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2019 3rd International Symposium on Autonomous Systems (ISAS)最新文献

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Review on human-machine shared control system of automated vehicles 自动驾驶汽车人机共享控制系统研究进展
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757749
Chao Huang, F. Naghdy, H. Du, Hailong Huang
{"title":"Review on human-machine shared control system of automated vehicles","authors":"Chao Huang, F. Naghdy, H. Du, Hailong Huang","doi":"10.1109/ISASS.2019.8757749","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757749","url":null,"abstract":"There is much advancement in human-machine shared control system of automated vehicle over time. This paper introduces current status and history of shared control system of automated vehicle. Then, several features of shared control system are analyzed in detail in connection with human-machine interaction, authority and transaction in shared control and human-machine interface. Finally, the future issues to be researched are discussed, including reliability and safety requirement and human factor.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117053035","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}
引用次数: 7
USV attitude angle optimization method based on gradient descent method and S-plane combined filtering 基于梯度下降法和s面联合滤波的USV姿态角优化方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757739
Yufei Xu, Lei Wan, Xin Zhao
{"title":"USV attitude angle optimization method based on gradient descent method and S-plane combined filtering","authors":"Yufei Xu, Lei Wan, Xin Zhao","doi":"10.1109/ISASS.2019.8757739","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757739","url":null,"abstract":"In order to solve the problem of low cost attitude reference system used by Unmanned Surface Vehicle (USV), which is vulnerable to complex sea conditions and external hard, soft and magnetic disturbances, resulting in poor accuracy and stability of attitude angle output information, a combined algorithm based on quaternion and S-plane improved complementary filtering is proposed. After calculating the attitude angle quickly, the algorithm makes complementary filtering with the attitude angle directly output from the attitude reference system, eliminates the high and low frequency interference, and obtains a stable and high precision attitude angle information. Experiments show that the combined algorithm effectively improves the accuracy and stability of the output heading angle information of the attitude reference system, and good results are obtained in the heading control experiment.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117219585","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}
引用次数: 0
Output redefinition dynamic inverse trajectory tracking control of underactuated surface vessels with external disturbance 存在外部扰动的欠驱动水面舰船输出重定义动态逆轨迹跟踪控制
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757709
Junfeng Qin, Jia-lu Du, Jian Li
{"title":"Output redefinition dynamic inverse trajectory tracking control of underactuated surface vessels with external disturbance","authors":"Junfeng Qin, Jia-lu Du, Jian Li","doi":"10.1109/ISASS.2019.8757709","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757709","url":null,"abstract":"In this paper, a robust trajectory tracking control law is proposed for underactuated surface vessels (USVs) in the presence of unknown time-varying disturbances. A disturbance observer (DO) is firstly designed to provide the estimates of unknown time-varying disturbances and used for feedforward compensation control. Then, the robust trajectory tracking control law is proposed by combining the DO into the output redefinition dynamic inverse (ORDI) technique. It is proved that the designed control law can force the ship to track the desired trajectory. Simulation results on an underactuated model ship verify the effectiveness of the proposed control law.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115582670","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}
引用次数: 2
A K-Controllable Matching Algorithm for Network Systems 一种网络系统的k -可控匹配算法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757757
Xiaoli Li, Peng Chen
{"title":"A K-Controllable Matching Algorithm for Network Systems","authors":"Xiaoli Li, Peng Chen","doi":"10.1109/ISASS.2019.8757757","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757757","url":null,"abstract":"The traditional maximum matching method could be used to choose the driver nodes of a directed network so that entire network is controllable. However controllability is not sufficient for the large-scale network in engineering applications, where the state of the entire network is expected to be driven to the desired value in a given period of time. In this paper, the concept of K-Controllability is utilized to describe the controllability performance based on the traditional controllability theory. A K-Controllable Matching Algorithm (KCMA) is proposed to determine the driver nodes with optimized control chains, so that the upper bound of the controllability index K is as small as possible. The KCMA algorithm is verified by combining the specific network model with the actual network, which shows that the performance of the KCMA algorithm is better than that of the traditional matching algorithm.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121944858","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}
