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IEEE Conference on Decision and Control

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781612848006

This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.

关键词： Constant thrust Vision measurement Switch control law The specified trajectory Equidistance interpolation

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Active Collision Avoidance Maneuver design Under Constant Thrust ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Deterministic chaos can act as a decoherence suppressor

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Physical Review B 2011年第21期84卷 214304-214304页

作者： Jing Zhang Yu-xi Liu Wei-Min Zhang Lian-Ao Wu Re-Bing Wu Tzyh-Jong Tarn Department of Automation Tsinghua University Beijing 100084 People's Republic of China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 People's Republic of China Institute of Microelectronics Tsinghua University Beijing 100084 People's Republic of China Department of Physics and Center for Quantum Information Science National Cheng Kung University Tainan 70101 Taiwan Department of Theoretical Physics and History of Science The Basque Country University (EHU/UPV) and IKERBASQUE Basque Foundation for Science E-48011 Bilbao Spain Department of Electrical and Systems Engineering Washington University St. Louis Missouri 63130 USA

We propose a strategy to suppress non-Markovian decoherence of a qubit by coupling the qubit to a deterministic chaotic setup with the broad power distribution in particular in the high-frequency domain. Although it is widely believed that chaos induces decoherence, we find, surprisingly, that the unitary dynamics induced by the chaotic setup can be helpful for the decoherence suppression. Compared with the existing decoherence control methods such as the usual dynamical decoupling, we do not need to impose high-frequency controls, because the high-frequency components in our method are generated by the chaotic setup, and the design of complex optimized control pulses used in the modified dynamical decoupling approaches is also not necessary. Using superconducting quantum circuits as an example, we demonstrate how to realize our general method. We find that various noises in a wide frequency domain, including low-frequency 1/f, high-frequency ohmic, subohmic, and superohmic noises, can be efficiently suppressed by coupling the qubit to a Duffing oscillator acting as the chaotic setup. Significantly, the decoherence time of the qubit is prolonged approximately 100 times in magnitude.

关键词： MARKOV spectrum SUPERCONDUCTORS OPTICS OHM'S law DIRECT currents

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New development thoughts on the bio-inspired intelligence based control for unmanned combat aerial vehicle

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Science China(Technological Sciences) 2010年第8期53卷 2025-2031页

作者： DUAN HaiBin 1 ,SHAO Shan 2 ,SU BingWei 3 &ZHANG Lei 41 State Key laboratory of Science and Technology on Holistic Flight Control,School of automation Science and electrical engineering, Beijing University of Aeronautics and Astronautics,Beijing 100191,China 2 Flight Control department,Shenyang Aircraft design and Research Institute,Shenyang 110035,China 3 Beijing Institute of Near Space Vehicle’s System engineering,Beijing 100076,China 4Integration and Project Section,Air Force Equipment Academy,Beijing 100085,China 1. State Key Laboratory of Science and Technology on Holistic Flight Control School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100191 China2. Flight Control Department Shenyang Aircraft Design and Research Institute Shenyang 110035 China3. Beijing Institute of Near Space Vehicle’s System Engineering Beijing 100076 China4. Integration and Project Section Air Force Equipment Academy Beijing 100085 China

Bio-inspired intelligence is in the spotlight in the field of international artificial intelligence,and unmanned combat aerial vehicle(UCAV),owing to its potential to perform dangerous,repetitive tasks in remote and hazardous,is very promising for the technological leadership of the nation and essential for improving the security of *** the basis of introduction of bioinspired intelligence and UCAV,a series of new development thoughts on UCAV control are proposed,including artificial brain based high-level autonomous control for UCAV,swarm intelligence based cooperative control for multiple UCAVs,hy-brid swarm intelligence and Bayesian network based situation assessment under complicated combating environments, bio-inspired hardware based high-level autonomous control for UCAV,and meta-heuristic intelligence based heterogeneous cooperative control for multiple UCAVs and unmanned combat ground vehicles(UCGVs).The exact realization of the proposed new development thoughts can enhance the effectiveness of combat,while provide a series of novel breakthroughs for the intelligence,integration and advancement of future UCAV systems.

关键词： bio-inspired intelligence unmanned combat aerial vehicle(UCAV) artificial brain autonomous control bayesian network bio-inspired hardware heterogeneous cooperative control

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Variance Analysis of Randomized Consensus in Switching Directed Networks

Variance Analysis of Randomized Consensus in Switching Direc...

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American Control Conference

作者： Victor M. Preciado Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104 Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104

ISBN: (纸本)9781424474264

In this paper, we study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed Erdos-Renyi random graphs, where each agent can communicate with any other agent with some exogenously specified probability p. While it is well-known that consensus algorithms over Erdos-Renyi random networks result in an asymptotic agreement over the network, an analytical characterization of the distribution of the asymptotic consensus value remains an open question. In this paper, we provide closed-form expressions for the mean and variance of the asymptotic random consensus value, in terms of the size of the network and the probability of communication p. We also provide numerical simulations that illustrate our results.

