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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Sun, Liucun Lou, Zhongkai Li, Jingjing Su, Weijiang China Green Development Investment Group Co. Ltd. Beijing100010 China Key Laboratory for Intelligent Control and Decision on Complex Systems School of Automation Beijing Institute of Technology Beijing100029 China

ISBN: (纸本)9789819904075

Large commercial complex projects have the characteristics of large roof area and high electricity price, and the development of distributed photovoltaic power generation has great potential. In this paper, a feasibility evaluation model of distributed photovoltaic power generation in large commercial buildings is established from the aspects of solar energy resources, power generation, economics and environmental benefits. A commercial complex photovoltaic project in Jinan is used as an example. In the case of fully considering the project operating cost and environmental benefits, the feasibility of the project under different power consumption modes is analyzed. The research results show that the economy of large-scale commercial distributed photovoltaic power generation projects in class III solar resource areas such as Jinan is directly related to the power consumption mode. When the "spontaneous self-use" mode is adopted, the economic benefits of the project are good and the feasibility is strong;When the "excess electricity goes into the power grid" mode is adopted, the economic benefits gradually deteriorate with the increase of the proportion into the power grid, but considering the environmental protection benefits of photovoltaic power generation projects, it is still feasible;When the "full the power goes into the power grid" mode is adopted, the economic benefit is poor, and the project is basically not feasible. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Electric power utilization

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Design of a High Speed 360-degree Panoramic Video Acquisition System Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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controlling mobile Spykee robot using Emotiv Neuro headset

Controlling mobile Spykee robot using Emotiv Neuro headset

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32nd Chinese control Conference, CCC 2013

作者： Grude, Simon Freeland, Matthew Yang, Chenguang Ma, Hongbin School of Computing and Mathematics University of Plymouth Plymouth PL4 8AA United Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

ISBN: (纸本)9789881563835

This paper investigates controlling the commercialized Spykee mobile robot, using only brain electroencephalography (EEG) signals transmitted by the Emotiv Epoc Neuro Headset. The Spykee robot is equipped with a wireless communication protocol to control it. Both visualization and motor control methods have been carried out and analyzed in order to control the robot with accuracy. All the fourteen channels on the Emotiv headset have been utilized and the pattern recognition has been done by the echo state network (ESN). Four different actions (moving forward/backward and turning left/right) have been achieved to control the robot reaching an arbitrary target on the floor. © 2013 TCCT, CAA.

关键词： Electroencephalography

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Performance analysis of networked predictive control systems with data dropout

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Optimal control Applications and Methods 2013年第6期34卷 742-756页

作者： Xia, Yuanqing Xie, Wen Zhu, Zheng Wang, Ge Wang, Xiaoyun School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This paper is concerned with the design of networked control systems with random network data dropout. It presents a new control scheme, which is termed networked predictive control. This scheme mainly consists of the control prediction generator and network data dropout compensator. Besides, the control prediction generator provides a set of future control predictions to make the closed-loop system achieve the desired control performance, and the network data dropout compensator removes the effects of the network transmission data dropout. Simulation results are presented to illustrate the effectiveness of the control strategy via comparing with other three existing control schemes. Copyright © 2012 John Wiley & Sons, Ltd. Copyright © 2012 John Wiley & Sons, Ltd.

关键词： Networked control systems

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Maximum likelihood ratio detection of abrupt state change for MIMO linear systems based on frequency domain data

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International Journal of Robust and Nonlinear control 2013年第8期23卷 858-877页

作者： Xia, Yuanqing Liu, Bo School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

Summary This paper is devoted to the detection of abrupt changes for multiple-input, multiple-output (MIMO) linear systems based on frequency domain data. The real discrete-time Fourier transform is used to map the measured inputs and outputs from the time domain to the frequency domain. Under the hypothesis that the state change occurrence time is k, the system is split up into two systems at the time instant k. One of them describes the frequency dynamics before the hypothetical state change occurs, whereas the other describes the frequency dynamics after the hypothetical occurrence. Thus, the latent state change is modeled as an initial state disturbance to be estimated on the basis of frequency domain samples. Furthermore, the occurrence time is estimated by maximizing a likelihood ratio function. Finally, a numerical example is presented to show the performance. © 2012 John Wiley & Sons, Ltd.

关键词： Frequency domain analysis

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Time-Varying Formation control for Multiagent systems with Different Time Delays 9

Time-Varying Formation Control for Multiagent Systems with D...

