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IEEE International Conference on Robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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Factors influencing message dissemination through social media

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Physical Review E 2018年第6期97卷 062306-062306页

作者： Zeyu Zheng Huancheng Yang Yang Fu Dianzheng Fu Boris Podobnik H. Eugene Stanley Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang 110016 China University of Chinese Academy of Sciences Beijing 100049 China Luxembourg School of Business Luxembourg L-2453 EU Faculty of Information Studies SI-8000 Novo Mesto Slovenia EU Faculty of Civil Engineering University of Rijeka 51000 Rijeka Croatia EU Zagreb School of Economics and Management 10000 Zagreb Croatia EU Center for Polymer Studies Boston University Boston Massachusetts 02215 USA

Online social networks strongly impact our daily lives. An internet user (a “Netizen”) wants messages to be efficiently disseminated. The susceptible-infected-recovered (SIR) dissemination model is the traditional tool for exploring the spreading mechanism of information diffusion. We here test our SIR-based dissemination model on open and real-world data collected from Twitter. We locate and identify phase transitions in the message dissemination process. We find that message content is a stronger factor than the popularity of the sender. We also find that the probability that a message will be forwarded has a threshold that affects its ability to spread, and when the probability is above the threshold the message quickly achieves mass dissemination.

关键词： Dynamics of networks Network phase transitions Network structure

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Data-driven Unfalsification based Robust Fault Tolerant control 35

Data-driven Unfalsification based Robust Fault Tolerant Cont...

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第35届中国控制会议

作者： Ma Weize Li Xiaocheng Wang Jingcheng Wang Bohui Lin Hai National Engineering and Research Center for Commercial Aircraft Manufacturing Commercial Aircraft Corporation of China Ltd Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781509009107

The paper combined the unfalsified control(UC) which is a data-driven method and Youla parameterization for fault-tolerant control(FTC).The controller reconstruction of the FTC method uses the Youla parameterization for handling with faulty *** is a passive and model-free FTC method without know about plant models or faults *** candidate controller structure is pre-designed by the prior information,and then the FTC is done through tuning Youla parameter without changing the controller *** UC-FTC is done by the following three steps:design of candidate controllers,performance monitor,switching and *** method also provides an finite controller set to seek for the best performance by unfalsified ***,the UC-FTC method is applied to a MIMO system.

关键词： unfalsified control Youla parameterization fault-tolerant control

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A stereo vision tracking algorithm based on 3-dimensional delaunay triangulation 28

A stereo vision tracking algorithm based on 3-dimensional de...

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28th Chinese control and Decision Conference, CCDC 2016

作者： Liu, Guodong Sha, Liu Li, Jianxun School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Institute of Spaceflight Control Technology 200233 China

ISBN: (纸本)9781467397148

Single-camera object detection makes three-dimensional information into two-dimensional images, which misses the three-dimensional structure information of object. In addition, due to the changes in perspective, scale and attitude, it is difficult to track object robustly. In this paper, we put forward a stereo vison tracking algorithm based on 3-dimensional (3D) Delaunay triangulation. Firstly, 3D key points with Scale Invariant Feature Transform (SIFT) descriptors are extracted in 3D point clouds. Then, 3D Delaunay triangulation is built to represent the spatial configuration information for the feature points. Based on the unique topological structure of 3D Delaunay triangulation of a set of key points, the object representation is obtained. Finally in particle filter framework, 3D target tracking is in process. Here, we fully exploit spatial geometry to restrict the feature points, which build a discriminative model for object tracking. Experiments show that the method has good tolerance for changes in illumination, scale and attitude. © 2016 IEEE.

关键词： 3D Delaunay Triangulation 3D SIFT Particle Filter Stereo Vision

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A hierarchical urban network control with integration of demand balance and traffic signal coordination

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IFAC-PapersOnLine 2016年第3期49卷 31-36页

作者： Zhou, Zhao Lin, Shu Xi, Yugeng Li, Dewei Zhang, Jun Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control Information Processing Ministry of Education of China Shanghai200240 China School of Computer and Control Engineering University of Chinese Academy of Science Beijing100049 China Joint Institute of UM-SJTU Shanghai Jiao Tong University Shanghai200240 China

This paper concerns the integration of demand balance control and traffic flow coordination control in a hierarchical framework for complex urban traffic networks. At the first level, a complex traffic network is first partitioned into several subnetworks. The traffic dynamics in each subnetwork is modeled by utilizing the concept of Macroscopic Fundamental Diagram (MFD), which relates the network-wide space-mean flow and the number of vehicles at the aggregated level. This model aims at designing a demand balance model predictive controller (MPC), which can improve the internal flow inside the subnetwork by regulating the input flows from outside. At the second level, based on a more detailed traffic flow model, the signal timings of all intersections for each subnetwork are determined by a flow coordination MPC controller, which aims at distributing the number of vehicles in each subnetwork as homogeneously as possible. The effectiveness of the proposed approach is investigated via simulation under different scenarios on a hypothetical urban traffic network, and the performance is compared with other control strategies. © 2016

关键词： Street traffic control

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Derivation languages of splicing P systems 12th

Derivation languages of splicing P systems

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12th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2017

