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42nd Chinese control Conference, CCC 2023

作者： Khan, Malak Abid Ali Ma, Hongbin Jin, Ying Ma, Jingxiang Rehman, Zia Ur Rahman, Mizanur School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

Deforestation is the primary source of global warming;traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly limited its power. Various technologies provide connectivity and a fast-updating system to eliminate the paper-based approach. LoRa is one of the contenders to design the system for electronic shelf labels (ESLs). In this paper, LoRa has been used to minify data losses and guarantee the successful decoding of the carrier signals. The data parallelism at the network server (NS) is used to distribute the data packets among the gateways (GWs) for concurrent transmissions to the end devices (EDs). The EDs are placed in different ranges using machine clustering to avoid intra-SF interference and collision. The data rate (DR) and spreading factors (SFs) have been proposed to improve the performance of pure and slotted ALOHA for the properly allocated tags. The orthogonality principles follow industrial, scientific, and medical regulations (ISM) to avoid data traffic congestion. GWs under different duty cycles (DC) and bandwidth (BW) are examined to minify the network saturation and reduce the energy harvesting of the tags. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Deforestation

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A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

A new control method of quadruped robot walking on rough ter...

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IEEE International Conference on Robotics and Biomimetics

作者： Xin Li Junyao Gao Qiang Huang Haojian Lu Zhe Xu Yi Liu Intelligent Robotics Institute Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.

关键词： Legged locomotion Foot Trajectory Mathematical model Robot sensing systems

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Target Assignment Optimization of Heterogeneous Sensor Networks in Urban Environment

Target Assignment Optimization of Heterogeneous Sensor Netwo...

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第三十九届中国控制会议

作者： Chen Chen Cheng Zihao Xu Wei School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

Preventing and controlling Low-Slow-Small(LSS) targets are problems to be solved due to their good concealment in urban environment. Consequently, the problem of target assignment is studied in this paper. Firstly, a target assignment model based on heterogeneous sensor networks is proposed. The characteristics of LSS targets and the influence of environmental factors such as climate and terrain are considered on this model. At the same time, the detection capabilities of different detection nodes and collaborative tracking capabilities are also considered. Secondly, an intelligent optimization algorithm GSAPSO based on PSO is proposed to maximize tracking effect of the sensors. Finally, the simulations are used to compare the GSAPSO algorithm with the traditional PSO and GAPSO algorithms. The results demonstrate that the proposed algorithm has better tracking effect.

关键词： Target assignment Urban environment Heterogeneous sensor networks PSO

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Closed-form integration of IMU error state covariance for optimization-based Visual-Inertial state Estimator

Closed-form integration of IMU error state covariance for op...

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第三十九届中国控制会议

作者： Xingbo Wang Zhihong Peng Lele Xi School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, we propose a closed-form IMU error state covariance integration method for optimization-based visualinertial state estimator. We derive a closed-form solutions of the IMU error state covariance propagation in pre-integration process, yielding improved accuracy of IMU residual information matrix. Our visual-inertial state estimator is based on a tightly-coupled, sliding-window optimization framework, which jointly estimate the IMU states and landmarks and performing marginalization to limit the computational cost. Finally, the system are validated in park environment dataset, the result shows our proposed method is effective.

关键词： visual-inertial state estimator pre-integration

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Aggregation in Intersection Region for Distributed Heterogeneous Mobile Sensor Networks

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Journal of systems Science and complexity 2017年第4期30卷 932-949页

作者： Zheng Zhi Peng Zhihong Chen Jie School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081

This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model and dynamics model, set the intersection of all the local perceptions as the region of interest (ROI). The MSN consists of sensors with first-order dynamics and second-order dynamics. Then, the authors design a control strategy to ensure that individuals aggregate at a point in the ROI relying on their local perceptions and the locations of neighbors within their communication scope. The authors describe this situation of aggregation as rendezvous. In addition, the authors introduce artificial potential field to make sensors deploy dispersedly in a bounded range near the ROI, which the authors call dispersed deployment. Finally, the authors prove the stability of the proposed strategies and validate the theoretical results by simulations. This research is applied for the cooperative deployment and data collection of mobile platforms with different dynamics under the condition of inaccurate perception.