引用次数: 0
A Low-cost Neuroadaptive Control Approach for Unmanned Aerial Vehicle under Time-Varying Asymmetric Motion Constraints 时变非对称运动约束下无人机低成本神经自适应控制方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757725
Shiguo Yang, Zhirong Zhang, Yaping Ma, Liu He
{"title":"A Low-cost Neuroadaptive Control Approach for Unmanned Aerial Vehicle under Time-Varying Asymmetric Motion Constraints","authors":"Shiguo Yang, Zhirong Zhang, Yaping Ma, Liu He","doi":"10.1109/ISASS.2019.8757725","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757725","url":null,"abstract":"This paper presents a neuroadaptive tracking control scheme for uncertain Unmanned Aerial Vehicle (UAV) subject to asymmetric yet time-varying (ATV) full-state constraints without involving feasibility conditions. By blending a nonlinear state-dependent transformation into each step of backstepping design, a neural network-based adaptive control scheme is developed, which, as compared with most existing methods, exhibits several attractive features: 1) it is robust and adaptive to parametric/non-parametric uncertainties; 2) it not only directly accommodates ATV motion (position and velocity) constraints but also removes the feasibility conditions on virtual controllers; and 3) it only involves one lumped-parameter adaptation, thus is structurally simpler, computationally less expensive, and easier in implementation. Neural network (NN) unit accounting for system uncertainties is included in the loop during the entire system operational envelope in which the precondition on the NN training inputs is always ensured. The effectiveness of the proposed control strategy for UAV is confirmed by systematic stability analysis and numerical simulation.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116448436","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}
引用次数: 0
Self-organization Method of USV Swarm Target Strike Task Based on Ant Colony Algorithm 基于蚁群算法的USV群目标打击任务自组织方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757795
Yangliu Xie, Xu Liang, Lixuan Lou, Xiaoye Guo
{"title":"Self-organization Method of USV Swarm Target Strike Task Based on Ant Colony Algorithm","authors":"Yangliu Xie, Xu Liang, Lixuan Lou, Xiaoye Guo","doi":"10.1109/ISASS.2019.8757795","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757795","url":null,"abstract":"Unmanned surface vehicle (USV) swarm warfare is the main mode of warfare for future unmanned combat platforms at sea. In order to improve the autonomous cooperative warfare capability of the USV swarm, this study designed a multi-USV cooperative self-organizing framework based on ant colony hunting behavior, proposed a distributed raid-pattern ant colony algorithm in view of the USV swarm target strike task, and established a mathematical model of the self-organizing problem of the USV swarm target strike task Moreover, the related state movement rule and pheromone updating mechanism of the algorithm were designed, and the improved USV movement rule with overall view was also introduced in this study. This study confirmed the effectiveness of the self-organizing method of the designed USV swarm target strike task through simulation experiments, compared the advantage of algorithm after introducing the overall view of movement rules, and verified the general applicability of the algorithm for different USV swarms at the same time.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126434174","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}
引用次数: 3
Control of Nonlinear Systems with Asymmetric yet Time-varying Output Constraint: A Direct Transformational Approach 具有非对称时变输出约束的非线性系统控制:一种直接变换方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757789
Kai Zhao, Hui Gao, Yongduan Song, Yongcheng Zhou
{"title":"Control of Nonlinear Systems with Asymmetric yet Time-varying Output Constraint: A Direct Transformational Approach","authors":"Kai Zhao, Hui Gao, Yongduan Song, Yongcheng Zhou","doi":"10.1109/ISASS.2019.8757789","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757789","url":null,"abstract":"In this paper, an adaptive control for strict-feedback nonlinear systems with output constraint is investigated. Different from the Barrier Lyapunov Function (BLF) based constant constraint control methods, an nonlinear output-dependent transformation is introduced, which removes the commonly used conservative design of converting the output constraint into tracking error related constraint, relaxing the requirement on the initial condition of system output; Then by constructing a new coordinate transformation, together with the backstepping and tuning function techniques, the developed adaptive control ensures that all signals in the closed-loop systems are bounded and the symmetric output constraint is not violated. Furthermore, to deal with the asymmetric yet time-varying output constraint and to reduce the difficulty of stability analysis in the asymmetric BLF (ABLF) control schemes, another nonlinear output-dependent transformation is developed such that the output constraint can be handled directly and the extra effort to ensure the continuity and differentiability of virtual controllers is not needed. The effectiveness and superiority of the proposed method has also be validated via numerical simulation.