检索结果-内蒙古大学图书馆

IEEE International Conference on Automation Science and Engineering

作者： Xuan Xiao Chao Shi Yi Yang Yuan Liang Xiang Guo School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

In this paper, an adaptive modified federal Kalman filter is applied to the autonomous navigation with multi-sensors in condition that Unmanned Aerial Vehicle (UAV) is dynamically tracking Unmanned Ground Vehicle (UGV). To satisfy the autonomous navigation demands such as good accuracy, real time and high reliability for UAV, a new integrated navigation mode, in which Inertial Navigation system (INS) is aided by Global Position system (GPS)/Visual Positioning system (VPS), is proposed. Subsequently, a novel method is introduced which determined the information-sharing factors dynamically based on Singular Value Decomposition (SVD), and it not only solves the blindness of the information distribution factor of the conventional federated filter but also reduces the amount of calculation. According to the analysis of the theory about Support Vector Machine (SVM), an optimal objective kernel function is designed to select the effective source of information, thus it isolates the fault sensor. Simulation results show that the proposed integrated navigation system can provide abundant navigation information with sub-level navigation accuracy and good fault-tolerant performance. UAV can obtain reliable navigation information by this modified federal Kalman filter algorithm even when GPS or VPS is continuously interrupted for a period.

关键词： UGV UAV provide abundant

来源：评论

学校读者我要写书评

暂无评论

A Real-time Hand Postures Estimation Method

A Real-time Hand Postures Estimation Method

引用

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

来源：评论

学校读者我要写书评

暂无评论

Analysis of security in cyber-physical systems

引用

Science China. Technological Sciences 2017年第12期60卷 1975-1977页

作者： Chen Jie Zhang Fan Sun Jian School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

In recent years, cyber-physical systems (CPSs) have received much attention from both the academic world and the industrial world, which refer to a deep integration and coordination of physical and computational resources [1,2]. Typical examples of CPSs can be found in smart grids, smart transportation systems, industrial control systems, water supply systems, and so on. Furthermore, many military systems are also CPSs. The key characteristic of CPSs is the integration of computing, control and communication. The increased interconnection between the cyber and physical spaces make CPSs vulnerable to various malicious attacks. A well-known example of an attack of CPSs is the Stuxnet which infected the control system of nuclear-fuel centrifuges of Bushehr nuclear power plant in Iran. Stuxnet makes people beware of the grave consequences of a cyber-attack on a CPS. Since many national critical infrastructures are applications of CPS, ensuring security and safety of such systems is of great importance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Adaptive optimal control for a class of uncertain systems with saturating actuators and external disturbance using integral reinforcement learning

Adaptive optimal control for a class of uncertain systems wi...

引用

Asian control Conference

作者： Jingang Zhao Minggang Gan Jie Chen Dongyang Hou Meng Zhang Yongqiang Bai State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing

ISBN: (纸本)9781509015740;9781509015733

The problem of adaptive optimal control for a class of nonlinear uncertain systems with saturating actuators and external disturbance is investigated in this paper. Considering the saturating actuators, a non-quadratic cost function is adopted. The key of this optimal control problem is to find the solution to the Hamilton Jacobi Bellman equation (HJB). An online intergral reinforcement learning (IRL) algorithm based-Neural Network (NN) is given to approximate the solution. Unlike traditional integral reinforcement learning algorithms, data onto a period of time stored together with current data are used to update the neural network weights in place of persistence of excitation (PE) condition. This method overcomes the shortcomings of the PE condition which is not easy to be checked online. Finally, numerical examples are given to show the effectiveness of the proposed methods.

关键词： Optimal control Actuators Nonlinear systems Approximation algorithms Artificial neural networks system dynamics

来源：评论

学校读者我要写书评

暂无评论

Joint space compliance control for a hydraulic quadruped robot based on force feedback

引用

Journal of Beijing Institute of Technology 2016年第3期25卷 337-345页

作者： WANG Jun-zheng KE Xian-feng WANG Shou-kun HE Yu-dong Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing 100081 China

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured *** the same time,kinematic tracking accuracy should be guaranteed during *** meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing *** operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot *** for each joint actuator,high performance force control is of great importance for compliance ***,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force ***,an outer position loop（compliance loop）is closed for each *** are carried out to verify the force controller and compliance of the hydraulic *** robot leg compliance is assessed by a virtual prototyping simulation.

关键词： hydraulic quadruped robot impact stiffness joint space compliance control nonlinear controller

来源：评论

学校读者我要写书评

暂无评论

Covert Attacks against Output Tracking control of Cyber-Physical systems

Covert Attacks against Output Tracking Control of Cyber-Phys...

