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Position Measurement Based Slave Torque Feedback Control for Teleoperation systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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A survey of occlusion detection method for visual object

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High technology Letters 2016年第3期22卷 256-265页

作者：张世辉 He Huan Liu Jianxin Zhang Yucheng Pang Yunchong Sang Yu School of Information Science and Engineering Yanshan University Qinhuangdao 066004 P. R. China The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004 P. R. China

Occlusion problem is one of the challenging issues in vision field for a long time,and the occlusion phenomenon of visual object will be involved in many vision research fields. Once the occlusion occurs in a visual system,it will affect the effects of object recognition,tracking,observation and operation,so detecting occlusion autonomously should be one of the abilities for an intelligent vision system. The research on occlusion detection method for visual object has increasingly attracted attentions of scholars. First,the definition and classification of the occlusion problem are ***,the characteristics and deficiencies of the occlusion detection methods based on the intensity image and the depth image are analyzed respectively,and the existing occlusion detection methods are compared. Finally,the problems of existing occlusion detection methods and possible research directions are pointed out.

关键词： visual object occlusion detection intensity image depth image

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A PSO Based Multi-Domain virtual Network Embedding Approach

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China Communications 2019年第4期16卷 105-119页

作者： Yongjing Ni Guoyan Huang Sheng Wu Chenxi Li Peiying Zhang Haipeng Yao College of Information Science and Engineering Yanshan University College of Information Science and Engineering Hebei University of Science and Technology The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Yanshan University School of Information and Communication Engineering Beijing University of Posts and Telecommunications College of Computer & Communication Engineering China University of Petroleum (East China)

This paper proposed a multi-domain virtual network embedding algorithm based on multi-controller SDN architecture. The local controller first selects candidate substrate nodes for each virtual node in the domain. Then the global controller abstracts substrate network topology based on the candidate nodes and boundary nodes of each domain, and applies Particle Swarm Optimization Algorithm on it to divide virtual network requests. Each local controller then embeds the virtual nodes of the divided single-domain virtual network requests in the domain, and cooperates with other local controllers to embed the inter-domain virtual links. Simulation experimental results show that the proposed algorithm has good performance in reducing embedding cost with good stability and scalability.

关键词： multi-domain virtual network embedding candidate node particle swarm optimization algorithm virtual network request division

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A homogenization method for nonlinear inhomogeneous elastic materials

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virtual Reality & Intelligent Hardware 2021年第2期3卷 156-170页

作者： Jing ZHAO Fei ZHU Liyou XU Yong TANG Sheng LI College of Information Science and Engineering Yanshan UniversityQinhuangdaoHebei 066004China The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province QinhuangdaoHebei 066004China School of Electronics Engineering and Computer Science Peking UniversityBeijing 100871China Beijing Engineering Research Center for Virtual Simulation and Visualization Beijing 100871China

Background Fast simulation techniques are strongly favored in computer graphics,especially for the nonlinear inhomogeneous elastic *** homogenization theory is a perfect match to simulate inhomogeneous deformable objects with its coarse discretization,as it reveals how to extract information at a fine scale and to perform efficient computation with much less *** existing homogenization method is not applicable for ubiquitous nonlinear materials with the limited input deformation *** In this paper,we have proposed a homogenization method for the efficient simulation of nonlinear inhomogeneous elastic *** approach allows for a faithful approximation of fine,heterogeneous nonlinear materials with very coarse *** analysis provides the basis of a linear deformation space and modal derivatives extend the space to a nonlinear regime;based on this,we exploited modal derivatives as the input characteristic deformations for *** also present a simple elastic material model that is nonlinear and anisotropic to represent the homogenized *** nonlinearity of material deformations can be represented properly with this *** material properties for the coarsened model were solved via a constrained optimization that minimizes the weighted sum of the strain energy deviations for all input deformation *** arbitrary number of bases can be used as inputs for homogenization,and greater weights are placed on the more important low-frequency *** Based on the experimental results,this study illustrates that the homogenized material properties obtained from our method approximate the original nonlinear material behavior much better than the existing homogenization method with linear displacements,and saves orders of magnitude of computational *** The proposed homogenization method for nonlinear inhomogeneous elastic materials is capable of capturing the nonlinear dynamics of the

关键词： Physical-based simulation Homogenization theory Heterogeneous material Modal basis

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Analysis of a new type islanding detection method for micro-grid based on the calculation of variance 8

Analysis of a new type islanding detection method for micro-...

