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第三十四届中国控制会议

作者： Haibin Shao Mehran Mesbahi Yugeng Xi Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Department of Aeronautics and Astronautics University of Washington

ISBN: (纸本)9781467374439

In this paper, we examine the relative tempo for a network adopting discrete-time consensus protocol. We show that the relative tempo of two groups of agents in the network is determined by the dominant normalized eigenvector corresponding to the network stochastic matrix. Equipped with the relative tempo, agents are capable of reducing the redundant interactions with their neighbors in a distributed manner, which also leads to the acceleration of the consensus process.

关键词： Relative tempo,Discrete-time Consensus,Multi-agent

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Real-time quadruped robot control system based on Xenomai

Real-time quadruped robot control system based on Xenomai

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Chinese Automation Congress (CAC)

作者： Kun Guo Shaoyuan Li Dan Huang Department of Automation Key Laboratory of System Control and Information Processing Shanghai China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781467371902

The quadruped robots walk or run in a dynamic balance state, and this hold up high requirements to system real-time capability. This paper describes the design of a real-time control system for a quadruped robot and presents the detail of control system hardware and software. The control system includes a real-time controller based on Xenomai, an EtherCAT fieldbus system, hydraulic actuators and sensors. And to accomplish the leg movement control, this paper also solve the inverse kinematic of the legs' parallel mechanism.

关键词： Real-time systems Actuators Legged locomotion Kinematics Kernel Robot kinematics

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Contour detection based on multi-scale spatial inhibition and contextual modulation

Contour detection based on multi-scale spatial inhibition an...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Sisi Deng Na Liu Hong Huo Tao Fang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9781479972609

A multi-scale processing model for contour detection based on the perception mechanism of primary visual cortex (V1) is proposed. At first, responses of V1 cells to contours and orientations are simulated by multi-scale Gabor filters, and multi-scale basic contours are obtained by filter vectors. Then, a three-dimensional (3D) DOG filter extended from its 2D counterpart is used to convolute with the multi-scale basic contours to accomplish inter-scale and intra-scale inhibition. After that, the inhibition results and orientations of multi-scale are combined respectively to obtain integrated contours and integrated orientations. Finally, contextual modulation based on both inhibition and facilitation fields is performed on the nonlinear mapping of integrated contours, and it also considers the weighting of distance and orientation difference, and enhances the colinearity and texture inhibition. Experiments on natural images demonstrate that the proposed model can improve the overall performance effectively in terms of both noise inhibition and accurate contour detection compared with other methods.

关键词： Gabor filters Modulation Context modeling Three-dimensional displays

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Performance analysis of self-organizing heterogeneous network with interference cancellation

Performance analysis of self-organizing heterogeneous networ...

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IEEE Wireless Communications and Networking Conference Workshops (WCNCW)

作者： Kang Song Yafang Wang Chunguo Li Yongming Huang Luxi Yang School of Information Science & Engineering Southeast University Nanjing China Key Laboratory of System Control & Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781479987610

This paper investigates the downlink performance of a self-organizing heterogeneous network (HetNet), where small cells are allowed to adjust their system parameters and provide for the handover of users from the macro cell. An interference cancellation scheme employed at macro base station is first discussed based on the cancellation of cross-tier interference from macro base station to small cell users. Then, we derive the expressions of the probability density function (PDF) and cumulative distribution function (CDF) of the received SNRs of both macro and small cell users, and provide the closedform expressions of average bit error rate (BER) and overall outage probability of the system, which shows that the overall performance of the HetNet network is improved with interference cancellation. The numerical results finally verify the accuracy of our analysis.

关键词： Bit error rate Interference cancellation Niobium Conferences Signal to noise ratio Integrated circuits

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Energy-saving optimization of urban drainage system based on pump performance

Energy-saving optimization of urban drainage system based on...

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第27届中国控制与决策会议

作者： Shufang Hou Dewei Li Yugeng Xi Lihui Cen Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education China Institute of Information Science and Engineering Central South University

To reduce wastewater overflow and high power cost caused by unreasonably operating pump device in urban drainage system,a pump performance-based energy optimization strategy is proposed.A mathematical model is built based on the typical topological structure of urban drainage systems,and the calculation equations for sewerage inflow,outflow and storage condition of relevant pumping stations are *** energy saving optimization algorithm regard pump efficiency as linear which limits the optimization *** guarantee the energy saving effect,a nonlinear mathematical model of pump performance is *** to the nonlinear relationships among pump flow,head and efficiency,total energy consumption in the next two time-domain is *** consumption of the system can be reduced by optimizing the outflow of relevant pump stations *** with traditional control methods of urban drainage system,the simulation results demonstrate that the proposed optimization algorithm can reduce system energy consumption as well as avoid wastewater overflow efficiently.

关键词： Urban Drainage system,Pump Efficiency,Energy-saving,Dynamic Optimization

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Hierarchical features fusion for salient object detection in low contrast images 11th

Hierarchical features fusion for salient object detection in...

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11th International Conference on Intelligent Computing, ICIC 2015

作者： Mu, Nan Xu, Xin Li, Ziheng School of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan430081 China

ISBN: (纸本)9783319221854

Salient object detection has drawn much attention recently. The extracted salient objects can be used for tasks including recognition, segmentation and retrieval. Most existing models for saliency detection can only be applied to the high contrast and normal contrast scenes. They are not robust enough to handle objects in low contrast images. Due to low lightness, low Signal to Noise Ratio (SNR) and low appearance information, saliency detection in low contrast scenes remains a challenge. To solve this problem, this paper proposes a saliency detection model based on the feature extraction, in which optimal features have been learned in different contrast environment to improve the effectiveness of salient object detection. Compared with other existing saliency models, the proposed method has strong adaptability for different scenes, and gives superior performance in detecting the salient object especially in low contrast images. © Springer International Publishing Switzerland 2015.

