Pub Date : 2015-05-23DOI: 10.1109/CCDC.2015.7162357
Zhang Siyu, Yu Jianqiao, Sun Huadong
A Legendre pseudo spectral combination algorithm introduced by the theory of differential flatness is proposed, which transforms the unmanned aerial vehicles path planning problem into an optimal control problem. The vehicles kinematics state equations are built, and the optimal control problem which uses the equations as constraints and the shortest flight time as the cost is also built. By the differential flatness, the equations of motion state can be converted, that is the control variables and constraints of the optimal control problem can be simplified by the use of flatness output. Then optimal control problem after simplified can be solved through Legendre pseudo spectral method. The proposed combination algorithm has been compared with Legendre pseudo spectral method, and the simulation by Matlab is used to verify that the algorithm can reduce approximately 60% computation time with ensuring accuracy. The result has proved the high engineering value of the proposed algorithm.
{"title":"UAV path planning via Legendre pseudospectral method improved by differential flatness","authors":"Zhang Siyu, Yu Jianqiao, Sun Huadong","doi":"10.1109/CCDC.2015.7162357","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162357","url":null,"abstract":"A Legendre pseudo spectral combination algorithm introduced by the theory of differential flatness is proposed, which transforms the unmanned aerial vehicles path planning problem into an optimal control problem. The vehicles kinematics state equations are built, and the optimal control problem which uses the equations as constraints and the shortest flight time as the cost is also built. By the differential flatness, the equations of motion state can be converted, that is the control variables and constraints of the optimal control problem can be simplified by the use of flatness output. Then optimal control problem after simplified can be solved through Legendre pseudo spectral method. The proposed combination algorithm has been compared with Legendre pseudo spectral method, and the simulation by Matlab is used to verify that the algorithm can reduce approximately 60% computation time with ensuring accuracy. The result has proved the high engineering value of the proposed algorithm.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125551955","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7162575
Tan Zhu, Yueming Yuan, Ji Ma, Jiao Wang
Playing the game with partially observable information is a very challenging issue in AI field as its high complexity. Phantom game is a kind of such games, which is usually with large state space. One of them, Phantom Go, is the variant game of computer Go with imperfect information. It is a great challenge and attractive topic in AI for its uncertainty of the hidden information and the complexity from computer Go. In the recent years, the research of IS-MCTS (Information Set Monte-Carlo Search) has boosted the development of Phantom games. Determinization is the very crucial processing in IS-MCTS, which reveals the imperfect information and provides perfect board configuration to the Monte-Carlo tree. As a result, advanced methods that make use of the knowledge by rational players to predict the opponent's information is highly required. This paper proposes two static strategies and an inference model to demonstrate how to use professional knowledge to improve the search quality. These methods are universal and will greatly improve the playing strength of the Phantom Go program.
{"title":"Static strategies and inference for the game of Phantom Go","authors":"Tan Zhu, Yueming Yuan, Ji Ma, Jiao Wang","doi":"10.1109/CCDC.2015.7162575","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162575","url":null,"abstract":"Playing the game with partially observable information is a very challenging issue in AI field as its high complexity. Phantom game is a kind of such games, which is usually with large state space. One of them, Phantom Go, is the variant game of computer Go with imperfect information. It is a great challenge and attractive topic in AI for its uncertainty of the hidden information and the complexity from computer Go. In the recent years, the research of IS-MCTS (Information Set Monte-Carlo Search) has boosted the development of Phantom games. Determinization is the very crucial processing in IS-MCTS, which reveals the imperfect information and provides perfect board configuration to the Monte-Carlo tree. As a result, advanced methods that make use of the knowledge by rational players to predict the opponent's information is highly required. This paper proposes two static strategies and an inference model to demonstrate how to use professional knowledge to improve the search quality. These methods are universal and will greatly improve the playing strength of the Phantom Go program.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116175224","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7161734
Antong Deng, Jinhui Zou, Z. Shao, Guoyong Huang, Lei Shi, Weiquan Deng
Aiming at the inaccurate estimated rotate speed resulting from the parametric variation of the asynchronous motor, this paper designs an estimation method of the Model Reference Adaptive System (MRAS) that can identify the stator resistance and rotate speed simultaneously, and replaces PI link with sliding-mode control based on the approaching rate aiming at the complex PI gain coefficient adjustment existing in the common MRAS estimation method. This method can estimate the stator resistance and rotate speed value of the asynchronous motor during the operation only by detecting the stator side voltage and current, so as to make the whole system gain strong robustness on the change of the stator resistance, and improve the control accuracy of the whole system. The simulation experiment through the vector control on the asynchronous motor verifies the accuracy of the mentioned methods.
