Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406518
Qian Jiachen
A two-degree-of-freedom frame-based visual tracking system with image stabilization function and target tracking function is proposed and designed in this paper. By applying MEMS sensor signal processing technology, micro controller-based stepper motor control and electronic image stabilization technology based on grayscale projection, the system has good stability against large angle changes and high-frequency small-amplitude jitter. By combining the Kalman filter in the CamShift framework, the target tracking performance in the similar background is improved. The designed visual tracking device has good image stabilization performance and can perform continuously stable tracking when the target color is similar to the background.
{"title":"Two-degree-of-freedom visual tracking system with image stabilization for mobile platforms","authors":"Qian Jiachen","doi":"10.1109/YAC.2018.8406518","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406518","url":null,"abstract":"A two-degree-of-freedom frame-based visual tracking system with image stabilization function and target tracking function is proposed and designed in this paper. By applying MEMS sensor signal processing technology, micro controller-based stepper motor control and electronic image stabilization technology based on grayscale projection, the system has good stability against large angle changes and high-frequency small-amplitude jitter. By combining the Kalman filter in the CamShift framework, the target tracking performance in the similar background is improved. The designed visual tracking device has good image stabilization performance and can perform continuously stable tracking when the target color is similar to the background.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129553504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406410
Xiao-ling Yuan, Chengyang Fu, Hao Cai
Three-phase voltage PWM rectifiers are widely used as DC voltage source to provide constant and regulated output voltage. However, if multiple rectifiers connected to power grid at the same point of common coupling (PCC), it may drive the converters to enter instability region of low-frequency oscillation. This paper studies a low-frequency oscillation phenomenon that is also a Hopf-type bifurcation in grid-connected converters. The instability phenomenon characterized by the oscillation of converters' output voltage, and large amount of harmonics appear on the line current. The input admittance model of converter and output impendence model of non-ideal grid have been established, and transfer matrix function between input current and input voltage of the system is derived. Nyquist stability criterion is adopted to judge the stability of the system. The phenomenon is verified by simulations in MATLAB.
{"title":"Analysis of Hopf bifurcation in paralleled three-phase PWM grid-connected converters based on impendence model","authors":"Xiao-ling Yuan, Chengyang Fu, Hao Cai","doi":"10.1109/YAC.2018.8406410","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406410","url":null,"abstract":"Three-phase voltage PWM rectifiers are widely used as DC voltage source to provide constant and regulated output voltage. However, if multiple rectifiers connected to power grid at the same point of common coupling (PCC), it may drive the converters to enter instability region of low-frequency oscillation. This paper studies a low-frequency oscillation phenomenon that is also a Hopf-type bifurcation in grid-connected converters. The instability phenomenon characterized by the oscillation of converters' output voltage, and large amount of harmonics appear on the line current. The input admittance model of converter and output impendence model of non-ideal grid have been established, and transfer matrix function between input current and input voltage of the system is derived. Nyquist stability criterion is adopted to judge the stability of the system. The phenomenon is verified by simulations in MATLAB.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121391980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406459
Hao Qian, Tao Su
A hybrid algorithm which combines ant colony optimization algorithm and particle swarm optimization algorithm(ACO-PSO) is proposed to solve travelling salesman problem. Max-Min Ant System, whose parameters are optimized by PSO, is utilized to solve the problems. Massive of benchmark problems are utilized to test the performance of proposed algorithm.
