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IEEE International Conference on Information and Automation

作者： Meiling Wang Xin Zheng Tong Liu Tonglei Wang Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Institute of Automatic Control Equipment Beijing China

ISBN: (纸本)9781509041039

This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this new structure of GFINS, a new mathematical model is developed to determine the general three-dimensional motion of body segments. The mathematical model is mainly based on the direction cosine matrix. A second-order differential equation which is represented by angular acceleration should be calculated to solve this problem using the fourth order Runge-Kutta method combining with the interpolation method. Furthermore, the final result of this approach is shown by applying the mathematical model to some simulation data generated by the trajectory generator. The simulation results indicate that the mathematical model has a good performance.

关键词： angular accelerometer attitude updating direction cosine matrix GFINS

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Solving the uncertain multi-objective multi-stage weapon target assignment problem via MOEA/D-AWA

Solving the uncertain multi-objective multi-stage weapon tar...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin Lihua Dou Zhihong Peng School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R.China

ISBN: (纸本)9781509006243

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is with uncertainties, namely the uncertain MWTA (UMWTA) problem, and is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the assumption that each element of the kill probability matrix follows four different probability distributions. In order to tackle the two challenges, i.e., multi-objective and the uncertainty, the multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment (MOEA/D-AWA) and the Max-Min robust operator are adopted to solve the problem efficiently. Then comparison studies between the MOEA/D-AWA and a single objective solver used for a relaxed formulation on solving both certain and uncertain instances of two different scaled MWTA problems which include four uncertain scenarios are conducted. Numerical results show that MOEA/D-AWA outperforms the single objective solver on solving both certain and uncertain multi-objective MWTA problems discussed in this paper. Comparisons between the results of the certain and uncertain formulation also indicate the necessity of the robust formulation of practical problems.

关键词： Weapons Uncertainty Discrete wavelet transforms Optimization Robustness decision making Evolutionary computation

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Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

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Journal of Beijing Institute of Technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

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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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Autonomous landing of a quadrotor on an UGV

Autonomous landing of a quadrotor on an UGV

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IEEE International Conference on Mechatronics and Automation

作者： Mengyin Fu Kuan Zhang Yang Yi Chao Shi Nanjing University of Science and Technology Nanjing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509023974

This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based navigation method are proposed, and the former method acquires the visual feedback from the camera attached to the quadrotor, while the latter strategy is used when the visual feedback is absent. For achieving more precise and stable performance in visually guided landing process, we design a specific landing marker that can provide different features as the distance between the quadrotor and landing target changes. Meanwhile, the corresponding detection and recognition algorithms are raised. Finally, a simulation experiment is carried out to validate the proposed vision algorithms and control strategies.

关键词： Visualization Cameras Unmanned aerial vehicles Mathematical model Land vehicles Navigation Servosystems

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Consensus for networked multi-agent systems with unknown communication delays

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Journal of the Franklin Institute 2016年第16期353卷 4176-4190页

作者： Xiaoyu Liu Lihua Dou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China School of Automation Beijing Institute of Technology 100081 P.R. China

The problem of consensus for linear discrete-time networked multi-agent systems with directed topologies and communication delays is investigated in this paper. The communication delays are assumed to be constant but unknown. A consensus protocol is designed to compensate for the unknown delays based on the networked predictive control scheme. A sufficient condition for the consensus of multi-agent systems is derived. Finally, a numerical example is given to illustrate that the consensus protocol proposed in this paper is effective.

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Interval Kalman Filter Based RFID Indoor Positioning

Interval Kalman Filter Based RFID Indoor Positioning

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第28届中国控制与决策会议

作者： Ning Li Hongbin Ma Chenguang Yang School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Zienkiewicz Centre for Computational Engineering Swansea University

ISBN: (纸本)9781467397155

Radio Frequency Identification(RFID) technology has shown its potential in the field of indoor positioning in recent years,and has been widely used in large establishments such as the airport lobby,supermarkets,libraries,underground parking and so ***,the complexity of the indoor environments make positioning a challenging problem in terms of accuracy,stability,reliability,and interference *** this paper,we develop an algorithm of passive RFID indoor positioning based on interval Kalman filter,according to the geometric constraints of responding tags,combined with the target motion *** interval Kalman filter is adopted to integrate target position of one preceding time point and reference tags position to estimate the current *** of this algorithm is to use passive tags to reduce hardware costs,and on the other hand the introduction of filtering algorithm improves the positioning accuracy.

