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IEEE Conference on Decision and control

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA

ISBN: (纸本)9781424431236

A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semi-global practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller fitting into this family is developed and demonstrated by simulation and experiment.

关键词： Robustness Remotely operated vehicles Mobile robots Robust control Stability Position measurement Noise measurement Working environment noise Chemical sensors Current measurement

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Packet-loss dependent controller design for networked control systems via switched system approach

Packet-loss dependent controller design for networked contro...

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IEEE Conference on Decision and control

作者： Junyan Yu Long Wang Mei Yu Yingmin Jia Jie Chen Intelligent Control Laboratory Center for Systems and Control College of Engineering Peking University Beijing China Department of Automation North China Electric Power University Zhuxinzhuang Beijing China The Seventh Research Division Beihang University Beijing China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China

ISBN: (纸本)9781424431236

The stabilization problem of networked control systems with bounded packet loss is addressed. We model such networked control systems as a class of switched systems, and present sufficient conditions for the stabilization by using a packet-loss dependent Lyapunov function. Moreover, different from existing results, we propose the design for packet-loss dependent stabilizing controllers for two types of packet-loss processes: one is a arbitrary packet-loss process, and the other is a Markovian packet-loss process. Several numerical examples and simulations are worked out to demonstrate the effectiveness of the proposed design technique.

关键词： control systems Networked control systems Switched systems Sufficient conditions Optimal control Delay effects Communication system control Communication system traffic control Feedback control Electrical equipment industry

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Dynamic watermarking scheme based on the Shamir threshold and branch structure

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Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) 2008年第SUPPL. 2期38卷 221-225页

作者： Yin, Ke Wang, Zhi-Quan Zhu, Jian-Qi Dong, Gang School of Automation Nanjing University of Science and Technology Nanjing 210094 China Electric Power Simulation and Control Engineering Center Nanjing Institute of Technology Nanjing 211167 China Key Laboratory of Symbol Computation and Knowledge Engineer College of Computer Science and Technology Jilin University Changchun 130012 China

A novel dynamic software watermark scheme based on the Shamir threshold and branch structure is presented. First, we split the watermark into a set of shares using the Shamir threshold scheme. Second, these values are encrypted with the DES block cipher that forms the watermark shares to be embedded into different methods of program according to the dynamic behavior of the branch structure. Our scheme can withstand most semantics-preserving attacks and can retrieve the original watermark based on partial information. Simulation tests show that our scheme is very robust, stealthy and has a high price performance rate compared with other methods.

关键词： Semantics

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A low-cost pedestrian-detection system with a single optical camera

A low-cost pedestrian-detection system with a single optical...

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作者： Cao, Xian-Bin Qiao, Hong Keane, John IEEE Department of Computer Science and Technology University of Science and Technology of China Hefei 230026 China Anhui Province Key Laboratory of Software in Computing and Communication Hefei 230026 China Laboratory of Complex Systems and Intelligent Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China School of Informatics University of Manchester M60 1QD Manchester United Kingdom University of Manchester M13 9PL Manchester United Kingdom

The ultimate purpose of a pedestrian-detection system (PDS) is to reduce pedestrian-vehicle-related injury. Most such systems tend to adopt expensive sensors, such as infrared devices, in expectation of better performance. In comparison, a low-cost optical-camera-based system has much potential practical value, including a greater detection range, and can easily be trained to detect other objects. However, such low-cost systems are difficult to design (e.g., little original information can be collected, and the scene is very complex). To address these problems, an effective and reliable classifier is needed. The classifier should have a proper structure, its features need to be well selected, and a large number of high-quality samples are necessary for training. In this paper, we present a low-cost PDS which only uses a single optical camera. We design a cascade classifier to achieve an effective and reliable detection. First, our system scans two sequential frames at each zoom scale with a sliding window. Second, with each window, both appearance and motion features are extracted. A well-trained cascade classifier, combining statistical learning with a decomposed support-vector-machine classifier, then determines whether the window contains a human body. At the same time, to provide as much information as possible about the pedestrian, a small-scale weighted template tree trained by a coevolutionary algorithm is adopted to identify each pedestrian's direction, and the distance of each from the vehicle is also provided using an estimation algorithm. During the training procedure, we select key features by using the AdaBoost algorithm and a large number of high-quality samples. Experimental results demonstrate that the system is suitable for pedestrian detection in city traffic: The detection speed is more than 10 ft/s, the detection rate reaches 80%, and the false positive rate is no more than 0.3‰. © 2008 IEEE.

关键词： Pedestrian safety

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Multi-Agent Based Adaptive Consensus control for Multiple Manipulators with Kinematic Uncertainties

Multi-Agent Based Adaptive Consensus Control for Multiple Ma...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Long Cheng Zeng-Guang Hou Min Tan Derong Liu An-Min Zou Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences China Department of Electrical and Computer Engineering University of Illinois Chicago USA Department of Mechanical Engineering University of Saskatchewan Canada

ISBN: (纸本)9781424422241

An adaptive control approach is proposed to deal with the multiple manipulators consensus problem based on the multi-agent theory. In the current multi-agent literature, agents were assumed to have determined models. However, the practical manipulator's kinematics contains uncertain parameters. By using the projection method, the adaptive updating law for uncertain kinematic parameters is derived. Then, the estimated manipulator Jacobian matrix can be obtained to design the decentralized controller. By the proposed controller, all the manipulators' end-effectors move towards the same configuration to achieve certain coordination tasks. In addition, performance of the control system is analyzed by the Lyapunov method, and the consensus error is proved to approach zero. Finally, the effectiveness of the proposed scheme is illustrated by simulations on a multiple PUMA 560 robots system.

