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Chinese control Conference (CCC)

作者： Yunji Zhao Hailong Pei Baoluo Liu School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 China Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education Guangzhou 510640 China Department of Computer and Information Engineering Luoyang Institute of Science and Technology Henan 471023 China

Object tracking algorithm based on Meanshift algorithm with fixed kernel bandwidth does not realize object tracking correctly with the scale of object changed. According to this, a scheme of kernel bandwidth adaptive adjustment and predictions of object cancroids based on Kalman filter is proposed in this paper. In this algorithm, Object location predicted based on Kalman filter is used to initialize the Meanshift algorithm. The variation tendency of the kernel bandwidth is also determined based on Kalman filter. Experiment results demonstrate that this algorithm can realize the kernel bandwidth adaptive adjustment and object location prediction. The robustness of the tracking algorithm is also enhanced.

关键词： Prediction algorithms Kalman filters Electronic mail Kernel Bandwidth Robustness Conferences

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Multi-Agent Consensus under Delayed Feedback: Fundamental Constraint on Graph and Fundamental Bound on Delay

Multi-Agent Consensus under Delayed Feedback: Fundamental Co...

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American control Conference

作者： Tian Qi Li Qiu Jie Chen Center for Control and Optimization School of Automation Science and Engineering South China University of Technology Guangzhou China work performed while at Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Department of Electronic Engineering City University of Hong Kong Kowloon Hong Kong

ISBN: (纸本)9781479901777

In this paper, we study the consensus problem for discrete-time multi-agent systems over an undirected, fixed network communication graph. We assume that the agents' input is subject to a constant albeit possibly unknown time delay, and employ a distributed dynamic state feedback control protocol. Drawing upon concepts and techniques from robust control, notably those concerning gain margin optimization and analytic interpolation, we derive explicit, closed-form conditions for general linear agents to achieve consensus. Our results display an explicit dependence of the consensus condition on the agent's unstable dynamics and the delay value, showing that delayed communication between agents will generally hinder consensus and impose restrictions on the network topology. We also show that a lower bound on the maximal delay allowable for consensus can be computed by a simple line search method.

关键词： agents network maximal Agents Maximal delay Line graph Network topology Delayed Feedback Explicit

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Design of motion control of dam safety inspection underwater vehicle

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Journal of Central South University 2012年第6期19卷 1522-1529页

作者：孙玉山万磊甘永王建国姜春萌 State Key Laboratory of Autonomous Underwater Vehicle(Harbin Engineering University) Beijing Institute and Control Engineering China Ship Development and Design Center Humanities Department City College of Wuhan University of Science and Technology

Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and *** dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is *** architecture of DSIROV's motion control system is introduced,which includes hardware and software *** hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating *** flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also *** reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.

关键词： dam safety inspection remotely operated vehicle （DSIROV） control system architecture embedded system automaticcontrol of dam-scanning dead-reckoning

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Tuning and experimental evaluation of a likelihood-based engine knock controller

Tuning and experimental evaluation of a likelihood-based eng...

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IEEE Annual Conference on Decision and control

作者： Andreas Thomasson Lars Eriksson Tobias Lindell James C. Peyton Jones Jill Spelina Jesse Frey Division of Vehicular Systems at the Department of Electrical Engineering Linkoping University Linkoping SE-581 83 Sweden Center for Nonlinear Dynamics and Control and the Department of Electrical and Computer Engineering Villanova University Villanova PA 19085 USA Science Technology Engineering and Mathematics Division Delaware County Community College Media PA 19063 USA Department of Mathematics and Statistics Villanova University Villanova PA 19085 USA

ISBN: (纸本)9781467357159

A new likelihood-based stochastic knock controller, that achieves a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response is presented. Up until now it has only been evaluated using simulations and the main contribution here is the implementation and validation of the knock controller on a five cylinder engine with variable compression ratio. Furthermore, an extension of the fast response strategy and a re-tuning of the controller is shown to improve performance. The controller is validated with respect to its robustness to changes in engine operating condition as well as compression ratio. The likelihood-based controller is demonstrated in engine tests and compared to a conventional controller and it is shown that it is able to operate closer to the knock limit with less variations in control action without increasing the risk of engine damage.

关键词： controllers tuning Engine knock compression ratio engine tests control action Engines

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Experimental Quantum Computing to Solve Systems of Linear Equations

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Physical Review Letters 2013年第23期110卷 230501-230501页

作者： X.-D. Cai C. Weedbrook Z.-E. Su M.-C. Chen Mile Gu M.-J. Zhu Li Li Nai-Le Liu Chao-Yang Lu Jian-Wei Pan Hefei National Laboratory for Physical Sciences at Microscale and Department of Modern Physics University of Science and Technology of China Hefei Anhui 230026 China Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto M5S 3G4 Canada Centre for Quantum Technologies National University of Singapore Singapore 117543 Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University Beijing 100084 China

Solving linear systems of equations is ubiquitous in all areas of science and engineering. With rapidly growing data sets, such a task can be intractable for classical computers, as the best known classical algorithms require a time proportional to the number of variables N. A recently proposed quantum algorithm shows that quantum computers could solve linear systems in a time scale of order log (N), giving an exponential speedup over classical computers. Here we realize the simplest instance of this algorithm, solving 2×2 linear equations for various input vectors on a quantum computer. We use four quantum bits and four controlled logic gates to implement every subroutine required, demonstrating the working principle of this algorithm.

