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Vision-based environmental perception and navigation of micro-intelligent vehicles 7

7th International Conference on Intelligent systems and Knowledge Engineering, ISKE 2012 with 1st International Conference on Cognitive systems and information processing, CSIP 2012

作者： Yang, Ming Lu, Zhengchen Guo, Lindong Wang, Bing Wang, Chunxiang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783642378287

The adjustment of actual environmental traffic flow experiments is complicated and time-consuming. In this paper, a method based on micro-intelligent vehicles (micro-IV) is proposed to overcome these unfavorable factors. Vision-based environmental perception employed should be qualified for real-time and robust characteristics. An active vision approach based on visual selective attention is carried out to search regions of interest more efficiently for traffic light recognition. Corner detection based on histogram is applied for real-time location in autonomous parking. A method based on hierarchical topology maps is proposed to realize the navigation without GPS equipment. Experimental results show that the perception and navigation approaches work efficiently and effectively and micro-IV is suitable for traffic flow experiments. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Navigation

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Improving L2 gain performance of linear systems by reset control 19

Improving L2 gain performance of linear systems by reset con...

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

作者： Zhao, Guanglei Nešić, Dragan Tan, Ying Wang, Jingcheng Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Department of Electrical and Electronic Engineering University of Melbourne ParkvilleVIC3010 Australia

ISBN: (纸本)9783902823625

In this paper, new Lyapunov-based reset rules are constructed to improve C2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and finite gain C2 stability are presented. It is shown that the C2 gain of the closed loop system with resets can be improved compared with the base system. Numerical example supports our results. © IFAC.

关键词： Closed loop systems

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Implemention of cyber security situation awareness based on knowledge discovery with trusted computer

Implemention of cyber security situation awareness based on ...

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APWeb 2014 Workshops: 1st International Workshop on Social Network Analysis, SNA 2014, 1st International Workshop on Network and information Security, NIS 2014 and 1st International Workshop on Internet of Things Search, IOTS 2014

作者： Jiemei, Zeng Xuewei, Feng Dongxia, Wang Lan, Fang Beijing Aerospace Control Center Beijing 100296 China Beijing Institute of System Engineer National Key Laboratory of Science and Technology on Information System Security Beijing 100101 China

ISBN: (纸本)9783319111186

Situation awareness aims to provide the global security views of the cyberspace for administrators. In this paper, a novel framework of cyber security situation awareness is proposed. The framework is based on a trusted engine, and can be viewed from two perspectives, one is data flow, which presents the abstracting of cyber data, and the other one is logic view, which presents the procedure of situation awareness. The framework's core component is a correlation state machine, which is an extension of state machine, and used to model attack scenarios. The correlation state machine is a data structure of situation awareness, and stored in a trusted computer in order to avoid being tampered. It is created based on the technology of knowledge discovery, and after being created, it can be used to assess and predict the threat situation. We conclude with an example of how the framework can be applied to real world to provide cyber security situation for administrators. © Springer International Publishing Switzerland 2014.

关键词： Trusted computing

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A Low-Power Task Mapping Method for Network on Chip

A Low-Power Task Mapping Method for Network on Chip

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Chinese Automation Congress

作者： Wenwen Cao Wei Hu Puzhang Wang Mengke Song Ruomiao Li College of Computer Science and Technology Wuhan University of Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System

ISBN: (纸本)9781467371902

When more and more processor cores are integrated onto a single chip, the computing ability has been improved dramatically. And the power consumed by the cores is also increased. More tasks can run in parallel for higher performance. It is a new challenge on how to map the tasks to the cores. The suitable task mapping method can enhance the parallelism of the system. However, it is still a problem to reduce the power-consumption. In this paper, a novel method is proposed to map the tasks to the cores efficiently with lower power consumption. The case study and related experimental results show that our method can have better performance and reduced power consumption.