{"title":"Improvement on asynchronous motor system identification based on interactive MRAS","authors":"Antong Deng, Jinhui Zou, Z. Shao, Guoyong Huang, Lei Shi, Weiquan Deng","doi":"10.1109/CCDC.2015.7161734","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7161734","url":null,"abstract":"Aiming at the inaccurate estimated rotate speed resulting from the parametric variation of the asynchronous motor, this paper designs an estimation method of the Model Reference Adaptive System (MRAS) that can identify the stator resistance and rotate speed simultaneously, and replaces PI link with sliding-mode control based on the approaching rate aiming at the complex PI gain coefficient adjustment existing in the common MRAS estimation method. This method can estimate the stator resistance and rotate speed value of the asynchronous motor during the operation only by detecting the stator side voltage and current, so as to make the whole system gain strong robustness on the change of the stator resistance, and improve the control accuracy of the whole system. The simulation experiment through the vector control on the asynchronous motor verifies the accuracy of the mentioned methods.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116227329","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7161760
Chen Xiao-bo, Song Rui-xiang, Yang Ying-hua, Qin Shu-kai
In the paper, we use wavelet technique to detect edges in small scale along the direction of gradient maximum. Edges that we extracted are accurate and single-pixel wide. But the photo also contains a lot of noise, so we set threshold to extract the ideal edge points. Currently, the threshold is set mostly by people's experience that needing a lot of trial or set the average gray value of the image directly, but the overall effect is not satisfactory. In response to the problem, we propose a method of using two-dimensional otsu model to obtain the threshold, the two-dimensional otsu method not only considers the gray value of pixels but also takes the pixels outside their fields of space-related information into account and it takes a good performance in the presence of noise of image. And we do not need to set any parameter to get the threshold. After that, we propose the corresponding solution to the problem that some edge points can not be detected: local enhancement method. In the method, we first operate the fuzzy edges of the original image, and then use the method we have proposed to detect the edges again. Finally, the simulation shows the correctness and effectiveness of the algorithm and it can also detect the fuzzy edges with an advantage of positioning accurate and having low noise.
{"title":"Wavelet edge detection using two-dimensional otsu model and local enhancement","authors":"Chen Xiao-bo, Song Rui-xiang, Yang Ying-hua, Qin Shu-kai","doi":"10.1109/CCDC.2015.7161760","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7161760","url":null,"abstract":"In the paper, we use wavelet technique to detect edges in small scale along the direction of gradient maximum. Edges that we extracted are accurate and single-pixel wide. But the photo also contains a lot of noise, so we set threshold to extract the ideal edge points. Currently, the threshold is set mostly by people's experience that needing a lot of trial or set the average gray value of the image directly, but the overall effect is not satisfactory. In response to the problem, we propose a method of using two-dimensional otsu model to obtain the threshold, the two-dimensional otsu method not only considers the gray value of pixels but also takes the pixels outside their fields of space-related information into account and it takes a good performance in the presence of noise of image. And we do not need to set any parameter to get the threshold. After that, we propose the corresponding solution to the problem that some edge points can not be detected: local enhancement method. In the method, we first operate the fuzzy edges of the original image, and then use the method we have proposed to detect the edges again. Finally, the simulation shows the correctness and effectiveness of the algorithm and it can also detect the fuzzy edges with an advantage of positioning accurate and having low noise.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"58 31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116383226","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7161978
Li Youru, Li Xueping, W. Yajie, Xi Yuting
This paper comes up with the framework design and detailed technical analysis on the intelligent decision-making system of the computer game of checkers, and the prospect towards the future technology in research. The system includes the following four parts: the design and expression of the board, the achievement of the basic move, the establishment of the valuation system, and the construction of the search engine. After the experiment of a match between man and machine, and also that between machine and machine, the system can implement the function of intelligent and optimal decision-making. This system contributes a lot to the intelligent decision-making theory and the application of its algorithms on the computer games technology.
