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Vehicle detection based on point cloud intensity and distance clustering

Journal of Physics: Conference Series 2021年第4期1748卷

作者： Zhao Wang Xing Wang Bin Fang Kun Yu Jie Ma School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China National key laboratory of multispectral information processing technology Huazhong University of Science and Technology Wuhan 430074 China Science and technology on complex system control and intelligent agent cooperation laboratory Beijing 100074 China

In the intelligent transportation system, vehicle detection is one of the essential technologies in obstacle avoidance and navigation, however the existing vehicle detection methods cannot meet the actual needs. This paper presents a vehicle detection method combines the intensity and distance information of point cloud, which improves the segmentation performance of nearby objects. Specifically, the data of point cloud collected by lidar is preprocessed first. Then the processed point cloud is clustered by combining its coordinate and intensity information. Finally, the clustered suspected targets are fed to the random forest classifier. Our method can efficiently detect and classify targets in large-scale disordered 3D point cloud with high accuracy. In the real-scanned Livox Mid-40 Lidar dataset, our proposed method improves the detection accuracy by 31% compared with the traditional Euclidean clustering.

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Distributed dimensionality reduction of industrial data based on clustering

Distributed dimensionality reduction of industrial data base...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yongyan Zhang Guo Xie Wenqing Wang Xiaofan Wang Fucai Qian Xulong Du Jinhua Du Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing China

Large amounts of data are produced in system operation, and how to extract effective information from these data has become an important research topic in the industrial application. Dimensionality reduction is a way to refine the data. Because of the low efficiency of the existing methods, these methods can't discover the internal structure of the data. Regarding these problems, a distributed method of dimensionality reduction based on clustering is proposed, which includes the following steps:(1) Clustering the data into some small classes according to the similarity between the data variables; (2) reducing the dimension of data in a small class after being clustered respectively; (3) merging the data after being reduced dimension; (4) classifying the data after being merged by support vector machine (SVM). The data in the simulation is the test data, and the results show that the methods proposed in this paper are better than the existing dimensionality reduction methods.

关键词： Dimensionality reduction Support vector machines Clustering algorithms Distributed databases Data mining Principal component analysis Classification algorithms

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Optimization of Grouping Evacuation Strategy in High-rise Building Fires Based on Graph Theory and Computational Experiments

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1104-1112页

作者： Yuling Hu Xiwei Liu School of Electrical and Information Engineering Beijing University of Civil Engineering and Architecture Beijing 100044China Beijing Key Laboratory of Intelligent Processing for Building Big Data Beijing 100044China State Key Laboratory fo Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing 100190China Qingdao Academy of Intelligent Industries Qingdao 266109China

It is difficult to rescue people from outside, and emergency evacuation is still a main measure to decrease casualties in high-rise building fires. To improve evacuation efficiency, a valid and easily manipulated grouping evacuation strategy is proposed. Occupants escape in groups according to the shortest evacuation route is determined by graph theory. In order to evaluate and find the optimal grouping, computational experiments are performed to design and simulate the evacuation processes. A case study shown the application in detail and quantitative research conclusions is obtained. The thoughts and approaches of this study can be used to guide actual high-rise building evacuation processes in future.

关键词： Computational experiments grouping evacuation graph theory high-rise building fire management strategies

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Event-Triggered Model Predictive control for A Three-Phase Inverter with Output LC Filter

Event-Triggered Model Predictive Control for A Three-Phase I...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Benfei WANG Jingjing HUANG Jose RODRIGUEZ Cristian GARCIA Guodong FENG School of Intelligent Systems Engineering Sun Yat-sen University Guangdong China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China School of Electronic and Information Engineering Xi’an Jiaotong University Xi’an China Engineering School Universidad Andrés Bello Santiago Chile Engineering Faculty Universidad de Talca Curico Chile

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

This paper proposes an event-triggered model predictive control (ET-MPC) method for the three-phase inverter with output LC filter. The proposed method is developed by combining the conventional finite-control-set MPC (FCS-MPC) method and the ET control strategy. The ET control strategy incorporates a preset triggering condition based on the requirement of the regulation performance for the three-phase inverter. When the state of the three-phase inverter activates the triggering condition, FCS-MPC is triggered with the updated state so that the optimal control actions can be generated when it is necessary. If the state of the inverter is within the preset triggering condition, FCS-MPC is suspended and the control actions are held as constant. Consequently, the unnecessary online prediction, online optimization, and the corresponding control actions can be avoided. Therefore, with the tolerate regulation performance, the proposed ET-MPC can reduce the computational burden of the conventional FCS-MPC. The various simulation studies of the three-phase inverter are conducted and discussed to demonstrate the effectiveness of the proposed ET-MPC method.

关键词： Computational modeling Simulation Switches Inverters Regulation Optimization Predictive control

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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Effects of control Parameters on Oxygen Distribution in Czochralski Crystal Growth Process

Effects of Control Parameters on Oxygen Distribution in Czoc...

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Chinese Automation Congress

作者： Jun-Chao Ren Ding Liu Yin Wan Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi‘an University of Technology Xi'an China

The application of a quadrupole magnetic field structure with low power consumption and high field strength is very effective in solving the problem of non-uniformity of oxygen concentration distribution in the process of industrial drawing single crystal silicon by MCZ method. In this paper, a 3D model is used to simulate the crystal growth process under the action of quadrupole magnetic field for accurately describe the effect of control parameters on the oxygen concentration distribution at the crystal-melt interface. The results show that the radial oxygen concentration gradient at the crystal-melt interface is positively correlated increases with the radial temperature gradient when the magnetic induction strength is increased, while the positive correlation decreases with the increase of the crucible rotation speed or the crystal rotation speed within the appropriate range. Moreover, the uniformity of the radial oxygen concentration distribution at the crystal-melt interface can be improved by about 19.11% when the crystal rotation speed is higher and the crucible rotation speed is lower, which is more favorable for improving the quality of the silicon single crystal.