关键词： Analysis of variance Algorithm design and analysis Closed-form solution systems engineering and theory Laboratories Robotics and automation Convergence Numerical simulation Computer networks Concurrent computing

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THREE DIMENSIONAL DEFECT RECONSTRUCTION USING STATE SPACE SEARCH AND WOODBURY’S SUBSTRUCTURE METHOD

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AIP Conference Proceedings 2010年第1期1211卷 790-797页

作者： X. Liu Y. Deng Y. Li L. Udpa S. S. Udpa aNDE Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 bElectrical Engineering University of Colorado Denver Denver CO 80217 cCadence Design Systems San Jose CA 95134

This paper introduces a model‐based approach to reconstruct the three‐dimensional defect profiles using eddy‐current heat exchanger tube inspection signals. The method uses a Woodbury’s substructure finite element forward model to simulate the underlying physics, a state space defect representation, and a tree search algorithm to solve the inverse problem. The advantage of the substructure method is that it divides the whole solution domain into two substructures and only the region of interest (ROI) with dramatic material changes will be updated in each iterative step. Since the number of elements inside the ROI is very small compared with the number of elements in the entire mesh, the computational effort needed in both LU factorization and coefficient matrix assembly is reduced. Therefore, the execution time is reduced significantly making the inversion very efficient. The initial inversion results are presented to confirm the validity of the approach.

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.

关键词： Simultaneous localization and mapping Area measurement Robustness Computer vision Robot vision systems Cameras Robot sensing systems Robotics and automation Image analysis Algorithm design and analysis

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Thermal aware test scheduling for stacked multi-chip-modules

Thermal aware test scheduling for stacked multi-chip-modules

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East-West design & Test Symposium (EWDTS)

作者： N.S. Vinay Indira Rawaty Erik Larssonz M.S. Gaurx Virendra Singh Cisco Systems Inc. Bangalore India Electrical Engineering Department Engineering College Ajmer India Department of Computer Science Linkoping University Linkoping Sweden Computer Engineering Department Malaviya National Institute of Technology Jaipur India Computer Design and Test Laboratory Indian Institute of Science Bangalore India

In an attempt to increase the area utilization of multi-chip packages, manufacturers have started looking at 3D packaging. The 3D structures have either dies or chips stacked one above the other. These 3D structures have low thermal capabilities, and hence the thermal issues get aggravated during testing. In this paper, thermal aware test scheduling techniques for stacked structures is proposed. Care is taken to schedule the stacked partitions appropriately to prevent local heating and achieve uniform vertical temperature spread. Concurrent testing of dies is considered for reduced test time and existing test architecture is employed. The widely used global peak power model gives a pessimistic estimate of the power profile. A new partition scheme is proposed for the power profile based on power variations and true power. This scheme of power profile partitioning which is a trade-off between a cycle accurate model and global peak model offers both flexibility during scheduling and also reduces total false power. The power profile partitions are scheduled through algorithms based on heuristics. System model of the 3D stack is obtained from the linear RC-models after considering the various factors that affect the heat flow and die temperatures. Simulation results show that the proposed technique achieves uniform temperature spread across the 3D structure.

关键词： Schedules Resistance Heating Cost function Testing Partitioning algorithms Three dimensional displays

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： Computer aided design

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Qualitative study of nanoassembly process: 2-D molecular dynamics simulations

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Scientia Iranica 2010年第1 F期17卷 1-11页

作者： Mahboobi, S.H. Meghdari, A. Jalili, N. Amiri, F. Institute for Nanoscience and Nanotechnology Sharif University of Technology P.O. Box: 14588-89694 Tehran Iran Piezoactive Systems Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box 11155-9567 Tehran Iran

Precise positioning of nanoclusters through manipulation in the presence of other clusters is one of the main challenging tasks in nanoclusters assembly. Currently, the size of clusters which are used as building blocks is decreasing to a few nanometers. As a result, the particle nature of the matter has a crucial role in manipulator/cluster/substrate interactions. In order to understand and predict the behavior of nanoclusters during the positioning process, it is, therefore, essential to have a deep insight into the aforementioned nanoscale interactions, in this research, 2-D molecular dynamics simulations are used to investigate such behaviors. Performing the planar simulations can provide a rather satisfactory qualitative instrument for our aim while the computation time is considerably decreased in comparison with 3-D simulations. The system considered here is made up of a tip, two clusters and a substrate. The main focus here is on metallic nanoclusters. In order to study the behavior of the above system which is made up of different transition metals, Nose-Hoover dynamics and Sutton-Chen interatomic potential are used. Furthermore, the effect of the material characteristics, tip form and manipulation scheme on the success of the process are examined. Such qualitative simulation studies can pave the pathway towards certain nanopositioning scenarios when considering different working conditions before consuming largescale computation time or high experimental expenses. © Sharif University of Technology, June 2010.

关键词： Molecular dynamics

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