Conference Program of WCICA 2012

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Conference Program WCICA 2012 Hu, Xiaoming Royal Inst. of Tech. In the present paper we consider the problem of attitude synchronization for a system of rigid body agents. We provide distributed kinematic control laws for two different synchronization problems. In the two problems the objective is the same, i.e., to synchronize the orientations of the agents, but what is assumed to be measurable by the agents differs. In problem 1 the agents measure their own orientations in a global reference frame, and obtain the orientations of their neighbors by means of communication. In problem 2 the agents only measure the relative orientations to their neighbors. By using the axis-angle representation of the orientation, we show that simple linear control laws solve both synchronization problems. Moreover we show that our proposed control laws work for directed and connected topologies on almost all SO(3) for problem 1 and on convex balls in SO(3) for problem 2. SuB03 15:50–17:50 Room 203C Signal Processing Chair: Jen, Fu-Hua Co-Chair: Zhou, Zhenwei Minghsin Univ. of Sci. & Tech. Chinese Acad. of Sci. ◮ SuB03-1 15:50–16:10 A method for parameters estimation of multiple sinusoids signal based on ANFs and SGA, pp.4277–4282 Li, Ming Tu, Yaqing Su, Dan Logistical Engineering Univ. lLogistical Engineering Univ. Logistical Engineering Univ. An iterative algorithm based on Adaptive notch filters (ANFs) and S- liding Goertzel algorithm (SGA) for the parameters , i.e. amplitudes, phases and frequencies, estimation of multiple sinusoids signal buried in noise especially in colored noise is proposed in this paper. Firstly, it uses ANFs to accurately estimate frequencies of sinusoids signal at every sample point. Secondly, the SGA computes Fourier coefficients for each sinusoid at the estimated frequencies. Thirdly, the parameters of multiple sinusoids are obtained. This approach is really different from other discrete spectrum correction methods that use DFT off-line to get the parameters estimation values for multiple sinusoids and the proposed visual method is on-line and provides a effectively, accurately and significant computational advantage. Extensive simulation tests have also been performed to verify the effectiveness of the ANFs and SGA based algorithm. ◮ SuB03-2 16:10–16:30 Application of an Adaptive Sequential Kalman Filter to SINS/GPS Navigation Data Fusion, pp.4309–4314 Bai, Meng Li, Minhua Shandong Univ. of Sci. & Tech. Shandong Univ. of Sci. & Tech. For SINS/GPS integrated navigation system with unknown measurement noise covariance matrix, adopting the conventional Kalman filtering approach to estimate the navigation system errors will lead to a large state estimation error or even make the filter diverge. To solve this problem, an adaptive sequential Kalman filter is presented, in which the measurement noise covariance matrix is estimated on-line by an innovation-based adaptive estimation (IAE) method. Properly designed discontinuous feedback control law and serial measurement processing make the adaptive filter more suitable for real time implementation. Simulation results reveal that without an exact measurement noise covariance matrix, the adaptive sequential Kalman filtering approach can still estimate the errors of SINS/GPS integrated navigation system effectively. ◮ SuB03-3 16:30–16:50 Distributed Estimation for Time-Varying Target in Noisy Environment, pp.4341–4346 Zhou, Zhenwei Fang, Hai-Tao Hong, Yiguang Chinese Acad. of Sci. Chinese Acad. of Sci. Chinese Acad. of Sci. This paper studies the continuous-time distributed estimation problem for time-varying target under switching topologies and stochastic noises. There are three main features in this problem: only a portion of sensors have a access to the target; three kinds of stochastic noises arising in dynamic process, measurement and communication are considered; and the topological structure between sensors and target is switching. For this problem we propose a continuous-time distributed estimation algorithm. Under observability and connectivity, one upper and lower bound for the total mean square estimation error is established by using common Lyapunov method and Kalman-Bucy filtering theory, respectively. The numerical simulation also verifies the effictiveness of the proposed algorithm. ◮ SuB03-4 16:50–17:10 A Frequency Estimation Algorithm based on Spectrum Correlation of Multi-section Sinusoids with the Known Frequency-Ratio, pp.4385– 4389 XIAO, WEI Tu, Yaqing Su, Dan Shen, Yanlin Zhang, Lei Logistical Engineering Univ., Chongqing, P.R.C lLogistical Engineering Univ. Logistical Engineering Univ. Logistical Engineering Univ. Zhuozhou Comprehensive Storehouse Based on spectrum correlation of Multi-section Sinusoids with the Known Frequency-Ratio (hereinafter referred as MSKFR), a frequency estimation algorithm was proposed. This algorithm aims at improving frequency estimation of the short sinusoid at low Signal-to-Noise Ratio(SNR), and extending