关键词： Quadrupole magnetic field Czochralski silicon single crystals Numerical simulation Crystal-melt interface Oxygen concentration distribution

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A class of elliptic mixed boundary value problems with (p,q)-Laplacian: existence, comparison and optimal control

arXiv

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arXiv 2023年

作者： Zeng, Shengda Migórski, Stanislaw Tarzia, Domingo A. Zou, Lang Nguyen, Van Thien Guangxi Colleges Universities Key Laboratory of Complex System Optimization and Big Data Processing Yulin Normal University Yulin537000 China Department of Mathematics Nanjing University Jiangsu Nanjing210093 China Jagiellonian University in Krakow Faculty of Mathematics and Computer Science ul. Lojasiewicza 6 Krakow30348 Poland College of Applied Mathematics Chengdu University of Information Technology Sichuan Province Chengdu610225 China Jagiellonian University in Krakow Chair of Optimization and Control ul. Lojasiewicza 6 Krakow30348 Poland Depto. Matemática FCE Universidad Austral Paraguay 1950 RosarioS2000FZF Argentina CONICET Argentina School of Mathematics and Computational Science Xiangtan University Hunan Province Xiangtan City210000 China Department of Mathematics FPT University Education zone Hoa Lac High Tech Park Km29 Thang Long Highway Thach That ward Hanoi Viet Nam

The paper deals with two nonlinear elliptic equations with (p, q)-Laplacian and the Dirichlet-Neumann-Dirichlet (DND) boundary conditions, and Dirichlet-Neumann-Neumann (DNN) boundary conditions, respectively. Under mild hypotheses, we prove the unique weak solvability of the elliptic mixed boundary value problems. Then, a comparison and a monotonicity results for the solutions of elliptic mixed boundary value problems are established. We examine a convergence result which shows that the solution of (DND) can be approached by the solution of (DNN). Moreover, two optimal control problems governed by (DND) and (DNN), respectively, are considered, and an existence result for optimal control problems is obtained. Finally, we provide a result on asymptotic behavior of optimal controls and system states, when a parameter tends to *** Codes 35J25, 35J66, 35J92, 49J20, 35Bxx © 2023, CC BY.

关键词： Nonlinear equations

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Research on Grounding Fault Detection Method of united adjustment power source system Based on VMD and Comprehensive Energy Relative Entropy

Research on Grounding Fault Detection Method of united adjus...

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Chinese Automation Congress (CAC)

作者： Shangbin Jiao Yunpeng Yang Jingwen Guo Sen Li Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi‘an University of Technology Xi'an China

The paper present a ground fault detection method of united adjustment power source system based on variational mode decomposition (VMD) and comprehensive energy relative entropy. First, the analysis of the system revealed the fault feature extraction is more difficult and the line selection is inaccurate. Secondly, we summarize the fault characteristics of different operation modes. Different operation modes select line by the same selection line method. The proposed method can accurately extract feature in the weak zero sequence current of each feeder, and distinguish the bus fault and feeder fault for each mode of operation. The simulation results show that the proposed method is also suitable for the traditional small current grounding system, and distribution networks with different voltage levels and grounding modes. The results of laboratory simulation experiments show that the method is reliable and practical.

关键词： Entropy Fans Grounding Feature extraction Transient analysis Power generation Generators

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Fast S-transform for fault line selection in distribution network system

Fast S-transform for fault line selection in distribution ne...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jiao Shang-bin Yang Yun-peng Shi Yan-jin Shi Wen-wen Guo Jing-wen Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China

The current of the distribution networks under 66kV is widely operating in small current grounding mode. The problem of extracting the fault feature in each line would be quite difficult due to the short duration of the transient zero sequence current with the non-stationary and non-linear characteristics when the single-phase-to-ground fault occurs in the system. Therefore, a novel method of single-phase-to-ground fault line selection for small current based on Fast S-transform (FST) is developed in this paper. Firstly, FST is presented to transform the transient electric current signal in each feeder, after that the one-dimension modulus and phase angle value can been obtained. Then, the feeder with the largest energy value calculated by the modulus obtained above is selected as the alternative possible fault line. Finally, line failure or bus failure can been determined by evaluating the difference of the phase angle between the fault line and the comparison line that has been selected from the non-alternative feeders before. The results of the simulative and experimental circuits reveal that the proposed method using FST can avoid the influence of neural point grounding type. Additionally, the method of line selection is quite accurate and real-time.

关键词： Transient analysis Circuit faults Grounding Time-frequency analysis Feature extraction Fourier transforms

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PLC based variable structure control of hydraulic position servo system considering controller saturation

PLC based variable structure control of hydraulic position s...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Hai-Peng Ren Xuan Wang Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian University of Technology Xian China

Due to the advantages of strong carrying capacity and fast response speed, hydraulic servo system has been widely used in industrial motion control field. The hydraulic servo system is susceptible to the nonlinearity, parameter uncertainty and unknown disturbance, which makes the high performance position control of the hydraulic servo system become a challenge. In this paper, considering the hydraulic position servo control system with input saturation, a sliding mode variable structure controller with shrinking boundary layer is designed. The proposed method is used to experimentally track three kinds of reference signals based on Programmable Logic controller (PLC), i.e., S7-200PLC, and hydraulic control system provided by Festo company. The experiment results indicate that the proposed method is effective and achieves smaller steady state tracking error as compared with sign function robust item and the conventional PID control.

关键词： Servomotors Cavity resonators Valves Force Touch sensitive screens

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