{"title":"A systematic research about the computer game of checkers based on the decision-making of AI","authors":"Li Youru, Li Xueping, W. Yajie, Xi Yuting","doi":"10.1109/CCDC.2015.7161978","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7161978","url":null,"abstract":"This paper comes up with the framework design and detailed technical analysis on the intelligent decision-making system of the computer game of checkers, and the prospect towards the future technology in research. The system includes the following four parts: the design and expression of the board, the achievement of the basic move, the establishment of the valuation system, and the construction of the search engine. After the experiment of a match between man and machine, and also that between machine and machine, the system can implement the function of intelligent and optimal decision-making. This system contributes a lot to the intelligent decision-making theory and the application of its algorithms on the computer games technology.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116450219","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7162291
Yulin Du
The assumption of constant underlying's volatility in Black-Scholes formula cannot be satisfied in financiap market. In this paper, we get the option price intervals assuming the stock volatility lies within a given interval. First we transform this financial problem to a stochastic optimal control problem, then obtain options' maximum and minimum price models through dynamic programming principle. We solve the nonlinear PDE model and narrow the price interval through optimal static hedging. We conclude this paper by giving its applications in U.S.A option market, get the MCD options intervals, comparing with Black-scholes, and find a way to identify arbitrage opportunity in option markets.
{"title":"Option price intervals based on bellman dynamic programming principle","authors":"Yulin Du","doi":"10.1109/CCDC.2015.7162291","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162291","url":null,"abstract":"The assumption of constant underlying's volatility in Black-Scholes formula cannot be satisfied in financiap market. In this paper, we get the option price intervals assuming the stock volatility lies within a given interval. First we transform this financial problem to a stochastic optimal control problem, then obtain options' maximum and minimum price models through dynamic programming principle. We solve the nonlinear PDE model and narrow the price interval through optimal static hedging. We conclude this paper by giving its applications in U.S.A option market, get the MCD options intervals, comparing with Black-scholes, and find a way to identify arbitrage opportunity in option markets.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116574308","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7162102
Qing Yang, H. Su, G. Tang, De-xin Gao
This paper addresses the motion control problem of underactuated autonomous underwater vehicles (AUV) in vehicle plane affected by disturbances. Firstly, a six degrees-of-freedom AUV model with its body-fixed coordinate system is decoupled, simplified, and linear zed, and the depth control model and the wave model are obtained; Then a optimal output feedback disturbances rejection control law is proposed with a higher mean-square convergence rate, which is derived from a Riccati equation and Sylvester matrix equation according to the quadratic performance indexes. The proposed controller consists of a feedforward disturbance rejection item and an optimal output feedback item. Finally, the controller is applied to the dive plane control of AUV with wave force disturbances, and simulation results are presented to verify the effectiveness of the methods.
{"title":"Optimal output feedback disturbance rejection for underactuated autonomous underwater in vertical plane","authors":"Qing Yang, H. Su, G. Tang, De-xin Gao","doi":"10.1109/CCDC.2015.7162102","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162102","url":null,"abstract":"This paper addresses the motion control problem of underactuated autonomous underwater vehicles (AUV) in vehicle plane affected by disturbances. Firstly, a six degrees-of-freedom AUV model with its body-fixed coordinate system is decoupled, simplified, and linear zed, and the depth control model and the wave model are obtained; Then a optimal output feedback disturbances rejection control law is proposed with a higher mean-square convergence rate, which is derived from a Riccati equation and Sylvester matrix equation according to the quadratic performance indexes. The proposed controller consists of a feedforward disturbance rejection item and an optimal output feedback item. Finally, the controller is applied to the dive plane control of AUV with wave force disturbances, and simulation results are presented to verify the effectiveness of the methods.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122713574","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7162354
Wang Dong, Zhang Shaojie, Shuang Weifang, Wang Li, Yin Jing, Yuan Yuanming
Considering that the temperature sensors of satellite power systems are sensitive to the noise, a fault detection method based on the theory of wavelet entropy and the wavelet multi-scale products is purposed to reduce the influence of the noise. Wavelet entropy is applied to amplify the signal-noise ratio by finding the optimal de-noising threshold. Besides, by using of the multi-scale products, the proportion coefficients are further magnified. Then the fault time could be determined by the modulus maximum. Finally, simulation for a class of satellite power systems is conducted, verifying the effectiveness of the proposed method.