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125150407","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}
引用次数: 0
An Adaptive Control Defense Scheme of False Data Injection Attacks in Smart Grids 智能电网虚假数据注入攻击的自适应控制防御方案
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757771
Lingjie Hou, Xiaoyuan Luo, Xinyu Wang, X. Guan
{"title":"An Adaptive Control Defense Scheme of False Data Injection Attacks in Smart Grids","authors":"Lingjie Hou, Xiaoyuan Luo, Xinyu Wang, X. Guan","doi":"10.1109/ISASS.2019.8757771","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757771","url":null,"abstract":"Due to vulnerability caused by the openness of smart grids, False Data Injection Attack (FDIA) can be injected by hacker with a bank of false attack sequences to damage the operation of the grid system by compromising the measurement equipment. Hence, the emergence of the FDIA has brought enormous threats to the security mechanism of smart grids. To solve this problem, an adaptive defense scheme against FDIA is proposed in this paper. A dynamic grid model that considers the changes of internally physical dynamics is established. Based on this model, a class of adaptive defense controllers are constructed by studying the characteristics of FDIA. The designed adaptive defense controller can update the information from the system in real time and adjust the states constantly, which makes the grid system under attacks keep stable. Finally, the effectiveness of the adaptive defense scheme against the FDIA is verified by the simulation results on the IEEE-9 bus smart grid system.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122335259","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}
引用次数: 3
Avoidance for AUV with mobile obstacles based on current interference 基于电流干扰的移动障碍物水下航行器避障方法
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757701
L. Haoran, Duan Hongjun, Zhu Yakun
{"title":"Avoidance for AUV with mobile obstacles based on current interference","authors":"L. Haoran, Duan Hongjun, Zhu Yakun","doi":"10.1109/ISASS.2019.8757701","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757701","url":null,"abstract":"In this paper, moving obstacles and collision avoidance problems are investigated for AUV (autonomous underwater vehicle). First, based on the cotton operator, the obstacle avoidance vector is proposed for the AUV to calculate the distances between the obstacles and the AUV. Second, a novel observer which can be used to estimate current interference is proposed. Then the proposed controller can not only guarantee collision avoidance but also can guarantee the AUV return to its desired position after the AUV avoids obstacles. Finally, the simulation results demonstrate the effectiveness of the proposed control algorithm.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128458793","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}
引用次数: 0
Crowd Counting Via Residual Building Block Convolutional Neural Network 基于残差构建块卷积神经网络的人群计数
2019 3rd International Symposium on Autonomous Systems (ISAS) Pub Date : 2019-05-01 DOI: 10.1109/ISASS.2019.8757730
Yaokai Xue, Jing Li
{"title":"Crowd Counting Via Residual Building Block Convolutional Neural Network","authors":"Yaokai Xue, Jing Li","doi":"10.1109/ISASS.2019.8757730","DOIUrl":"https://doi.org/10.1109/ISASS.2019.8757730","url":null,"abstract":"We present a new method called residual building block convolutional neural network (RBB-CNN) for generating high-quality density maps and count estimation by applying stacked residual building blocks. The specific deploy of convolution layers in building blocks are inspired by the work of VGG16. The RBB-CNN is an easy-trained end-to-end model and allows arbitrary-size input because of its pure convolutional structure. To verify the validation of the residual building block, an ablation on ShanghaiTech Part-A is implemented. Meanwhile, we demonstrate the performance of RBB-CNN on three crowd counting datasets, i.e., ShanghaiTech, UCSD and MALL. With a wide range from dense to sparse density, our model achieves the state-of-the-art performance on all of the above datasets.","PeriodicalId":359959,"journal":{"name":"2019 3rd International Symposium on Autonomous Systems (ISAS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127379547","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}
引用次数: 0
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