关键词： Intelligent control control systems USA Councils

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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Development and control of dolphin-like underwater vehicle

Development and control of dolphin-like underwater vehicle

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American control Conference (ACC)

作者： Yonghui Hu Long Wang Junzhi Yu Jiyan Huo Yingmin Jia Languages Informatics Systems and Software Engineering Department Faculty of Computer Science Peking University Beijing China Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China Seventh Research Division Beihang University Beijing China

This paper is concerned with prototype development and motion control of a dolphin-like underwater robot. The propulsion and maneuvering of the robotic dolphin are realized with the flapping motion of the mechanical flippers and the combined heaving and pitching motions of the fluke. Mechanical design and control of the flipper apparatus and the flexible tail mechanism are presented. Through coordinated control of the propulsors, several swimming movements are designed. Preliminary experimental results verify the effectiveness of the proposed design scheme.

关键词： Underwater vehicles Dolphins Robot kinematics Propulsion Marine animals Motion control Tail Robot sensing systems control systems Automotive engineering

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Pole placement approaches for linear and fuzzy systems

Pole placement approaches for linear and fuzzy systems

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International Symposium on Intelligent systems and Informatics (SISY)

作者： S. Preitl R.-E. Precup P. A. Clep I.-B. Ursache J. Fodor I. Skrjanc Department of Automation and Applied Informatics Polytechnic슠University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Budapest Hungary Laboratory of Modelling Simulation and Control University of Ljubljana Ljubljana Slovenia

The paper investigates several pole placement methods in the linear case and suggests a new pole placement method by means of fuzzy linear equations. The linear methods concern the constant real part poles, the poles places on a circle, Butterworth configurations without and with the correction of the imaginary part, the pole-zero cancellation, and the poles placed on an ellipse. Low order systems are considered. The pole placement methods are compared by the digital simulation of control systemspsila behaviors with respect to the modification of the reference input. The conclusions are useful for continuous control systems, and they can be extended easily to digital control systems including quasi-continuous ones.

关键词： State feedback Fuzzy systems control systems Equations Poles and zeros control system synthesis Stability Digital control Nonlinear control systems automation

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NichingEDA: Utilizing the diversity inside a population of EDAs for continuous optimization

NichingEDA: Utilizing the diversity inside a population of E...

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Congress on Evolutionary Computation

作者： Weishan Dong Xin Yao Key Laboratory for Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Centre of Excellence for Research Computational Intelligence and Applications (CERCIA) School of Computer Science University of Binningham Birmingham UK

Since the estimation of distribution algorithms (EDAs) have been introduced, several single model based EDAs and mixture model based EDAs have been developed. Take Gaussian models as an example, EDAs based on single Gaussian distribution have good performance on solving simple unimodal functions and multimodal functions whose landscape has an obvious trend towards the global optimum. But they have difficulties in solving multimodal functions with irregular landscapes, such as wide basins, flat plateaus and deep valleys. Gaussian mixture model based EDAs have been developed to remedy this disadvantage of single Gaussian based EDAs. A general framework NichingEDA is presented in this paper from a new perspective to boost single model based EDAspsila performance. Through adopting a niching method and recombination operators in a population of EDAs, NichingEDA significantly boosts the traditional single model based EDAspsila performance by making use of the diversity inside the EDA population on hard problems without estimating a precise distribution. Our experimental studies have shown that NichingEDA is very effective for some hard global optimization problems, although its scalability to high dimensional functions needs improving. Analyses and discussions are presented to explain why NichingEDA performed well/poorly on certain benchmark functions.

关键词： Evolution (biology) Distance measurement Probabilistic logic Probability density function Computational modeling Gallium Optimization

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Further results on stability criteria for linear systems with time-varying delay

Further results on stability criteria for linear systems wit...

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IEEE International Conference on systems, Man and Cybernetics

作者： Jian Sun G.P. Liu Jie Chen Faculty of Advanced Technology University of Glamorgan Pontypridd UK Department of Automatic Control Beijing Institute of Technology Beijing P.R. China Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences Beijing P.R. China

The issue of stability of linear systems with time-varying delay is considered in this paper. By constructing a new type of Lyapunov functional which contains a novel triple integral term and using Finsler's lemma, new delay-dependent stability criteria are derived in terms of linear matrix inequality (LMI). Numerical examples are given to illustrate the effectiveness of the proposed method.

关键词： Stability criteria Linear systems Time varying systems Delay systems Symmetric matrices Linear matrix inequalities Delay estimation Automatic control Information science Laboratories

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