{"title":"A fault detection method based on wavelet theory for satellite power systems","authors":"Wang Dong, Zhang Shaojie, Shuang Weifang, Wang Li, Yin Jing, Yuan Yuanming","doi":"10.1109/CCDC.2015.7162354","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162354","url":null,"abstract":"Considering that the temperature sensors of satellite power systems are sensitive to the noise, a fault detection method based on the theory of wavelet entropy and the wavelet multi-scale products is purposed to reduce the influence of the noise. Wavelet entropy is applied to amplify the signal-noise ratio by finding the optimal de-noising threshold. Besides, by using of the multi-scale products, the proportion coefficients are further magnified. Then the fault time could be determined by the modulus maximum. Finally, simulation for a class of satellite power systems is conducted, verifying the effectiveness of the proposed method.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122743910","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7162142
Xu Lin, Fu Anqi
From the perspective of the limited energy in wireless visual sensor networks, based on the lifting wavelet transform method run in the elimination mode and SPECK coding by skipping some high-frequency sub-bands, an energy effective image compression coding method is proposed according to the adaptive requirement of the image quality and energy consumption. The experiments show that the method has a good effect on energy conservation, which is more obvious in the image transmission at low bit rate.
{"title":"Research on energy conservation method of the image compression coding based on wavelet transform for WVSNs","authors":"Xu Lin, Fu Anqi","doi":"10.1109/CCDC.2015.7162142","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162142","url":null,"abstract":"From the perspective of the limited energy in wireless visual sensor networks, based on the lifting wavelet transform method run in the elimination mode and SPECK coding by skipping some high-frequency sub-bands, an energy effective image compression coding method is proposed according to the adaptive requirement of the image quality and energy consumption. The experiments show that the method has a good effect on energy conservation, which is more obvious in the image transmission at low bit rate.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"484 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122746896","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 : 2015-05-23DOI: 10.1109/CCDC.2015.7162070
Yan Li, Yang Zhao
This paper presents a novel work that how to determine the memory (initialization function) of fractional order systems by using the recent sampled input-output data. The background and basic theories of initialized fractional order systems are introduced. A practical algorithm is proposed to estimate the initial value of initialization function, which is adaptive to all system parameters. A P-type learning law is applied so that the initialization function can be computed accordingly. The whole process is optimized by using finite system information. The above strategy is available for both Caputo and Riemann-Liouville fractional order systems, where the initial values are applied instead of the initial conditions.
{"title":"Memory identification of fractional order systems: Background and theory","authors":"Yan Li, Yang Zhao","doi":"10.1109/CCDC.2015.7162070","DOIUrl":"https://doi.org/10.1109/CCDC.2015.7162070","url":null,"abstract":"This paper presents a novel work that how to determine the memory (initialization function) of fractional order systems by using the recent sampled input-output data. The background and basic theories of initialized fractional order systems are introduced. A practical algorithm is proposed to estimate the initial value of initialization function, which is adaptive to all system parameters. A P-type learning law is applied so that the initialization function can be computed accordingly. The whole process is optimized by using finite system information. The above strategy is available for both Caputo and Riemann-Liouville fractional order systems, where the initial values are applied instead of the initial conditions.","PeriodicalId":273292,"journal":{"name":"The 27th Chinese Control and Decision Conference (2015 CCDC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122875518","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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