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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Dong Yue Xiuxia Yin Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9781467351942

This paper is concerned with the consensus problem for a class of Lipschitz nonlinear agents with Markov switching topologies and time-varying delays. The distributed event-triggered consensus control with an adaptive law in adjusting the coupling weights between neighboring agents is designed, which can not only guarantee the consensus performance in the mean square sense but also reduce the communication burden since the introduction of the event-triggered communication scheme. Different from the traditional event-triggers in the existing references, the parameter of the event-trigger in this paper is adaptively adjusted by using an adaptive law. A convincing simulation example is given to illustrate the theoretical results.

关键词： multi-agent system (MAS) adaptive event-triggered control random switching topology LMI Event trigger Self tuning Interim Local Management Interface Multi-agent systems Stochastic topology Markov

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Uncalibrated Path Planning in the image Space for the Fixed Camera Configuration

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Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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A probability-based object tracking method

A probability-based object tracking method

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4th International Conference on Intelligence Science and Big Data Engineering, IScIDE 2013

作者： Song, Xu Li, Guoqiang Li, Ying Zhang, Yanning Shaanxi Province Key Lab. of Speech and Image Information Processing Northwestern Polytechnical University Xi'an 710129 China Science and Technology on Electro-optic Control Laboratory Louyang 471009 China

ISBN: (纸本)9783642420566

Here we take advantage of the signal recovery power of Compressive Sensing (CS) to significantly reduce the computational complexity brought by the high-dimension image data, then an effective and efficient low-dimensional subspace representation of the object is computing by applying Principal Component Analysis (PCA) to a collection of object observations which are low-dimensional vectors derived from CS. An incremental PCA algorithm is used to update this subspace model for characterizing the object appearance changes. Meanwhile, two distances derived from Probabilistic Principal Component Analysis (PPCA): distance from feature space (DFFS) and distance in feature space (DIFS), are used to describe visual similarity between the learned subspace representation model and candidate targets. Comparing with the traditional used reconstruction error, the sum of two distances: DFFS + DIFS, is more accurate and more robust to noises and partial occlusions. Numerous experiment demonstrate that subspace representation model can handle the situation that target objects experience pose changes, scale changes, significant illumination variation, partial occlusions and so on. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Compressed sensing

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An ontology-based emergency domain knowledge model for HTN planning

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IFAC Proceedings Volumes 2013年第13期46卷 377-382页

作者： Dian Liu Hong-wei Wang Kuang-yu Liu Jian Wang Institute of Systems Engineering Huazhong University of Science and Technology P.R.China 430074 Key Laboratory of Education Ministry of Image processing and Intelligent Control Huazhong University of Science and Technology P.R. China 430074 (Tel: *** ) Key Laboratory of Education Ministry of Image processing and Intelligent Control Huazhong University of Science and Technology P.R. China 430074 (Tel: ***

Hierarchy task network (HTN) planning, as one of AI planning approaches, has been widely used in the emergency decision making for action planning in recent years, in which domain knowledge plays an important role. The special and complicated characteristics of emergency domain knowledge make it difficult to model, hindering the application of HTN planning to emergency action plan development. Though ontology modeling can get over the difficulty, existing ontology models for the emergency domain knowledge are either incomplete or not applicable for HTN planning. This paper aims at constructing emergency domain knowledge ontology applicable for HTN planner SHOP2 which can effectively support the emergency action plan development. An approach of translating an emergency domain knowledge model into a SHOP2 domain is also discussed in the paper. Finally an implementation of our work is roughly introduced.

关键词： Emergency action plan development HTN planning SHOP2 emergency domain knowledge ontology translation

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An improved method in change detection of multitemporal remote sensing image

An improved method in change detection of multitemporal remo...