the applicable range of the multi-section signals fusion method. Firstly, an easy way to get MSKFR in application is introduced. Secondly, the frequency-ratio amend matrix is created to make spectrums of MSKFR almost as the same as spectrums of Multi-section Co- Sinusoids (hereinafter referred as MCS). Thirdly, through weighted-accumulating spectrums of MSKFR by the weighted factor, Optimization Weighted-Accumulation(OW-A) spectrum is gained. Fourthly, the correlation spectrum is constructed by correlation OW-A spectrum and the accumulation spectrum of MSKFR. Lastly, precise frequency estimation is obtained through spectral peak searching of the correlation spectrum. Simulation results demonstrate the superior performance of the proposed algorithm. ◮ SuB03-5 17:10–17:30 Covariance Intersection Fusion Wiener Signal Estimator for Timedelayed System, pp.4418–4422 Gao, Yuan Deng, Zili Heilongjiang Univ. Heilongjiang Univ. It is often hard to settle the estimation problems for the signal systems with time delays. By modern time series analysis method, the systems with time delays can be transformed into those without time delays. By the measurement predictor and the white noise estimators, the local and the optimal information fusion Wiener signal estimators are presented. Applying the CI (Covariance Intersection) method, the CI fused Wiener signal estimators are derived, which avoids the calculation of the cross covariance matrx between local sensors. Their estimation accuracy is higher than those of the local Wiener estimators. A Monte- Carlo simulation result shows that the actual accuracy of the presented CI fusion Wiener smoother approximates to that of the corresponding optimal information fusion smoother, and based on the covariance ellipse, the geometric interpretation of the accuracy relation is shown. ◮ SuB03-6 17:30–17:50 Building an Autonomous Line Tracing Car with PID Algorithm, pp.4478– 4483 Jen, Fu-Hua Minghsin Univ. of Sci. & Tech. This study describes about an autonomous line tracing car using PID algorithm. The line tracing car will run in a fixed route field. It can test the field at the first running and then take another run with speed as fast as possible. The PID algorithm is designed for this purpose. The algorithm corrects the position of the line tracing car on the track through feedback signal from infrared (IR) sensors. This can make a small car reach the speed at 157 cm per second. The integrated PID module allows tuning three PID gains to get better performance during the test run. The measurement & calculation modules store every passed sec- 216
WCICA 2012 Book of Abstracts: Sunday Sessions tion’s profile of route field. It includes the distance between marks and radius of curvature. After analysis, the main microprocessor will provide action details for every section. The line tracing car will accelerate on the straight line and will reduce velocity while changing the direction. SuB04 15:50–17:50 Room 203D Complex Systems Chair: Han, Jing Co-Chair: Xiang, Ji Acad. of Mathematics & Sys. Sci., CAS Zhejiang Univ. ◮ SuB04-1 15:50–16:10 Synchronized Output Regulation of Heterogeneous Networked Systems via Error Feedback, pp.3503–3508 Xiang, Ji Li, Yanjun Wei, Wei Zhejiang Univ. Zhejiang Univ. City College College of Electrical Engineering, Zhejiang Univ. A dynamic error-feedback controller is presented for the synchronized output regulation of heterogenous linear networked systems, where only the leader nodes have the information of the regulated errors while the remaining follower nodes have the information of the relative output errors with respect to their in-neighboring nodes. By using the small-gain theorem, the sufficient criterion is developed for more general networks to judge whether the synchronized output regulation can be achieved under the designed controller. This criterion can be regarded as to to impose an additional H ∞ constraint on the output regulation problem. The synthesis problem is addressed in terms of linear matrix inequality. The efficacy of the analytic results is illustrated by simulation examples. ◮ SuB04-2 16:10–16:30 Dynamic Configuration of Service based Processes in Cloud Computing using Linear Programming, pp.3509–3514 Du, Yanhua Univ. of Sci. & Tech. Beijing To guarantee the successful execution of service based process, one important requirement is QoS-driven dynamic configuration of candidate services. The existing methods don’t simultaneously consider the temporal constraints from users, uncertain QoS information of candidate services and dynamic re-planning on run-time. In this paper, we propose a novel approach to dynamically configure the services for service based process under both uncertain QoS information and temporal constraints. Our approach can efficiently select the appropriate services for multiple service based process in practical business environment. Furthermore, if some temporal constraint is violated in execution, we provide solutions to re-plan them so that the violations can be addressed on run-time. The