{"title":"Hybrid algorithm based on max and min ant system and particle swarm optimization for solving TSP problem","authors":"Hao Qian, Tao Su","doi":"10.1109/YAC.2018.8406459","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406459","url":null,"abstract":"A hybrid algorithm which combines ant colony optimization algorithm and particle swarm optimization algorithm(ACO-PSO) is proposed to solve travelling salesman problem. Max-Min Ant System, whose parameters are optimized by PSO, is utilized to solve the problems. Massive of benchmark problems are utilized to test the performance of proposed algorithm.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128349718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406436
Mantong Ai, Yonghui Sun, X. Lv
Dynamic state estimation is essential for monitoring and analyzing power system stability. With high sampling rates and well synchronized data, phasor measurement unit (PMU) has been widely used in dynamic state estimation (DSE). However, the PMU data cannot be used directly by controlling and scheduling due to the stochastic noise. Based on interpolation H∞ extended Kalman filter (IHEKF), in this paper, a novel dynamic state estimation for synchronous machines is proposed. On the basis of the extended Kalman filter (EKF), the proposed method uses the adaptive interpolation method and the H∞ theory to improve the accuracy of estimation and the robustness about measurement noise. Finally, simulation shows that the IHEKF performs well in the estimation accuracy, as well as the robustness about measurement noise, compared with the EKF.
{"title":"Dynamic state estimation for synchronous machines based on interpolation H∞ extended Kalman filter","authors":"Mantong Ai, Yonghui Sun, X. Lv","doi":"10.1109/YAC.2018.8406436","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406436","url":null,"abstract":"Dynamic state estimation is essential for monitoring and analyzing power system stability. With high sampling rates and well synchronized data, phasor measurement unit (PMU) has been widely used in dynamic state estimation (DSE). However, the PMU data cannot be used directly by controlling and scheduling due to the stochastic noise. Based on interpolation H∞ extended Kalman filter (IHEKF), in this paper, a novel dynamic state estimation for synchronous machines is proposed. On the basis of the extended Kalman filter (EKF), the proposed method uses the adaptive interpolation method and the H∞ theory to improve the accuracy of estimation and the robustness about measurement noise. Finally, simulation shows that the IHEKF performs well in the estimation accuracy, as well as the robustness about measurement noise, compared with the EKF.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125414819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8405801
Fang Liu, Xueqi Li, Dinghao Liu
Image deblurring has a lot of applications which include but not limit recovery a high-quality Satellite imagery from a blurry one, extract more detail information from low resolution monitoring images, image compression and decompression. However, image deblurring has always been a difficult problem in the field of image processing. The traditional methods can effectively improve the image quality by image denoising technology. But this kind of methods has limit ability in recovery clear image from very vague images. Instead of previous methods, we focus on more challenger task that recovery high-resolution image from very vague images. We proposed to use the deep learning way to solve the problem and designed an end-to-end deep neural network for this task. To improve the quality of vague and ensure the accuracy of recovery images, we train our deep neural work by the adversarial training way and design our network based on encoder-decoder network using the convolution layer as network layers. The dataset we used to train our model is Celeba dataset. The results of our methods is promising compared with the traditional methods.
{"title":"Research of image deblurring based on the deep neural network","authors":"Fang Liu, Xueqi Li, Dinghao Liu","doi":"10.1109/YAC.2018.8405801","DOIUrl":"https://doi.org/10.1109/YAC.2018.8405801","url":null,"abstract":"Image deblurring has a lot of applications which include but not limit recovery a high-quality Satellite imagery from a blurry one, extract more detail information from low resolution monitoring images, image compression and decompression. However, image deblurring has always been a difficult problem in the field of image processing. The traditional methods can effectively improve the image quality by image denoising technology. But this kind of methods has limit ability in recovery clear image from very vague images. Instead of previous methods, we focus on more challenger task that recovery high-resolution image from very vague images. We proposed to use the deep learning way to solve the problem and designed an end-to-end deep neural network for this task. To improve the quality of vague and ensure the accuracy of recovery images, we train our deep neural work by the adversarial training way and design our network based on encoder-decoder network using the convolution layer as network layers. The dataset we used to train our model is Celeba dataset. The results of our methods is promising compared with the traditional methods.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128592850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to recognize the driver's visual distraction in the driving process, this paper chooses the information of pupil diameter as an indicator to study. At first, it designs three typical experimental scenarios of following, overtaking, and target search according to the research goal, selects 12 subjects and does the experiment of distracted driving using the driving simulation platform and the eye tracker. Then, the data is processed and repaired. After the static experiment verification threshold, the difference of the pupil diameter value was treated. The method of sliding standard deviation is used to automatically identify the abnormal mutation of pupil diameter, and use linear interpolation to repair. Finally, by the methods of variance, mean square root and recursive graph, this paper analyzes the changes of pupil diameter in three scenes such as gallop, overtaking and target search, and realizes the recognition of driver's visual distraction. The research results show that the changes of drivers' pupil diameter is more stable and small discrete degree in normal driving condition, on the contrary it is unstable and large discrete degree in distracted driving. At all, it can analyze the pupil diameter using means of variance, mean square root and recursion graph, and identifies the driver's visual distraction behavior.