关键词： RFID Indoor positioning Interval Kalman Filter Interval arithmetic

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Shadow lane robust detection by image signal local reconstruction

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2016年第3期9卷 89-102页

作者： Du, Mingfang Junzheng, Wang Nan, Li Duoyang, Li School of Automation Beijing Union University Beijing China State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Key Laboratory of Information Service Engineering

In order to resolve shadow interference and slow image processing speed in the visual navigation of unmanned vehicles on city roads, a new lane detection algorithm based on the Inverse Perspective Mapping(IPM) of vertical sub-image reconstruction using local bands was proposed. The lane’s IPM aerial image was obtained using the projective transformation of three-dimensional images of city roads. The ROI portion of the IPM map was decomposed and analyzed using the sym3 wavelet, and after analyzing and comparing the experimental results the first and second levels of the vertical sub images were selected for the reconstruction, compression, and removal of shadows from the original image. The Canny algorithm was proposed and adopted in order to extract the edge features of the reconstructed images according to real-time road image quality. A modified, polar angle, constraint-based, fast Hough transform was used to locate the candidate lanes. Finally, the main control point, straight-line-fitting algorithm was used to fit the final lanes, which achieved the precise location and recognition of the lane lines. The California Polytechnic lane data set, a public data platform, which is now widely used in road visual recognition fields around the world, was selected for the testing and verification of the algorithm. The results of the experiment and actual operation indicated that, despite having a storage space of approximately one tenth the size of similar algorithms, this detection algorithm effectively solves the issue of shadow removal, meets the real-time requirements of roadway image processing systems for unmanned vehicles with a recognition time of less than 20ms, and is robust. © 2016 SERSC.

关键词： Wavelet transforms

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Riddling: Chimera's dilemma

arXiv

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arXiv 2018年

作者： Santos, V. Szezech, J.D. Batista, A.M. Iarosz, K.C. Baptista, M.S. Ren, H.P. Grebogi, C. Viana, R.L. Caldas, I.L. Maistrenko, Y.L. Kurths, J. Graduate in Science Program State University of Ponta Grossa Ponta Grossa Paraná84030-900 Brazil Department of Mathematics and Statistics State University of Ponta Grossa Ponta Grossa Paraná84030-900 Brazil Potsdam Institute for Climate Impact Research Potsdam Brandenburg14473 Germany Institute of Physics University of São Paulo São Paulo05508-900 Brazil Department of Physics Humboldt University Berlin Brandenburg12489 Germany Institute for Complex Systems and Mathematical Biology SUPA University of Aberdeen Aberdeen ScotlandAB24 3UE United Kingdom Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian University of Technology Xi'an710048 China Xian Technological University Xi'an710021 China Department of Physics Federal University of Paraná Curitiba Paraná80060-000 Brazil Institute of Mathematics Centre for Medical and Biotechnical Research National Academy of Sciences of Ukraine Tereshchenkivska St. 3 Kyiv01030 Ukraine

We investigate the basin of attraction properties and its boundaries for chimera states in a circulant network of Hénon maps. It is known that coexisting basins of attraction lead to a hysteretic behaviour in the diagrams of the density of states as a function of a varying parameter. Chimera states, for which coherent and incoherent domains occur simultaneously, emerge as a consequence of the coexistence of basin of attractions for each state. Consequently, the distribution of chimera states can remain invariant by a parameter change, as well as it can suffer subtle changes when one of the basins ceases to exist. A similar phenomenon is observed when perturbations are applied in the initial conditions. By means of the uncertainty exponent, we characterise the basin boundaries between the coherent and chimera states, and between the incoherent and chimera states, respectively. This way, we show that the density of chimera states can be not only moderately sensitive but also highly sensitive to initial conditions. This chimera's dilemma is a consequence of the fractal and riddled nature of the basins boundaries. Coupled dynamical systems have been used to describe the behaviour of real complex systems, such as power grids, neuronal networks, economics, and chemical reactions. Furthermore, these systems can exhibit various kinds of interesting nonlinear dynamics, e.g. synchronisation, chaotic oscillations, and chimera states. The chimera state is a spatio-temporal pattern characterised by the coexistence of coherent and incoherent dynamics. It has been observed in a great variety of systems, ranging from theoretical and experimental arrays of oscillators, to in phenomena such as the unihemispheric sleep of cetaceans. We study the chimera state in a circulant network of Hénon maps, seeking to determine how the density of states in the network depends on the system parameters and the initial conditions. We have found that, as expected, the density of states might be inva

关键词： Neurons

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Framework Based Universal Simulation For Satellite Project

Framework Based Universal Simulation For Satellite Project

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第35届中国控制会议

作者： Xing Xin Zhen LI Xiangyuan Zeng Xiangdong Liu Zhi Yang Song Xie School of Automation Beijing Institute of Technology Chinese National Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology DFH Satellite co. Ltd

ISBN: (纸本)9781509009107

An integrated simulation system is proposed in the paper,which considers the universal runtime platform environment,the resource management mechanism,and the aerospace oriented model software *** platform is compatible with the HLA protocol and support both synchronous and asynchronous modes for data *** simulation execution is established on the specifically formulated scenarios,which provides flexibilities in customizing the organization of the simulation *** resource framework is designed by combining the characteristics of both aerospace engineering and software engineering,and the modeling objects are expanded from the entities of satellites,sub-systems and equipments,to the non-entity relationships of the system *** the developed model database and management software,the simulation can be applied either in the visible and non-programming way,or in a secondary development way with ***,the proposed system is user-friendly to engineers with various disciplinary backgrounds.

关键词： Universal Simulation simulation platform framework small Satellite model Software

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