关键词： Low power Task mapping Network on chip

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Fault subspace selection and analysis of relative changes based reconstruction modeling for multi-fault diagnosis

Fault subspace selection and analysis of relative changes ba...

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第26届中国控制与决策会议

作者： Chunhui Zhao State Key Laboratory of Industrial Control Technology Department of Control Science and EngineeringZhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

Online fault diagnosis has been a crucial task for industrial processes. Reconstruction-based fault diagnosis has been drawing special attentions as a good alternative to the traditional contribution plot. It identifies the fault cause by finding the specific fault subspace that can well eliminate alarming signals from a bunch of alternatives that have been prepared based on historical fault data. However, in practice, the abnormality may result from the joint effects of multiple faults, which thus can not be well corrected by single fault subspace archived in the historical fault library. In the present work, an aggregative reconstruction-based fault diagnosis strategy is proposed to handle the case where multiple fault causes jointly contribute to the abnormal process behaviors. First, fault subspaces are extracted based on historical fault data in two different monitoring subspaces where analysis of relative changes is taken to enclose the major fault effects that are responsible for different alarming monitoring statistics. Then, a fault subspace selection strategy is developed to analyze the combinatorial fault nature which will sort and select the informative fault subspaces that are most likely to be responsible for the concerned abnormalities. Finally, an aggregative fault subspace is calculated by combining the selected fault subspaces which represents the joint effects from multiple faults and works as the final reconstruction model for online fault diagnosis. Theoretical support is framed and the related statistical characteristics are analyzed. Its feasibility and performance are illustrated with simulated multi-faults using data from the Tennessee Eastman(TE) benchmark process.

关键词： fault subspace selection,joint fault effects,multi-fault diagnosis,reconstruction modeling,analysis of relative changes

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Persistent Tracking of a Dynamic Target by a Mobile Robot 33

Persistent Tracking of a Dynamic Target by a Mobile Robot

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第三十三届中国控制会议

作者： LIANG Xiao FANG Yongchun YANG Dedong Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Shool of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781479947249

A novel pursuing algorithm, together with a new experiment method, is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game. Specifically, a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system, which greatly improves the maneuverability compared with the traditional method. To keep the target close enough to the vision center of the camera, a control technique is devised according to its kinematic model and Lyapunov theory. By utilizing game theory, the viability set is determined. A tracking controller is employed to guarantee persistent tracking for the dynamic target, where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis. Both simulation and experimental results are provided to illustrate the performance of the controller.

关键词： Nonholonomic Constraint,Camera Tracking,Mobile control,Lyapunov Theory

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Optimum Design of Fractional Order PID controller for an AVR system Using an Improved Artificial Bee Colony Algorithm

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自动化学报 2014年第5期40卷 973-980页

作者： ZHANG Dong-Li TANG Ying-Gan GUAN Xin-Ping Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 China Institute of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Fractional order proportional-integral-derivative (FOPID) controller generalizes the standard PID controller. Compared to PID controller, FOPID controller has more parameters and the tuning of parameters is more complex. In this paper, an improved artificial bee colony algorithm, which combines cyclic exchange neighborhood with chaos (CNC-ABC), is proposed for the sake of tuning the parameters of FOPID controller. The characteristic of the proposed CNC-ABC exists in two folds: one is that it enlarges the search scope of the solution by utilizing cyclic exchange neighborhood techniques, speeds up the convergence of artificial bee colony algorithm (ABC). The other is that it has potential to get out of local optima by exploiting the ergodicity of chaos. The proposed CNC-ABC algorithm is used to optimize the parameters of the FOPID controller for an automatic voltage regulator (AVR) system. Numerical simulations show that the CNC-ABC FOPID controller has better performance than other FOPID and PID controllers.