{"title":"Recognition method of driver's visual distraction based on pupil diameter","authors":"W. Guo, Yangyang Li, Jiyuan Tan, Yinghong Li, Shaohui Yang, Xin Ma, Chengwu Jiao","doi":"10.1109/YAC.2018.8406347","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406347","url":null,"abstract":"In order to recognize the driver's visual distraction in the driving process, this paper chooses the information of pupil diameter as an indicator to study. At first, it designs three typical experimental scenarios of following, overtaking, and target search according to the research goal, selects 12 subjects and does the experiment of distracted driving using the driving simulation platform and the eye tracker. Then, the data is processed and repaired. After the static experiment verification threshold, the difference of the pupil diameter value was treated. The method of sliding standard deviation is used to automatically identify the abnormal mutation of pupil diameter, and use linear interpolation to repair. Finally, by the methods of variance, mean square root and recursive graph, this paper analyzes the changes of pupil diameter in three scenes such as gallop, overtaking and target search, and realizes the recognition of driver's visual distraction. The research results show that the changes of drivers' pupil diameter is more stable and small discrete degree in normal driving condition, on the contrary it is unstable and large discrete degree in distracted driving. At all, it can analyze the pupil diameter using means of variance, mean square root and recursion graph, and identifies the driver's visual distraction behavior.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127908025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406521
Feng Yang, Miaozang Zhang, Jinming Cao, Yongting Wang
Multi-sensor and multi-target distributed fusion has a big computational burden. A multi-sensor distributed fusion algorithm based on clustering by fast search and find of density peaks (CFSFDP) is proposed. The local target tracks which come from the multi-sensor are divided into multiple categories. The obtained categories number is the target number. The corresponding cluster centers are the fusion states of the targets. The least square fitting algorithm is used to smooth the target's fusion result. The simulation results show that the proposed algorithm has a higher robustness, compared with traditional Covariance Intersection (CI) fusion and local tracks of single sensor.
{"title":"Multi-sensor distributed fusion based on CFSFDP clustering algorithm","authors":"Feng Yang, Miaozang Zhang, Jinming Cao, Yongting Wang","doi":"10.1109/YAC.2018.8406521","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406521","url":null,"abstract":"Multi-sensor and multi-target distributed fusion has a big computational burden. A multi-sensor distributed fusion algorithm based on clustering by fast search and find of density peaks (CFSFDP) is proposed. The local target tracks which come from the multi-sensor are divided into multiple categories. The obtained categories number is the target number. The corresponding cluster centers are the fusion states of the targets. The least square fitting algorithm is used to smooth the target's fusion result. The simulation results show that the proposed algorithm has a higher robustness, compared with traditional Covariance Intersection (CI) fusion and local tracks of single sensor.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121776397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406357
Xiang Cao, Changyin Sun
In this paper, target hunting aims to detect target and surround the detected target using multi-AUV (Multiple Autonomous Underwater Vehicles) in a given area. The main challenge in multi-AUV target hunting is the design of AUV's motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in underwater environment, an integrated algorithm based on improved potential field (IPF) is proposed. Firstly, a potential field function is established according to the information of underwater environment. Then, the dispersion degree, the homodromous degree and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Lastly, the target hunting is solved by embeds the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting.