关键词： Quantum computers

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Performance Evaluation of Cooperative Relay and Particle Swarm Optimization Path Planning for UAV and Wireless Sensor Network

Performance Evaluation of Cooperative Relay and Particle Swa...

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IEEE Globecom Workshops

作者： Dac-Tu Ho Esten Ingar Grotli P. B. Sujit Tor Arne Johansen Joao Borges De Sousa Center for Autonomous Marine Operations and Systems (AMOS) Department of Engineering Cybernetics Norwegian University of Science and Technology Department of Electrical and Computer Engineering Faculdade de Engenharia da Universidade do Porto

ISBN: (纸本)9781479928521

Energy efficiency is crucial when wireless nodes are deployed in a remote or isolated area. This paper provides an optimal solution for data gathering from a wide area Wireless Sensor Network (WSN) with the use of Unmanned Aerial Vehicles (UAVs). Particle Swarm Optimization (PSO) is proposed as an optimization method to find the waypoints for a UAV in order to reduce the energy consumption and bit error rate (BER) of the sensor nodes, and the UAV travel time. In our previous work, the sensor nodes were required to transmit data to a Cluster Head (CH) node, which then forwarded the data to the UAV. The waypoints were restricted to be straight above the CH. In this work we employ cooperative relay, to make the data gathering more efficient. In addition, the waypoints of the UAV can be selected freely. To illustrate the effectiveness, we compare our new strategy to the one of our previous paper. Numerical results illustrate that the performance gap between them increases with the number of waypoints, in favor of the new strategy. Furthermore, the optimal number of waypoints for the UAV is also described, based on the size of the sensor network area and the density of the sensor node distribution. These contributions have maximized the network lifetime and communication quality, while minimized the UAV's flying time.

关键词： Relays Energy consumption Bit error rate Wireless sensor networks Data collection Wireless communication Clustering algorithms

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An ontological representation model to tailor ambient assisted interventions for wandering

An ontological representation model to tailor ambient assist...

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2012 AAAI Fall Symposium

作者： Rodríguez, Marcela D. Navarro, René F. Favela, Jesús Hoey, Jesse Computer Science Department CICESE Research Center Ensenada Mexico Computer Engineering School Autonomous University of Baja California Mexicali Mexico School of Computer Science University of Waterloo Waterloo ON N2L 3G1 Canada

ISBN: (纸本)9781577355908

Wandering is a problematic behavior that is common among people with dementia (PwD), and is highly influenced by the elders' background and by contextual factors specific to the situation. We have developed the Ambient Augmented Memory System (AAMS) to support the caregiver to implement interventions based on providing external memory aids to the PwD. To provide a successful intervention, it is required to use an individualized approach that considers the context of the PwD situation. To reach this end, we extended the AAMS system to include an ontological model to support the context-aware tailoring of interventions for wandering. In this paper, we illustrate the ontology flexibility to personalize the AAMS system to support direct and indirect interventions for wandering through mobile devices. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Ontology

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Synchronization of FitzHugh-Nagumo systems: An adaptive approach

Synchronization of FitzHugh-Nagumo systems: An adaptive appr...

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2012 8th International Conference on Natural Computation, ICNC 2012

作者： Wei, Wei Zuo, Min Liu, Zaiwen Wang, Jing Department of Automatic Control Computer and Information Engineering School Beijing Technology and Business University Beijing China National Engineering Research Center of Advanced Rolling University of Science and Technology Beijing China

ISBN: (纸本)9781457721311

In this article, synchronization of FitzHugh-Nagumo (FHN) neurons is considered. Adaptive controller based on active compensation is adopted to drive the slave neuron to track the master neuron. Sufficient condition for asymptotic stability of the close-loop system is derived. Numerical simulation results are given to confirm the adaptive controller is valid. © 2012 IEEE.

关键词： Neurons

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Hierarchical modelling for unsupervised tumour segmentation in PET

Hierarchical modelling for unsupervised tumour segmentation ...

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IEEE-EMBS International Conference on Biomedical and Health Informatics, BHI 2012. In Conj. with the 8th Int. Symp.on Medical Devices and Biosensors and the 7th Int. Symp. on Biomedical and Health engineering

作者： Zeng, Ziming Shepherd, Tony Zwiggelaar, Reyer Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China Department of Computer Science Aberystwyth University United Kingdom Turku PET Center Department of Oncology and Radiotherapy Turku University Hospital Finland

ISBN: (纸本)9781457721779

This paper presents a fully automated and unsupervised method for the segmentation of tumours in PET images. The segmentation technique incorporates a pre-processing stage and a hierarchical approach based on an improved region-scalable energy fitting model. The advantages of the approach lie in its multi-level processing. It first considers the whole range of grey levels in the image volume, which is able to avoid local maxima. Subsequently, the local grey levels range is utilized to refine the segmentation which effectively avoids false negative segmentations. We validate our method using real PET images of head-and-neck cancer patients as well as custom-designed phantom PET images. Compared with other popular approaches, the experimental results on both data sets show that our method can accurately segment tumours in PET images. © 2012 IEEE.

关键词： Image segmentation

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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