关键词： PID控制器优化设计 VR系统群算法分数阶工蜂自动电压调节器搜索范围

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Reversible spiking neural P systems with astrocytes

Communications in Computer and Information Science

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Communications in Computer and information Science 2014年 472卷 221-224页

作者： Kong, Yuan Shi, Xiaolong Xu, Jinbang Huang, Xinquan Key Laboratory of Image Information Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan Hubei430074 China School of Computer Science Wuhan University of Science and Technology Wuhan Hubei430081 China

ISBN: (纸本)9783662450482

Spiking neural P systems with astrocytes (SNPA systems, for short) are a class of distributed parallel computing devices inspired from the way neurons communicate by means of spikes. In this work, we investigate the reversibility in SNPA systems as well as the computing power of reversible SNPA systems. It is proved that reversible SNPA systems are universal even if the forgetting rules and the feature of delay in spiking rules are not used, and each neuron contains only one spiking rule. The result suggests that the astrocytes do play a key role in achieving a desired computing power for reversible SNPA systems. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Computing power

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Learning to Rank for Blind Image Quality Assessment

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IEEE Transactions on Neural Networks and Learning systems 2015年第10期26卷 2275-2290页

作者： Gao, Fei Tao, Dacheng Gao, Xinbo Li, Xuelong Video and Image Processing System Laboratory School of Electronic Engineering Xidian University Xi'an710071 China Centre for Quantum Computation and Intelligent Systems Faculty of Engineering and Information Technology University of Technology 235 Jones Street Sydney UltimoNSW2007 Australia State Key Laboratory of Integrated Services Networks School of Electronic Engineering Xidian University Xi'an710071 China State Key Laboratory of Transient Optics and Photonics Xi'An Institute of Optics and Precision Mechanics Chinese Academy of Sciences Xi'an Shaanxi710119 China

Blind image quality assessment (BIQA) aims to predict perceptual image quality scores without access to reference images. State-of-the-art BIQA methods typically require subjects to score a large number of images to train a robust model. However, subjective quality scores are imprecise, biased, and inconsistent, and it is challenging to obtain a large-scale database, or to extend existing databases, because of the inconvenience of collecting images, training the subjects, conducting subjective experiments, and realigning human quality evaluations. To combat these limitations, this paper explores and exploits preference image pairs (PIPs) such as the quality of image Iais better than that of image Ibfor training a robust BIQA model. The preference label, representing the relative quality of two images, is generally precise and consistent, and is not sensitive to image content, distortion type, or subject identity;such PIPs can be generated at a very low cost. The proposed BIQA method is one of learning to rank. We first formulate the problem of learning the mapping from the image features to the preference label as one of classification. In particular, we investigate the utilization of a multiple kernel learning algorithm based on group lasso to provide a solution. A simple but effective strategy to estimate perceptual image quality scores is then presented. Experiments show that the proposed BIQA method is highly effective and achieves a performance comparable with that of state-of-the-art BIQA algorithms. Moreover, the proposed method can be easily extended to new distortion categories. © 2012 IEEE.

关键词： Learning algorithms

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On YASS’s Non-monotonic Security Performance

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Circuits, systems, and Signal processing 2014年第11期33卷 3527-3537页

作者： Yu, Lifang Zhao, Yao Ni, Rongrong Shi, Yun Qing Institute of Information Science Beijing Jiaotong University Beijing100044 China Beijing Key Laboratory of Signal and Information Processing for High-end Printing Equipments Beijing Institute of Graphic Communication Beijing102600 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ07102 United States

Recently, researchers have discovered unexpected bumps in the detection rate curve of yet another steganographic scheme (YASS). We refer to this abnormal phenomenon as non-monotonic security performance. This paper first analyzes this abnormality and points out that it is caused by the non-uniformity in probability of coincidence of (Formula presented.) embedding blocks and (Formula presented.) JPEG blocks. Based on this observation, we propose that further randomizing data embedding positions can overcome the non-monotonic security performance. Experimental results have demonstrated a complete removal of bumps in the detection rate curve of YASS after further randomization. © 2014, Springer Science+Business Media New York.

关键词： Steganography

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