{"title":"Multi-AUV cooperative target hunting based on improved potential field in underwater environment","authors":"Xiang Cao, Changyin Sun","doi":"10.1109/YAC.2018.8406357","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406357","url":null,"abstract":"In this paper, target hunting aims to detect target and surround the detected target using multi-AUV (Multiple Autonomous Underwater Vehicles) in a given area. The main challenge in multi-AUV target hunting is the design of AUV's motion path and coordination mechanism. To conduct the cooperative target hunting by multi-AUV in underwater environment, an integrated algorithm based on improved potential field (IPF) is proposed. Firstly, a potential field function is established according to the information of underwater environment. Then, the dispersion degree, the homodromous degree and district-difference degree are introduced to increase the cooperation of the multi-AUV system. Lastly, the target hunting is solved by embeds the three kinds of degree into the potential field function. The simulation results show that the proposed approach is applicable and feasible for multi-AUV cooperative target hunting.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126309917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406509
Ning Wang, Qi Deng
This paper addresses the trajectory tracking control problem of a quadrotor with external disturbances. The main contributions are as follows: 1) A finite-time disturbance observer (FDO) is designed for accurate estimation of external disturbances and system uncertainties; 2) An integral sliding mode (ISM) control law is proposed to solve the trajectory tracking problem of the quadrotor; 3) By using FDO-based ISM control scheme, tracking errors can be stabilized to zero in a finite time. Simulation results show that the proposed control method has a remarkable performance.
{"title":"Finite-time disturbance observer based integral sliding mode control of a quadrotor","authors":"Ning Wang, Qi Deng","doi":"10.1109/YAC.2018.8406509","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406509","url":null,"abstract":"This paper addresses the trajectory tracking control problem of a quadrotor with external disturbances. The main contributions are as follows: 1) A finite-time disturbance observer (FDO) is designed for accurate estimation of external disturbances and system uncertainties; 2) An integral sliding mode (ISM) control law is proposed to solve the trajectory tracking problem of the quadrotor; 3) By using FDO-based ISM control scheme, tracking errors can be stabilized to zero in a finite time. Simulation results show that the proposed control method has a remarkable performance.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126762040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-05-18DOI: 10.1109/YAC.2018.8406467
Zhixian Ni, Wei Wang, Xuhang Cao
Ball Sorting System Based on Ball-Plate Control Model (BSBCM) is an item sorting system for single actuator. It classifies spherical objects according to the image characteristics. Different from the traditional sorting device, the system has only one actuator, which reduces the complexity of the system. This system uses the machine vision to identify the features of spherical objects and calibrate their position, and control the position of the sphere on the board through the stereo two-degrees-of-freedom plate. Different types of balls leave the plate from different positions and fall into the corresponding category. The system uses a simplified Ball-Plate control algorithm and image recognition technology to reduce the cost and hardware requirements. This design puts forward new ideas for the practical application and further research of the ball-plate control system.
{"title":"Ball sorting system based on ball-plate control model","authors":"Zhixian Ni, Wei Wang, Xuhang Cao","doi":"10.1109/YAC.2018.8406467","DOIUrl":"https://doi.org/10.1109/YAC.2018.8406467","url":null,"abstract":"Ball Sorting System Based on Ball-Plate Control Model (BSBCM) is an item sorting system for single actuator. It classifies spherical objects according to the image characteristics. Different from the traditional sorting device, the system has only one actuator, which reduces the complexity of the system. This system uses the machine vision to identify the features of spherical objects and calibrate their position, and control the position of the sphere on the board through the stereo two-degrees-of-freedom plate. Different types of balls leave the plate from different positions and fall into the corresponding category. The system uses a simplified Ball-Plate control algorithm and image recognition technology to reduce the cost and hardware requirements. This design puts forward new ideas for the practical application and further research of the ball-plate control system.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131391886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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