检索结果-内蒙古大学图书馆

第25届中国控制与决策会议

作者： Xin Xu Wenjie Chen Mingjun Jiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education China North Vehicle Research Institute

ISBN: (纸本)9781467355339

An algorithm namely the TDOA-Camberra is proposed for the multi-target passive location in this paper. The algorithm uses the Camberra distance to associate the target data and do the optimal search, then uses the time difference of arrival (TDOA) to locate multiple targets passively once data from the same target is determined. At the same time, as the computing time of associating data using Camberra distance is long, the improved sequential similarity detection algorithm (SSDA) is added to the calculation in order to shorten the time of the data association, thus to increase the speed of the multi-target passive location. The theoretical analysis and simulation experiment proves that the multi-target passive location can be implemented by the proposed algorithm accurately and quickly.

关键词： passive location, data association, Camberra distance, SSDA

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Pyramid histogram of oriented gradient and particles swarm optimization based SVM for vehicle detection

Pyramid histogram of oriented gradient and particles swarm o...

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2013 7th International Conference on Image and Graphics, ICIG 2013

作者： Wang, Hailuo Bo, Wang Sun, Li College of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9780769550503

Vehicle Detection is an important part in intelligent transportation system (ITS) and driver assistance system. Considering vehicles have strong edges and lines in different orientation and scales, in this paper, we presents a method for detecting vehicles based on a feature named Pyramid Histogram of Oriented Gradient. This feature provides spatial distribution information of edges which was often ignored by other features. Specifically, we extract PHOG features from a traffic image and a vector is obtained as representation of this image. In order to speed up the process of calculation, Principle Component Analysis (PCA) algorithm is applied to these vectors to reduce their dimensionality. Tests show the efficiency improved significantly. Theses representative vectors are then used to train SVM classifier. To ensure the final classification accuracy, we adopt Particles Swarm Optimization (PSO) method to gain the parameters used in SVM classification. Optimal parameters correspond with optimal result. Experiments demonstrate the superiority of the proposed approach which has achieved an average accuracy of 95% on test images. © 2013 IEEE.

关键词： Vehicles

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Hand-eye servo and flexible control of an anthropomorphic arm

Hand-eye servo and flexible control of an anthropomorphic ar...

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2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

作者： Ma, Gan Huang, Qiang Yu, Zhangguo Chen, Xuechao Meng, Libo Sultan, Malik Saad Zhang, Wen Liu, Yan IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479927449

One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform. © 2013 IEEE.

关键词： Anthropomorphic robots

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Extension of SGMF Using Gaussian Sum Approximation for Nonlinear/Non-Gaussian Model and Its Application in Multipath Estimation

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Acta Automatica Sinica 2013年第1期39卷 1-10页

作者： Jie CHEN Lan CHENG Ming-Gang GAN Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

The multipath estimation of global navigation satellite system (GNSS) signal is actually the state estimation of nonlinear/non-Gaussian systems. The extension of sliced Gaussian mixture filter (ESGMF) based on Gaussian sum approximation is proposed for the state estimation of nonlinear/non-Gaussian state space, and the probability density function (PDF) expression of states is derived recursively for a time varying system. Resampling is applied to the prediction PDF to reduce the complexity of Bayesian inference. The simulation result of multipath estimation with ESGMF shows that the ESGMF algorithm performs better in accuracy than the algorithms based on particle filter (PF) and extended Kalman filter (EKF).

关键词： Non-Gaussian noise Gaussian sum probability density function (PDF) sliced Gaussian mixture filter (SGMF) multipath estimation

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New method of sparse visual saliency feature extraction and application in unmanned vehicle environment sensing

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Information Technology Journal 2013年第20期12卷 5914-5921页

作者： Du, Ming-Fang Wang, Jun-Zheng Li, Jing Cao, Hai-Qing Key Laboratory of Complex System Intelligent Control Decision Beijing Institute of Technology Ministry of Education 100081 Beijing China

A new method based on Hessian matrix threshold of finding local low-level saliency features is proposed in this study after the standard local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is analyzed. In this method, the number of saliency feature points can change with the change of Hessian threshold. The saliency feature points will become sparser when Hessian threshold becomes larger. When a certain extreme threshold which is defined as Hessian Threshold Node is reached, the retained discriminative feature points are remarkable stability characteristics, also make up the best sparse saliency features set. This method is applied in the unmanned vehicle environment sensing system to help extract the before going vehicle's saliency feature and realize object tracking and obstacle detection. Experiment results show that this is an quick and robust method to determine saliency feature points quantitatively and is very suitable for the occasion which has strong demand on real-time. © 2013 Asian Network for Scientific Information.