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9th International Conference on Fuzzy systems and Data Mining, FSDM 2023

作者： Sun, Fenglan Liang, Qinbo Zhu, Wei Li, Qiuying Key Lab of Intelligent Analysis and Decision on Complex Systems School of Science Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing400065 China

ISBN: (纸本)9781643684703

This article studies the time-varying formation (TVF) problem of multiagent systems (MASs) with different time delays. By designing the control protocol, the followers could achieve the desired TVF. Considering different communication delays, based on graph theory and stability theory, sufficient conditions for the system to realize TVF are obtained. Finally, the numerical example is employed to validate the effectiveness of theoretical results. © 2023 The authors and IOS Press.

关键词： Multi agent systems

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Bowstring-based dual-threshold computation method for adaptive Canny edge detector

Bowstring-based dual-threshold computation method for adapti...

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International Conference on Image and Vision Computing New Zealand, IVCNZ

作者： Xiangdong Liu Yin Yu Bing Liu Zhen Li Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479908813

This paper proposed a novel dual-threshold computation method of Canny edge detector based on gradient magnitude histogram (GMH), targeting with the adaptive acquisition of low-/high-threshold for unimodal hysteresis thresholding. With the introduction of the bowstring concept, which accurately measures the tendency of the GMH on the whole, the dual-threshold computation is implemented by adaptive-searching two tangent points with transitional characteristics. This skillful algorithm of the dual-threshold computation method is further evaluated by using the receiver operating characteristics (ROC) curve evaluation method. The detailed comparison to the Otsu's method is presented and demonstrates the reliability and robust performance of the proposed dual-threshold computation method.

关键词： Image edge detection Detectors Hysteresis Histograms Testing Shape Adaptive systems

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TDMA based IEEE 802.15.4 for Simple/Secured Low Latency Deterministic Networked control systems

TDMA based IEEE 802.15.4 for Simple/Secured Low Latency Dete...

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第三十四届中国控制会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781467374439

In this paper, we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE802.15.4 network in star topology for secured and unsecured low latency deterministic networks(LLDN) for industrial control systems. This protocol ensures total superframe time as low as ten milliseconds as compared to minimum possible superframe time of 15.36 milliseconds. In these networks, Each end device transmits its data frame in their allotted timeslot. The timeslot and inter timeslot spacing is optimized for channel bandwidth utilization and reliable data frame exchange. While this TDMA based protocol eliminates the risk of frame collisions to great extent, MAC sub-layer tweaking improves the non-determinism of the network and increases its bandwidth efficiency. We also investigate the security impact on the performance of LLDN. A mathematical model is developed that takes empirical values as input and predicts the worst case arrival times of network devices at coordinator. Experiments were conducted to evaluate the suggested protocol and mathematical model.

关键词： IEEE 802.15.4,Networked control system,Low latency deterministic networks(LLDN),Medium access control(MAC),TDMA,security

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Coverage Path Planning Design of Mapping UAVs Based on Particle Swarm Optimization Algorithm

Coverage Path Planning Design of Mapping UAVs Based on Parti...

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第三十八届中国控制会议

作者： Shouqi Wang Yongqiang Bai Chao Zhou School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Mapping UAVs have played a more important role in regional mapping than ever before, and coverage path planning is an important part of mapping tasks. However, there are few studies on single-region path planning in complex polygonal region. In this paper, we proposed a method that searches the optimal yaw-angle and flight height of mapping UAVs based on particle swarm optimization algorithm. Compared with traditional algorithms such as cattle farming algorithm, there are less redundant coverage and turning, and the flight path planned by the algorithm in this paper is more reasonable and convenient for photographic processing.

关键词： mapping UAVs coverage path planning particle swarm optimization

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Tightly-coupled Lidar-GNSS-Inertial Fusion Odometry and Mapping

Tightly-coupled Lidar-GNSS-Inertial Fusion Odometry and Mapp...

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第43届中国控制会议

作者： Shuwei Yu Jing Li Tianwei Niu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper proposes a tightly-coupled lidar-GNSS-inertial fusion system that achieves accurate state estimation and mapping for robot *** system effectively fuses lidar points,GNSS measurements,and IMU data using the iterated error state Kalman filter algorithm to obtain precise,drift-free,and real-time *** optimize computational efficiency,an incremental tree structure,ikdtree,is employed for managing a local map,and different Kalman gain formulas are utilized to process GNSS and lidar point observations separately to lower the computation ***,a factor graph is introduced to optimize the pose *** selectively introducing keyframes based on the odometry estimation,the graph incorporates odometry,GNSS measurements,and loop closure constraints to optimize all keyframe poses,resulting in a precise trajectory and global ***,extensive experiments are conducted using the KITTI dataset and several real-world scenarios to validate the proposed *** experimental results demonstrate that our method achieves precise localization and mapping across diverse environments.

关键词： state estimation Mapping Sensor fusion Robot navigation

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