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8th IEEE International Power Electronics and Motion Control Conference, IPEMC-ECCE Asia 2016

作者： Ying, Zhang Wang, Xiaohuan Zhang, Chunjiang Feng, Jianzhou Yanshan University Key Lab of Power Electronics for Energy Conservation and Motor Drive of HeBei Province Qinhuangdao China Yanshan University Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao China

ISBN: (纸本)9781509012107

UL1741 rules that to realize the islanding detection, the inverter must stop running within 2s after the main grid failure occurs. However, with the increasing of the capacity of distributed generation system, in order to guarantee the stability and reliability of power supply simultaneously, IEEE Std.1547 proposed the concept that DG runs off-grid after islanding occurs. The concepts of the traditional islanding protection were attacked, the original islanding detection methods are no longer suitable for the flexible micro power grid operation system. This paper presents a new active islanding detection method which could suitable for micro-grid operation and control. The method, which under the premise of without destroying islanding operation conditions, fine-tunes the PWM modulation wave, real-time acquisition the voltage of point of common coupling, using the mathematical statistics method to extract the quadratic differential of the output voltage, according to the changes of the mathematical characteristic value in the grid connected mode and the islanding mode to judge if there was islanding occurred, and the theory basis of quantitative analysis of the disturbance quantity selection. Simulation and experiment results verify the correctness and feasibility of the proposed method. © 2016 IEEE.

关键词： Distributed power generation

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A PTV method based on SIFT feature points matching for velocimetry measurement of oil-water two-phase flow in horizontal pipelines

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2015年第12期8卷 195-206页

作者： Kong, Weihang Li, Lei Kong, Lingfu Li, Yingwei Xie, Na School of Information Science and Engineering Yanshan University QinhuangdaoHebei China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Hebei China Information Department of Library Yanshan University QinhuangdaoHebei China

Due to the advantages of scale invariant feature transform (SIFT) feature points on the invariant to image scale, brightness, rotation, occlusion, noise and so on, this paper proposes a Particle Tracking Velocimetry (PTV) method, based on SIFT feature points matching for velocity measurement of oil-water two-phase flow in horizontal pipelines. The oil-water two-phase flow with large droplet diameter, oil droplets overlap, ununiform lighting, and the centroid position of oil droplets can’t be obtained only by using traditional PTV methods through morphological processing. However, in this paper, the algorithm can directly achieve the average velocity of the flow field according to the positions of correctly matched SIFT feature points, and there is no need to extract the centroid coordinates of each oil droplet. The experimental results show that the proposed algorithm not only can be used in the average velocity measurement of oil-water two- phase flow in horizontal pipelines, but also can reach 95% in the measuring accuracy when the matching feature points are enough sufficient. © 2015 SERSC.

关键词： Velocity measurement

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Research on Software Community Division Method Based on Inter-node Dependency 16th

Research on Software Community Division Method Based on Inte...

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16th International Conference on Intelligent Computing, ICIC 2020

作者： Dong, Jun Hao, Chengqian Ren, Jiadong Lu, Haitao College of Information Science and Engineering Yanshan University Qinhuangdao066000 China The Key Computer Virtual Technology and System Integration Laboratory of Hebei Province Qinhuangdao066000 China

ISBN: (纸本)9783030607982

The mining of software community structure is of great significance in identifying software design pattern, software maintenance, software security and optimizing software structure. To improve the accuracy of description of software execution status model, A new method to construct merge software execute graph is proposed that based on the software execution network model. And then to get the software execution path through the software execution sequence analysis, The ND (Node Dependence) was proposed to measure the tightness of inter-node dependencies based on the design principle of "high cohesion, low coupling" of software. At last, depends on the software execution path, the SLCA (Software label Communities Algorithm) community division algorithm is proposed to improve stability of community partition algorithm and validity of software module partition. © 2020, Springer Nature Switzerland AG.