作者： Mahalingam, Kalpana Paul, Prithwineel Song, Bosheng Pan, Linqiang Subramanian, K.G. Department of Mathematics Indian Institute of Technology Madras Chennai600036 India Key Laboratory of Image Information Processing Intelligent Control of Education Ministry of China School of Automation Huazhong University of Science and Technology WuhanHubei430074 China School of Electric and Information Engineering Zhengzhou University of Light Industry ZhengzhouHenan450002 China Faculty of Science Liverpool Hope University LiverpoolL16 9JD United Kingdom

ISBN: (纸本)9789811071782

Labelled splicing P systems are distributed parallel computing models, where sets of strings that evolve by splicing rules are labelled. In this work, we consider labelled splicing systems with the following modifications: (i) The strings in the membranes are present in arbitrary number of copies;(ii) the rules in the regions are finite in number. Results on the language family generated by the labelled splicing system in comparison with the language families of the Chomsky hierarchy, including recursively enumerable languages, are obtained, by involving only either one or two membranes in the P systems considered. © Springer Nature Singapore Pte Ltd 2017.

关键词： Distributed computer systems

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Transitioning conditional probability to discriminative classifier over inductive reasoning

Transitioning conditional probability to discriminative clas...

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International Conference on Awareness Science and Technology (iCAST)

作者： Peng Mei Fuquan Zhang Lin Xu Hongyong Leng Lei Chen Guo Liu School of Software Beijing Institute of Technology Beijing China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China Innovative Information Industry Research Institute Fujian Normal University Fuzhou China

Overcome context-independent probabilities based reasoning, with decomposition of categories and predicates into features as non-stable predicates. With distinction between generative classifier and discriminative classifier, we purpose to use some discriminative classifiers such as dual-form perceptron and kernelized support vector machine to improve to result of reasoning process. With capability of dual-form perceptron and kernelized support vector machine, finding linear or non-linear decision boundary for similarity-like supporting predicate for reasoning process.

关键词： Cognition Classification algorithms Support vector machines Logistics Kernel Training Training data

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Design of Distributed Multi-Parameter Measurement control system Based On CAN Bus

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IOP Conference Series: Materials Science and Engineering 2018年第4期452卷

作者： Hong Guo Wei Hu College of Computer Science and Technology Wuhan University of Science and Technology Wuhan 430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan 430065 China

This paper introduces a multi-parameter distributed measurement control system based on CAN bus network and uses C8051F040 MCU as measurement control node, and corresponding hardware and software design to realize simultaneous detection of multiple measurement nodes. This paper described the overall structure of the system, introduced the hardware design and system software design of the data acquisition and control processing module based on C8051F040 microcontroller, and verified the correctness and feasibility of the system design by experimental tests.

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Immune particle swarm optimization of linear frequency modulation in acoustic communication

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Journal of systems Engineering and Electronics 2015年第3期26卷 450-456页

作者： Haipeng Ren Yang Zhao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

With the exploration of the ocean, underwater acoustic communication has attracted more and more attention in recent years. The underwater acoustic channel is considered to be one of the most complicated channels because it suffers from more serious multipath effect, fewer available bandwidths and quite complex noise. Since the signals experience a serious distortion after being transmitted through the underwater acoustic channel, the underwater acoustic communication experiences a high bit error rate （BER）. To solve this problem, carrier waveform inter- displacement （CWlD） modulation is proposed. It has been proved that CWlD modulation is an effective method to decrease BER. The linear frequency modulation （LFM） carrier-waves are used in CWlD modulation. The performance of the communication using CWID modulation is sensitive to the change of the frequency band of LFM carrier-waves. The immune particle swarm optimization （IPSO） is introduced to search for the optimal frequency band of the LFM carrier-waves, due to its excellent performance in solving complicated optimization problems. The multi-objective and multi- peak optimization nature of the IPSO gives a suitable description of the relationship between the upper band and the lower band of the LFM carrier-waves. Simulations verify the improved perfor- mance and effectiveness of the optimization method.

关键词： underwater acoustic communication carrier waveform inter-displacement （CWlD） multi-objective optimization immune particle swarm optimization （IPSO）.

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Synchronous trajectory tracking for mobile robot network without velocity measurements between coupling robots

Synchronous trajectory tracking for mobile robot network wit...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Zhe Liu Weidong Chen Junguo Lu Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (纸本)9781467389600

In this paper, we investigate the multiple mobile robots synchronous trajectory tracking problems, i.e., the robots should track their desired trajectories while synchronizing their motions with coupling neighbors to maintain a time-varying formation shape. Aiming for practical applications of the multi-robot coordination, the time-varying communication delay in information exchange channels has been taken into consideration theoretically in control design. And more specially, each robot only requires the position information of the coupling robots for synchronization purpose, which means that the proposed approach achieves synchronization without velocity measurements. A fully distributed controller is proposed for each robot and a sufficient condition is presented based on the Lyapunov-Krasovskii theory and the Linear Matrix Inequality (LMI) approach. Finally, simulation results validate the effectiveness of the proposed synchronous trajectory tracking approach.

关键词： Trajectory Synchronization Robot kinematics Mobile robots Delays

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