关键词： Aggregation convex intersection heterogeneous dynamics mobile sensor

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Observer-based output feedback control of networked control systems with non-uniform sampling and time-varying delay

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International Journal of systems Science 2017年第14期48卷 3118页

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

This paper investigates the problem of observer-based output feedback control for networked control systems with non-uniform sampling and time-varying transmission delay. The sampling intervals are assumed to vary within a given interval. The transmission delay belongs to a known interval. A discrete-time model is first established, which contains time-varying delay and norm-bounded uncertainties coming from non-uniform sampling intervals. It is then converted to an interconnection of two subsystems in which the forward channel is delay-free. The scaled small gain theorem is used to derive the stability condition for the closed-loop system. Moreover, the observer-based output feedback controller design method is proposed by utilising a modified cone complementary linearisation algorithm. Finally, numerical examples illustrate the validity and superiority of the proposed method.

关键词： Non-uniform sampling time-varying delay networked control systems output feedback control stability

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Trajectory generation for quadrotor while tracking a moving target in cluttered environment

Trajectory generation for quadrotor while tracking a moving ...

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第三十九届中国控制会议

作者： Lele Xi Zhihong Peng Lei Jiao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, we present a trajectory generation method for quadrotor while tracking a moving target with relative pattern. Compared to existing methods, safe flying zone, vehicle’s physical limits and smoothness are considered to ensure obstacles avoidance and real tracking flight. To tackle with the cluttered environment, a parallel Particle Swarm Optimization algorithm is applied to calculate the safe feasible waypoints for quadrotor with consideration of target’s predicted state and the realistic tracking pattern, as well as safety. Then, a multiple waypoints constraints motion planning method is applied and embed into a cost function for solving the problem of trajectories generation and robust tracking for quadrotor via convex optimization approach, ensuring the real-time planning, with the geometrical constraint of safe flight corridor for quadrotor. The effectiveness of proposed method is verified by numerical simulation experiments.

关键词： Target tracking Trajectory generation Waypoints constraint Convex optimization

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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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A Heuristic Algorithm for Solving Resource Constrained Project Scheduling Problem with Transfer Time under Resource Bundle

A Heuristic Algorithm for Solving Resource Constrained Proje...

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第三十八届中国控制会议

作者： Junqi Cai Zhihong Peng School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper we investigate an extension of Resource Constrained Projected Scheduling Problem(RCPSP): the Resource Constrained Project Scheduling Problem with Transfer Time under Resource Bundle. For this complex problem, the use of a parallel scheduling scheme is proposed. Such scheme has been successfully applied to the RCPSP. Introducing transfer time and resource bundle into RCPSP causes two problems, one is the possibility of resources significantly exceed the need of a task, the other is cooperation among unfamiliar members from different team may increase the makespan of the project. In order to deal with the problem, two new concepts are developed: task-related resource weight and collaboration coefficient. Some discussion of such concepts is given of and use them for new heuristic framework we proposed. A computational test is performed and the results show that the new heuristic is very effective in finding better solutions within a very short time.

关键词： RCPSP heuristic algorithm resource bundle transfer time

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Semantic Motion Segmentation for Urban Dynamic Scene Understanding

Semantic Motion Segmentation for Urban Dynamic Scene Underst...

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IEEE International Conference on Automation Science and Engineering

作者： Qiu Fan Yang Yi Li Hao Fu Mengyin Wang Shunting School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509024100

A mount of recent researches on scene parsing and semantic labeling, while few focus on obtaining joint semantic motion labeling. In this paper, we propose an approach to infer both the object class and motion status for each pixel of images. First, we extract and match sparse image features to estimate ego-motion between two consecutive stereo images, the result of feature points grouping is used to segment moving object in U-disparity map. Second, a Fully Convolutional Neural Network is employed for semantic segmentation. Moreover, semantic cues are utilized to remove pixels have no potential to be moved in motion mask. Finally, we use a fully connected CRF to integrate motion into semantic segmentation. To validate the effectiveness of the proposed algorithm, we present experimental results with KITTI stereo images that contain moving objects.

关键词： Motion segmentation Semantics Image segmentation Computer vision Labeling Feature extraction Dynamics

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