arts have been done to prove the effectiveness and robustness of our method.

关键词： compressive sensing part-based tracking occlusion handling scale estimation

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Electric dual variable pump controlled hydraulic motor

Electric dual variable pump controlled hydraulic motor

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第42届中国控制会议

作者： Jianmin Yang Junzheng Wang Shanshuai Niu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast ***,due to the inherent nonlinearity of multiplication,it brings certain difficulties to the *** electric double-variable pump[1] is a dual-input single-output system,and it is a nonlinear system[2].It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the *** this paper,an intelligent control rule is proposed for the nonlinear problem of double input and single *** backstepping design[3],the nonlinear system is transformed into multiple linear *** the original system is turned into two independent subsystems with single input and single output,which are controlled *** co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the *** results show that the response speed of the system has been greatly improved.

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DBFCM: a Density-Based Fuzzy C-Means with Self-Regulated Fuzzy Clustering Parameters

DBFCM: a Density-Based Fuzzy C-Means with Self-Regulated Fuz...

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第三十九届中国控制会议

作者： Jiayi Sun Yaping Dai Kaixin Zhao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

As an interdisciplinary of fuzzy theory and clustering, Fuzzy C-Means（FCM） is widely applied for identifying categories with unlabeled data. However, its application to data which is hard to visualize rises the difficulty for users to determine the input parameters, especially for the number of clusters. In this paper, a kind of fuzzy clustering algorithm with self-regulated parameters named Density-Based Fuzzy C-Means（DBFCM） is proposed by integrating the idea of Density-Based Spatial Clustering of Application with Noise（DBSCAN） into FCM. Its advantage is using the inherit density characteristic of input data to self-determine the parameters of fuzzy clustering. The experimental results demonstrate that the proposed DBFCM can not only self-determine the proper parameters, but also accelerate the convergence process compared to the original FCM.

关键词： Machine Learning Fuzzy Clustering Fuzzy C-Means Parameter Self-Regulation

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