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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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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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State Estimation of Finite-State Hidden Markov Models Subject to Stochastically Event-triggered Measurements

State Estimation of Finite-State Hidden Markov Models Subjec...

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IEEE Annual Conference on Decision and control

作者： Wentao Chen Junzheng Wang Ling Shi Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781479978878

We consider the event-triggered state estimation of a finite-state hidden Markov model with a general stochastic event-triggering condition. Utilizing the change of probability measure approach and the event-triggered measurement information available to the estimator, analytical expressions for the conditional probability distributions of the states are obtained, based on which the minimum mean square error event-based state estimates are further calculated. We show that the results also cover the case of packet dropout, under a special parameterization of the event-triggering conditions. With the results on state estimation, a closed-form expression of the average sensor-to-estimator communication rate is also presented. The effectiveness of the proposed results is illustrated by a numerical example and comparative simulations.

关键词： State estimation Hidden Markov models Event trigger Probability distribution Mean square error numerical example

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Improving differential evolution with impulsive control framework

Improving differential evolution with impulsive control fram...

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Congress on Evolutionary Computation

作者： Wei Du Sunney Yung Sun Leung Chun Kit Kwong Yang Tang Institute of Textiles and Clothing The Hong Kong Polytechnic University Hong Kong Hong Kong Polytechnic University Kowloon HK Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Hong Kong The Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai China

ISBN: (纸本)9781479974931

Differential evolution (DE) is a simple but powerful evolutionary algorithm, which has been widely and successfully used in many areas. In this paper, an impulsive control method is introduced to the DE framework, and the impulsive DE (IpDE) is proposed for improving the performance of DE. The impulsive control operation instantly moves the individuals which do not update for continuous pre-defined generations to a desired state based on the individuals with better fitness values in the current population. This way, IpDE controls individuals' positions in the space domain according to the stagnation status of the population. In order to validate the effectiveness of IpDE, the presented framework is applied to the original DE algorithms, as well as several state-of-the-art DE variants. Experimental results exhibit that IpDE is a simple but effective framework to improve the performance of the studied DE algorithms.

关键词： Sociology Statistics optimization Radiation detectors Aerospace electronics Hybrid power systems Evolution (biology)

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Automatic calibration method of voxel size for cone-beam 3D-CT scanning system

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Chinese Physics C 2014年第4期38卷 69-74页

作者：杨民王晓龙刘义鹏孟凡勇李兴东刘文丽魏东波 School of Mechanical Engineering and Automation Beijing Univ.of Aeronautics and Astronautics Department of Control Science and Engineering Harbin Institute of Technology State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of Sciences National Institute of Metrology

For a cone-beam three-dimensional computed tomography （3D-CT） scanning system, voxel size is an important indicator to guarantee the accuracy of data analysis and feature measurement based on 3D-CT images. Meanwhile, the voxel size changes with the movement of the rotary stage along X-ray direction. In order to realize the automatic calibration of the voxel size, a new and easily-implemented method is proposed. According to this method, several projections of a spherical phantom are captured at different imaging positions and the corresponding voxel size values are calculated by non-linear least-square fitting. Through these interpolation values, a linear equation is obtained that reflects the relationship between the voxel size and the rotary stage translation distance from its nominal zero position. Finally, the linear equation is imported into the calibration module of the 3D-CT scanning system. When the rotary stage is moving along X-ray direction, the accurate value of the voxel size is dynamically exported. The experimental results prove that this method meets the requirements of the actual CT scanning system, and has virtues of easy implementation and high accuracy.

关键词： cone-beam CT voxel size least square fitting automatic calibration

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