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7th International Conference on Intelligent systems and Knowledge Engineering, ISKE 2012

作者： Liu, Yulei Yan, Liping Xiao, Bo Xia, Yuanqing Fu, Mengyin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 Beijing China

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are different. The noises of different sensors are cross-correlated and coupled with the system noise of the previous step. By use of the projection theory and induction hypothesis repeatedly, a sequential fusion estimation algorithm is derived. The algorithm is proven to be optimal in the sense of Linear Minimum Mean Square Error(LMMSE). Finally, a numerical example is presented to illustrate the effectiveness of the proposed algorithm. © Springer-Verlag Berlin Heidelberg 2014.

关键词： State estimation

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Nearly optimal control scheme for discrete-time nonlinear systems with finite approximation errors using generalized value iteration algorithm 19

Nearly optimal control scheme for discrete-time nonlinear sy...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wei, Qinglai Liu, Derong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9783902823625

In this paper, a new generalized value iteration algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The idea is to use iterative adaptive dynamic programming (ADP) to obtain the iterative control law which makes the iterative performance index function reach the optimum. The generalized value iteration algorithm permits an arbitrary positive semi-definite function to initialize it, which overcomes the disadvantage of traditional value iteration algorithms. When the iterative control law and iterative performance index function in each iteration cannot be accurately obtained, a new design method of the convergence criterion for the generalized value iteration algorithm with finite approximation errors is established to make the iterative performance index functions converge to a finite neighborhood of the lowest bound of all performance index functions. Simulation results are given to illustrate the performance of the developed algorithm. © IFAC.

关键词： Dynamic programming

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Implementing 3-D high maneuvers with a novel biomimetic robotic fish 19

Implementing 3-D high maneuvers with a novel biomimetic robo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wu, Zhengxing Yu, Junzhi Su, Zongshuai Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9783902823625

This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive principles of the robotic fish, detailed analysis and viable approaches to perform serval high maneuvers involving rotational maneuvers and translational maneuvers are presented. Based on the feedback of turning angles measured by an onboard six-axis gyroscope, the robotic fish achieves various agile and swift motions. Specifically, according to the C-start of Esox lucius, a flexible and wide-range yaw turn up to 360° is attained. Under the propulsive forces and moments from pectoral fins with symmetric or asymmetric pitching and heaving attack angles, the robotic fish can agilely flip in a pitch style and roll a 360° rotation around the swimming direction. Moreover, two types of backward swimming separately employing pectoral fins and body undulation are also accomplished. The experimental results verify the remarkable maneuverability of the developed robotic fish and the effectiveness of approaches presented for the maneuver control. © IFAC.

关键词： Robotics

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A Modified Asynchronous PSO Algorithm

A Modified Asynchronous PSO Algorithm

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Symposia and Workshops on Ubiquitous, Autonomic and Trusted Computing, UIC-ATC

作者： Daxin Tian Junjie Hu Haiying Xia He Liu The Ministry of Public Security of China Key Lab of Urban ITS Technology Optimization and Integration Hefei Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beihang University Beijing China Research Institute of Highway Ministry Transport Beijing China Department of CPLA The Quartermaster Equipment Institute of the General Logistics Beijing China

ISBN: (纸本)9781467372121

To analyze the convergence of PSO algorithm, a method based on two order constant coefficient recursive method is proposed in this paper. A new way to modify PSO and APSO algorithm achieved by adjusting the progress of algorithm is also proposed, thus forming MPSO and MAPSO algorithm, and this paper also presents Auto-regulative PSO algorithm which can automatically adjust parameters in the iterations. Ten basic functions are used for experiments to study the performance of the algorithms, and the results of experiments prove that Auto-regulative PSO algorithm and MAPSO are superior to MPSO and APSO respectively.

关键词： particle swarm optimisation iterative methods iterative methods Particle swarm optimization parametric subharmonic oscillator Methylprednisolone Suleptanate algorithms

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Road detection via unsupervised feature learning

Road detection via unsupervised feature learning

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International Conference on Image and Vision Computing New Zealand, IVCNZ

作者： Siyu Xia Junkang Zhang Kaiyue Lu A. K. Qin Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing China College of Engineering and Computer Science Australian National University Canberra ACT Australia School of Computer Science and Information Technology RMIT University Melbourne Victoria Australia

ISBN: (纸本)9781509003587

Computer vision based road detection is an indispensable and challenging task in many real-world applications such as obstacle detection in autonomous driving. Low-level image features (e.g., color and texture) and pre-trained models are commonly used for this task. In this paper, we propose a simple yet effective approach to detect roads from a single image, which avoids the supervised model training that typically relies on a considerable number of labeled images. The key idea is to leverage unsupervised feature learning to obtain good road representations. Specifically, we first represent an input road image as a set of image patches. The K-means clustering algorithm is then applied to these image patches (after pre-processing) to generate K cluster centroids. Thus obtained centroids will be used together with a nonlinear mapping function and a bag-of-words projection to derive the image's feature representation in pixel and region levels respectively. All pixels (of the input image) using the former mapping will be clustered by Density Peaks algorithm into several regions, and the regions represented by the latter feature will be grouped by a graph cut method into two classes: road and non-road. Experimental results on several complicated road images demonstrate the effectiveness of our proposed method.