关键词： Feature extraction

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A fast growing cascade neural network for BOD estimation 34

A fast growing cascade neural network for BOD estimation

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34th Chinese control Conference, CCC 2015

作者： Fanjun, Li Junfei, Qiao Wei, Zhang College of Electronic Information and Control Engineering Beijing University of Technology Beijing China School of Mathematical Science University of Jinan Shandong China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (纸本)9789881563897

In this paper, a fast growing cascade neural network (FGCNN) is proposed, as a software sensor, to rapidly estimate the biochemical oxygen demand (BOD) in wastewater treatment plants (WWTPs). Firstly, a novel method, based on the orthogonal least squares (OLS), is put forward to add input and hidden units to the existing network one by one. Every unit added to the network affords the maximal reduction of the sum of squared errors (SSE). Then, the FGCNN incrementally updates its output weights by iterations without gradients and generalized inverses, while the other weights remain unchanged during the growth of the network. The simple and effective training method make the FGCNN learn extremely fast. Finally, the proposed FGCNN is applied to estimate the BOD in WWTPs using other easy-to-measure or secondary variables. The experiment results show that the FGCNN has better performance on real-time estimation of BOD than other similar methods. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Artificial neural network biochemical oxygen demand software sensor wastewater treatment plant

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Research on BP imaging algorithm parallelization using C6678 DSPs

Research on BP imaging algorithm parallelization using C6678...

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IET International Radar Conference 2015

作者： Zhao, Jiayun Yuan, Yuan Wang, Jinghua Jin, Ye Beijing Key Laboratory of Embedded Real-Time Information Processing Technology Beijing China North China Institute of Computing Technology Beijing China Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

ISBN: (纸本)9781849199940

Compared to the traditional SAR imaging algorithm, Back Projection(BP) algorithm is an accurate point-by-point imaging radar algorithm based on time-domain, with simple principle and without any approximation error in the imaging process. However, because of intensive computation and low efficiency, it's a new challengetostorage to capacity, throughput and processing ability of DSPs, a single DSP is not enough to meet these demands. So a parallel implementation method of BP algorithm based on TMS320C6678 DSP is proposed in this *** put forward a large point FFT multi-core parallel processing method on 2/4/8 cores what is frequently used in BP algorithm, and a multi-core synchronization method based on distributed memory. Finally using the measured data, we verify the parallel method can greatly enhance the multi-core parallelism, and the real-time performance of BP algorithm has been significantly improved.

关键词： Fast Fourier transforms

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An efficient MRF embedded level set method for image segmentation

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IEEE Transactions on Image processing 2015年第1期24卷 9-21页

作者： Yang, Xi Gao, Xinbo Tao, Dacheng Li, Xuelong Li, Jie State Key Laboratory of Integrated Services Networks 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 Sydney 235 Jones Street UltimoNSW2007 Australia State Key Laboratory of Transient Optics and Photonics Xi'An Institute of Optics and Precision Mechanics Chinese Academy of Sciences Xi'an710119 China Video and Image Processing System Laboratory School of Electronic Engineering Xidian University Xi'an710071 China

This paper presents a fast and robust level set method for image segmentation. To enhance the robustness against noise, we embed a Markov random field (MRF) energy function to the conventional level set energy function. This MRF energy function builds the correlation of a pixel with its neighbors and encourages them to fall into the same region. To obtain a fast implementation of the MRF embedded level set model, we explore algebraic multigrid (AMG) and sparse field method (SFM) to increase the time step and decrease the computation domain, respectively. Both AMG and SFM can be conducted in a parallel fashion, which facilitates the processing of our method for big image databases. By comparing the proposed fast and robust level set method with the standard level set method and its popular variants on noisy synthetic images, synthetic aperture radar (SAR) images, medical images, and natural images, we comprehensively demonstrate the new method is robust against various kinds of noises. In particular, the new level set method can segment an image of size 500 x 500 within 3 s on MATLAB R2010b installed in a computer with 3.30-GHz CPU and 4-GB memory. © 2014 IEEE.

关键词： Image segmentation

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How Effectively Can the Initial Opinions Influence the Opinion Formation in Social Networks with Stubborn Agents ?

How Effectively Can the Initial Opinions Influence the Opini...

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第27届中国控制与决策会议

作者： Jiuhua Zhao Qipeng Liu Lin Wang Xiaofan Wang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China Institute of Complexity Science Qingdao University

In this paper,we investigate an opinion formation model with stubborn agents,where each agent updates her opinion according to opinions of her neighbors as well as her own initial opinion with some degree of ***,the presence of stubborn agents will preclude consensus and result in a steady distribution with different ***,we investigate how effectively the initial opinions can influence the opinion ***,we find that any steady distribution can be reached if the stubbornness of each agent is nonzero;otherwise,only the steady distribution located in a special space can be ***,we develop a simple criterion to judge whether or not a steady distribution is *** a reachable steady distribution,a method for the choice of the corresponding initial opinions is presented;while for an unreachable distribution,an algorithm is designed to find a reachable distribution which is closest to the desired one.

关键词： Multi-agent systems,social networks,opinion dynamics,opinion formation,stubborn agents

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