关键词： Complex networks

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Learning to Cluster Person in the Video via Graph Convolution Network 13

Learning to Cluster Person in the Video via Graph Convolutio...

引用

13th International Conference on Information technology in Medicine and Education, ITME 2023

作者： Li, Wei Liang, Sixin Bian, Ang Du, Guodong College of Computer Science Sichuan University Chengdu China School of Information Science and Engineering Yanshan University The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao China

ISBN: (纸本)9798350319156

Video person re-identification is receiving academic interest. However, the practical application of the algorithm is hardly supported because of prohibitive annotated data. Hence, the study for unlabeled data will lead to an attractive alternative. This work explores an innovative strategy, namely, learning to cluster unlabeled person in the video through graph convolutional networks. In this paper, we find that the possibility of inter-frame linkage can be inferred from context. Therefore, a pose-guided topology linkage clustering framework is proposed. Our framework consists of three modules: (i) a pose-guided representation module;(ii) a pose-guided embedding module;(iii) a link prediction module. Firstly, the representation coding alone is performed at the level of relational induction bias, embedding the implicit pose structure information in image features. Then, based on the consideration of the topology relationship between adjacent and cross-frame, graph convolutional network is introduced to infer the likelihood of linkage between frame nodes. Experiments show that the method demonstrates excellent scalability in addition to being an effective response to person clustering in case of changes, and does not need the number of clusters as a prior. © 2023 IEEE.

关键词： Convolution

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Mining Important Functions in Software Network by Node Vulnerability 2

Mining Important Functions in Software Network by Node Vulne...

引用

2019 2nd International Conference on computer Information Science and Artificial Intelligence, CISAI 2019

作者： Zhang, Bing Sun, Shengting Hao, Xiaobing School of Information Science and Engineering Yanshan University Hebei Qinhuangdao China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao City066004 China

Given that analysis on the vulnerability of functions is helpful to the detection and improvement of software security, this paper aims to propose an efficient methods to identify the vulnerable nodes (ITVN) in different software by the interdependence of functions. First, the dynamic software execution process was constructed as Software Execution Dependency Network (SEDN) based on Complex network theory. Second, by analyzing the dependency relationship among functions, the algorithm calVulAndScoOfNodes (CVSN) was designed to compute the vulnerability and the affected scope of each node for further analysis. Third, in order to measure the functions vulnerability in the whole software network, the algorithm calVulDegreeOfNodes (CVDN) was put forward to calculate the vulnerable degree of each node. Finally, the Vulnerable Nodes in different software were obtained by ITVN. Experimental results show that the vulnerable nodes selected as important nodes are well-reasoned in software network by testing different software, and the measures are effective for evaluating nodes vulnerability. © Published under licence by IOP Publishing Ltd.

关键词： Software testing

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Model for Software Behaviour Detection Based on Process Algebra and system Call

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China Communications 2013年第11期10卷 24-36页

作者：申利民王涛马川 College of Information Science and Engineering Yanshan University The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Hebei Normal University of Science and Technology

Behaviour detection models based on automata have been studied widely. By add- ing edge ε, the local automata are combined into global automata to describe and detect soft- ware behaviour. However, these methods in- troduce nondeterminacy, leading to models that are imprecise or inefficient. We present a model of software Behaviour Detection based on Process Algebra and system call （BDPA）. In this model, a system call is mapped into an action, and a function is mapped into a process We construct a process expression for each function to describe its behaviour. Without con- strutting automata or introducing nondeter- minacy, we use algebraic properties and algo- rithms to obtain a global process expression by combining the process expressions derived from each function. Behaviour detection rules and methods based on BDPA are determined by equivalence theory. Experiments demon- strate that the BDPA model has better preci- sion and efficiency than traditional methods.

关键词： intrusion detection software be-haviour model static analysis process algebra system call

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