关键词： Roads Feature extraction Training Image color analysis Clustering algorithms Testing Image segmentation

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Optimizing RSUs Network against Cascading Failure

Optimizing RSUs Network against Cascading Failure

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Symposia and Workshops on Ubiquitous, Autonomic and Trusted Computing, UIC-ATC

作者： Wenzhong Tang Xiongyu Shan Daxin Tian Zhengguo Sheng Haiying Xia Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beihang University Beijing China The Ministry of Public Security of China ITS Technology Optimization and Integration Hefei China Department of Engineering and Design The University of Sussex Richmond UK Research Institute of Highway Ministry Transport Beijing China

ISBN: (纸本)9781467372121

Nowadays, with the development of the vehicular ad hoc network, the reliability and stability of the communication network between RSUs has become a critical issue. So in the case of cascading failure, what topological structure can generate a relatively robust network with a relatively low cost? In this paper, we take advantage of a cascading failure model to simulate the cascading failure process of the network, at the same time, we make use of an evolution algorithm to evolve the network. Thus can obtain the network with relatively best comprehensive properties. Then take advantage of the statistical characteristics to analyze the topological structure of the network. The analysis shows that, the high clustering, high assortativity and the relatively large average shortest path length are all beneficial to improve the comprehensive properties of the network, while the network with good comprehensive properties also has a relatively homogeneous degree distribution.

关键词： Power system faults Power system protection complex networks Communication networks Vehicles Vehicular ad hoc networks Load modeling

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An Evaluation Model for Epidemic Routing in VANETs

An Evaluation Model for Epidemic Routing in VANETs

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Symposia and Workshops on Ubiquitous, Autonomic and Trusted Computing, UIC-ATC

作者： Daxin Tian Yue Yang Haiying Xia Guohui Zhang Ministry of Public Security of China Key Lab of Urban ITS Technology Optimization and Integration Hefei China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beihang University Beijing China Research Institute of Highway Ministry Transport Beijing China School of Information Engineering Academy of Armored Forces Engineering Beijing China

ISBN: (纸本)9781467372121

Epidemic routing has emerged as a promising candidate for providing message dissemination method in vehicular ad hoc networks. In this paper, we present a novel model to evaluate the capacity of epidemic routing in vehicular networks with considering the traffic signal control as a significant factor in urban area. Our study reveal that epidemic routing can behave differently in various traffic signal control situations where messages can be forwarded by vehicles passing through the intersections from other directions. The simulation results prove the accuracy of the model.

关键词： Roads Vehicles Delays Routing Turning Simulation Dynamic programming

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The Design of Robust MIMO Neural Network Disturbance Observer for Multi-variable System 33

The Design of Robust MIMO Neural Network Disturbance Observe...

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第三十三届中国控制会议

作者： LI Juan LI Shihua LI Shengquan School of Automation Southeast UniversityKey Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Hydraulic Energy and Power Engineering Yangzhou University

ISBN: (纸本)9781479947249

Multi-variable systems widely exist in the practical engineering control systems whose performances are always severely interrupted by strong disturbances including unmodeled dynamics, parameter variations, couplings and external disturbances. Disturbance observer(DOB) is known as an effective technique to estimate disturbances and has been extensively applied for feed-forward compensation design in the presence of disturbances. Yet many disturbance observer techniques in previous literature are just used for single-input-single-output(SISO) systems or the DOBs can be applied in the multi-variable systems, but the DOBs are still SISO DOBs. A decoupled robust multi-input-multi-output neural network disturbance observer(MNNDOB) is designed for the multi-input-multi-output(MIMO) systems. Simulation results on the mixing tank show that the proposed method has better disturbance estimation performance when there are severe model mismatches compared with the MIMO linear disturbance observer.

关键词： Multi-variable system,Model mismatches,MIMO neural network disturbance observer,Disturbance estimation

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The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

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Robotics and Biomimetics 2014年第1期1卷 1-20页

作者： Chen, Yixiong Hu, Jin Peng, Long Hou, Zeng-guang State Key Laboratory of Management and Control for Complex Systems Beijing China

To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active compliance of the robot is established, and the patient’s voluntary effort to accomplish the training task is inspired. During the training process, the patient’s related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen in order to induce a desired active torque which is proportional to the voluntary effort extracted from the electromyography signals of the related muscles using back propagation neural networks. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. Simulation conducted using Matlab and the experiment with a spinal cord injury subject and a healthy subject have shown satisfactory results which verify the feasibility of this control strategy.

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Editorial tnnls special issues and editorial board changes

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IEEE Transactions on Neural Networks and Learning systems 2014年第1期25卷 1-8页

作者： Liu, Derong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Electrical and Computer Engineering University of Illinois at Chicago Chicago IL 60607 United States

Presents a listing of changes to the Editorial Board for this publication.

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