关键词： Object detection

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Object Tracking Algorithm of Adaptive Kernel-Bandwidth for Mean-Shift Based on Optical-flows

Object Tracking Algorithm of Adaptive Kernel-Bandwidth for M...

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第三十二届中国控制会议

作者： Qinlong He Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology

ISBN: (纸本)9781479900305

To obtain and update the kernel-bandwidth,we present an adaptive bandwidth obtainment algorithm based on object contour extraction from optical-flow *** combination of modified mountain cluster approach and fast scanning window contour extractor guarantees the speed of this algorithm.A novel ellipse detection method based on a modified RANSAC is adopted to reduce the *** results demonstrate that the algorithm select the proper size of tracking kernel-bandwidth with minor extra computational overhead and keep up with the object robustly when the scale changed rapidly.

关键词： object tracking mean shift kernel bandwidth mountain cluster RANSAC

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A multi-objective decomposition-based stochastic particle swarm optimization algorithm and its application to optimal design for linear motor

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Kongzhi Lilun Yu Yingyong/control Theory and Applications 2013年第6期30卷 693-701页

作者： Wang, Guang-Hui Chen, Jie Cai, Tao Li, Peng School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This article proposes a multi-objective decomposition stochastic particle swarm optimization (MDSPSO) algorithm. In MDSPSO, every particle has a weighted vector constantly. Then, an improved Tchebycheff decomposition method is applied to decompose the multi-objective problem into some single-objective problems. The reference position of every particle is uniformly generated in the zone with the center which is the geometrical center of its current position, the best previous reference position as well as the swarm best reference position. The radius of this zone is the distance from the center to its current position. Then the particle is updated to the new position according to the reference position and its current velocity. The comparisons with the decomposition-based multi-objective particle swarm optimizer (dMOPSO), a multiobjective evolutionary algorithm based on decomposition (MOEA/D), and nondominated sorting genetic algorithm II (NSGA-II) show that the solutions of MDSPSO can be dominated at least with the best diversity. To reduce the computational time by finite element analysis for optimizing the structure parameters of linear motor, artificial neural network is used as the model to evaluate the performance. Finally, MDSPSO is applied to optimize four objectives simultaneously. The practical result is shown that the optimized linear motor has an increased thrust, improved efficiency, reduced fluctuation and manufacturing cost.

关键词： Multiobjective optimization

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Distortion correction method in the high-precision and high-speed CCD measurement system

Distortion correction method in the high-precision and high-...

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Chinese control Conference (CCC)

作者： Jing Li Junzheng Wang Renjian Hao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

In the high-precision and high-speed measurement system, the distortion of CCD pixes will give a greater margin of error to measurement results. According to the characteristic of noise leading to the image distortion, this article establishes the image transformation model. Data fitting based method is used for correcting image distortion. For the distortion caused by camera installation, the perspective transformation is used to correcting the image. And then the four points calibration method is adopted to calibrating the measurement system. Experiments adopt the high speed area array CCD to gather images with the circular facula in the target area launched by the laser, and calculate the real position of the facula in the target area, adopt the high accurate displacement sensor to give the true displacement of the target which is used to verify the real position of the facula in the target area. The results show that the algorithm can reduce the influence of image distortion, which advances the measurement accuracy efficiently.

关键词： Charge coupled devices Distortion measurement Optical distortion Cameras Measurement uncertainty Calibration Real-time systems

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Design and simulation of a hydraulic biped robot

Design and simulation of a hydraulic biped robot

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Chinese control Conference (CCC)

作者： Guangrong Chen Junzheng Wang Lipeng Wang Yudong He Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 China

Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.

关键词： Legged locomotion Planning Stability analysis Electronic mail Servomotors

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Differential Evolution Based Receding Horizon controlfor UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期 107-114页

作者： ZHANG Xing BAI YongQiang XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Decision and Cognitive Sciences Research Centre Manchester Business SchoolUniversity of Manchester

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词： unmanned aerial vehicle motion planning receding horizon control differential evolution

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