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4th International Conference on Intelligence Science and Big Data Engineering, IScIDE 2013

作者： Liao, Fangshun Yu, Sufen Li, Ying Zhang, Yanning Shaanxi Provincial Key Lab. of Speech and Image Information Processing Northwestern Polytechnical University Xi'an Shaanxi 710072 China Science and Technology on Electro-optic Control Laboratory Louyang 471009 China

ISBN: (纸本)9783642420566

Traditional Markov random Field (MRF) methods assume that neighboring pixels tend to have the same label. However, this assumption is always inconsistent with the actual situation and affects the resultant accuracy of the algorithm. To overcome this, we propose an object-based Markov Random Field (OMRF) model and a change detection method based on OMRF model. The OMRF model assumes that pixels within same object are in the same class. First, we generate the difference image from multi-temporal remote sensing images. Second, Mean Shift is applied to extract objects from difference image. Finally, change detection map is generated by iterative algorithm. The experimental results show that the algorithm can effectively improve the detection accuracy of the algorithm on real remote sensing datasets. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Change detection

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Distributed leader-following swarm of heterogeneous multi-agent systems

Distributed leader-following swarm of heterogeneous multi-ag...

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13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013

作者： Liang, Haili Su, Housheng Wang, Xiaofan Chen, Michael Z. Q. Department of Automation Shanghai Jiao Tong University Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. © IFAC.

关键词： Multi agent systems

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AN ACTIVE CONTOUR MODEL BASED ON MULTIPLE BOUNDARY MEASURES

AN ACTIVE CONTOUR MODEL BASED ON MULTIPLE BOUNDARY MEASURES

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IEEE International Conference on image processing

作者： Yu Qiao Lei Zhou Jie Yang Yonghui Gao The Key Laboratory of Ministry of Education for System Control and Information Processing Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University

ISBN: (纸本)9781479923427

Weak boundary contrast, inhomogeneous background and overlapped intensity distributions of the object and background are main causes that may lead to failure of boundary detection for many traditional active contour methods. In this paper, we propose a region-based active contour model to address these problems in both local and global ways. A localized active contour framework is developed, in which two local boundary measures are introduced for the evolution of the level set function. These measures are used to select the boundary candidates for boundary preservation such that the evolution of the contour is guided in a reasonable way. The object boundary is determined by a global boundary measure which evaluates the boundary completeness during the entire evolution process. The experiments demonstrate that our method works well against weak boundary contrast, inhomogeneous background and overlapped intensity distributions.

关键词： Region-based active contour model Level set method Local boundary measures Boundary preservation Global boundary measure contour Boundary boundary layer set method boundary contrast Comet Nucleus Tour Edge detection evolution evolution evolution intensity distribution

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A Less Conservative Criterion for Exponential Mean-square Stability of Networked control Systems with Stochastic Packet Dropouts

A Less Conservative Criterion for Exponential Mean-square St...

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第三十二届中国控制会议

作者： Wen-Min Zhou Yan Wu Yan-Wu Wang Jiang-Wen Xiao School of Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan Institute of Marine Electric Propulsion CSIC

ISBN: (纸本)9781479900305

This paper is concerned with the modeling and the control of networked control systems(NCSs) with stochastic packet *** order to facilitate the technical description,network-induced time delay is assumed to be *** closed-loop NCS with stochastic packet dropout is modeled as a continuous-time system with time-varying delays and stochastic parameters. By utilizing the Lyapunov-Krasovskii functional method,the integral inequality lemma and the Gronwall-Bellman lemma,a less conservative criterion for exponential mean-square stability of NCS with stochastic packet dropout is presented in the form of nonlinear matrix ***,the state feedback gain matrix is provided based on solving a linear matrix inequality (LMI).Moreover,the state feedback gain matrix is obtained by solving a linear matrix inequality(LMI).Based on the solvability of this LMI,the allowable upper bound of continuous packet dropouts is determined,from which the maximum allowable time interval(MATI) can also be ***,a numerical example is given to demonstrate the effectiveness of our results.

关键词： exponential mean-square stability networked control system stochastic packet dropout maximum allowable time interval

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Distributed Leader-following Swarm of Heterogeneous Multi-agent Systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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Swarm Stability of Heterogeneous Multi-agent Systems via Periodically Intermittent control

Swarm Stability of Heterogeneous Multi-agent Systems via Per...

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第三十二届中国控制会议

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z. Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9789881563835

This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.

关键词： Multi-agent systems, Heterogeneous systems, Intermittent control, Swarm

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