引用

Annual Conference of the IEEE Industrial Electronics Society

作者： Fangyuan Hou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

This paper is concerned with the problem of designing successful covert attacks against output tracking control of cyber-physical systems from the covert agent's angle. Based on the perfect model knowledge and no model knowledge, the covert agent designs two kinds of covert attacks which can compromise the output tracking control system without being detected. Two sufficient conditions under which the covert agent can successfully compromise the output tracking control system are proposed. The designed covert attacks are illustrated through two numerical examples.

关键词： control systems Numerical models Kalman filters system dynamics state estimation Cyber-physical systems system performance

来源：评论

学校读者我要写书评

暂无评论

Dynamic Output Feedback control of Networked control systems with Aperiodic Sampling and Time-Varying Delays

Dynamic Output Feedback Control of Networked Control Systems...

引用

Asian control Conference

作者： Su Meng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P.R. China

ISBN: (纸本)9781509015740;9781509015733

This paper investigates the stability and stabilization issues for networked control systems with both aperiodic sampling and time-varying transmission delays in a general case. The delays vary within a given interval which could be larger than the sampling interval. By applying model transformation methods of aperiodic sampling and time-varying delays as well as the lifting method, the discretized closed-loop system with time-varying delays is converted to a discrete-time system with time-varying delays and norm-bounded uncertainties coming from aperiodic sampling, and is then modeled as an interconnected system of which the forward channel is delay-free. An asymptotic stability condition for the closed-loop system is derived, and a dynamic output feedback controller design method is also proposed. A numerical example is finally provided to illustrate the effectiveness of the proposed method.

关键词： Delays Time-varying systems Closed loop systems Output feedback Stability analysis Asymptotic stability Uncertainty

来源：评论

学校读者我要写书评

暂无评论

Token economics in energy systems: Concept, functionality and applications

arXiv

引用

arXiv 2018年

作者： Zhang, Jun Wang, Fei-Yue Chen, Si-Yuan School of Electrical Engineering Wuhan University Wuhan430072 China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing100190 China Parallel Economic Research Institute Profile of Qingdao Academy of Intelligent Industries Qingdao266071

Traditional centralized energy systems have the disadvantages of difficult management and insufficient incentives. Blockchain is an emerging technology, which can be utilized in energy systems to enhance their management and control. Integrating token economy and blockchain technology, token economic systems in energy possess the characteristics of strong incentives and low cost, facilitating integrating renewable energy and demand side management, and providing guarantees for improving energy efficiency and reducing emission. This article describes the concept and functionality of token economics, and then analyzes the feasibility of applying token economics in the energy systems, and finally discuss the applications of token economics with an example in integrated energy systems. Copyright © 2018, The Authors. All rights reserved.

关键词： Emission control

来源：评论

学校读者我要写书评

暂无评论

Improving Auction Mechanisms for Online Real-Time Bidding Advertising with a Two-stage Resale Model

引用

IFAC-PapersOnLine 2017年第1期50卷 13575-13580页

作者： Qin, Rui Yuan, Yong Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China Research Center of Military Computational Experiments and Parallel System National University of Defense Technology Changsha China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China

Real Time Bidding (RTB), widely publicized as one of the most promising big-data-driven business models for online computational advertising, has the potential of effectively monetizing user clicks and impressions via two-stage auctions with resale. Demand side platforms (DSPs) play a key role as intermediators in this auction process. Typically, the first-stage auctions will be conducted separately in each DSP to determine one winning advertiser registered on it, and in the second-stage auction, each DSP submits a bid based on its winning advertiser's bid to the ad exchange platform (AdX). The highest-bid DSP wins the ad impression from AdX and resells it to its winning advertiser in pursuit of the intermediate fee. This two-stage resale auction is a critical component in maintaining the effectiveness and efficiency of RTB ecosystems. In this paper, we strive to identify and design potential improvements for this auction mechanism with the aim of enhancing the total revenue of both advertisers and DSPs. We also validated our proposed auction mechanisms using the computational experiment approach. The experimental results indicate that our proposed mechanisms can make both advertisers and DSPs better off. Our work represents the first step towards a new research area of optimal mechanism design for RTB auctions, and is expected to provide useful managerial insights in RTB market practice. © 2017

关键词： Sales Commerce Machine design Auction mechanisms Computational advertisings Computational experiment Critical component Demand side Effectiveness and efficiencies Optimal mechanism designs Real time

来源：评论

学校读者我要写书评

暂无评论

Real-Time lane detection and forward collision warning system based on stereo vision 28

Real-Time lane detection and forward collision warning syste...

引用

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

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：