usability of our approach is validated on a practical example. ◮ SuB04-3 16:30–16:50 “Knowing More Is Less” in Combinatorial Games , pp.3526–3532 Han, Jing Han, Huawei Wang, Xin Acad. of Mathematics & Sys. Sci., CAS Inst. of Sys. Sci., Acad. of Mathematics & Sys. Sci., Chinese Acad. of Sci. Acad. of Mathematics & Sys. Sci., Chinese Acad. of Sci. In Complex Adaptive Systems, agents co-adapt to each other through interaction. A typical example is game: players learn and adapt to the opponent through game playing. This paper studies the adaptive characteristic of co-adaptation through a combinatorial game “Five-in-arow”. The computer simulations show that a high-level player will win more if she knows the opponent’s next move, but a low-level player will lose more if she knows the opponent’s next move. To explore the reason of this phenomenon, an abstract theoretical model is built based on a full, k-ary game tree which also shows the above phenomenon. Some analysis and discussion are carried out based on this model. This result indicates that identification of the opponent only is not enough; she has to improve herself as well. ◮ SuB04-4 16:50–17:10 Convergence of Adaptive Linear Stochastic Differential Games: Nonzero-sum Case, pp.3543–3548 Li, Yan Guo, Lei Chinese Acad. of Sci. Chinese Acad. of Sci. Complex systems with components or subsystems having game-like relationships are probably the most complex ones that we encounter everyday. Much progress has been made over the past half century on differential games which are used as a tool in modeling conflicts in the context of dynamic systems, however, almost all of the current literature assume that both the parameters and the structure of the game are known to the players. Since in many practical situations, the players may have unknown parameters, which motivate us to investigate a class of two-player zero-sum linear-quadratic stochastic differential games in [1] with unknown parameters. In this paper, we will further consider a class of two-player nonzero−sum linear quadratic s- tochastic differential games, with unknown parameters to both players. We will design adaptive strategies and prove that they will converge to the optimal ones under ◮ SuB04-5 17:10–17:30 A New Safety Certification Method for High-risk Flight Testing Subjects, pp.3555–3560 Liu, Dongliang Xu, Haojun Zhou, Li Pei, Binbin Air Force Engineering Univ. Air Force Engineering Univ. Air Force Engineering Univ. Air Force Engineering Univ. Flight test subjects have high risk and difficult to evaluate quantificationally. A test pilot model based on distribution hypothesis verification is proposed to obtain the test pilot’s manipulation parameter. Delay time is selected as an example to illustrate the method. Aircraft model and hydraulic system model is established. Failure model of hydraulic system’s sensor and actuator malfunction, oil block and pump power were set up and simulated by Simulink and AMESim. To improve the precision of flight risk assessment, an improved extreme value risk evaluation model based on nonlinearly decreasing weight particle swarm optimization (NDW-PSO based EVT) is proposed. Dynamic simulation from component level to aircraft level was realized by a comprehensive virtual flight testing (VFT) framework based on AMESim, MAT- LAB/Simulink and Flightgear cross-connect. NO.43 risky subject about “hydraulic system malfunction”in Chinese GJB 626A-2006 was chosen as an example. Influence of hydraulic system failure to flight safety was analyzed and safety amelioration measures were proposed, which illustrate the former proposed method’s validity. ◮ SuB04-6 17:30–17:50 Design on Integrated Monitoring System for Main Waterway Station, pp.3471–3474 Yuling, Pei Wu, Qian Yang, Xiaoyi Chongqing Industry Polytechnic College Chongqing Univ. of Tech. Chongqing Normal Univ. Waterway management is an important tool to ensure safe smoothness of the waterway and enhance the traffic capacity. Aimed at the incompleteness in information resulted in safe fault triggered by limitation of command dispatch capability, and in waterway availability lowering etc, the paper designed and implemented a management system of main waterway station. Based on the integration of information fusion and adopted .NET frame, according to the hybrid architecture of B/S and C/S, it designed the related functional modules such as data acquisition, comprehensive management and command dispatch and so on, and realized the waterway managemant, command dispatch, dynamic monitoring of the vessel, vessel managemant, dispatch in maintenence and emergency rescue etc. The basic tests of the realized system show that it is reasonable in system design, and owns its feasibility and usability of engineering application. SuB05 15:50–17:50 Room 203E Biosystems Chair: Zhao, Chunhui Co-Chair: Li, Jr-Shin Zhejiang Univ. Washington Univ. in St. Louis ◮ SuB05-1 15:50–16:10 217
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WCICA 2012 The 10 th World Congress
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