Proceedings of 2016 Chinese Intelligent Systems Conference (eBook)

Contents 6
New Decoupling Conditions for Arbitrary Systems Based on Transcale Coupling to the Time-Derivative Order 12
1 Introduction 12
2 Problem Statement and Preliminary Results 13
3 Necessary and Sufficient Conditions of the Decoupling 15
4 Numerical Example 18
5 Conclusions 20
References 21
2 Determination of the Vehicle Relocation Triggering Threshold in Electric Car-Sharing System 22
Abstract 22
1 Introduction 22
2 Basic Thinking on Threshold Method 24
2.1 Stages of Threshold Relocation Method 24
2.2 Thinking on Threshold Determination 25
3 Threshold Determination Method 27
3.1 Vehicle Counter State Transition Equations 27
3.2 Thresholds Determination 28
4 Results and Discussions 30
5 Conclusions 31
Acknowledgments 32
References 32
3 The Study of Voice Coil Motor Position Control System Based on Fuzzy Nonlinear PID 34
Abstract 34
1 Introduction 34
2 The Structure Principle of Voice Coil Motor 35
3 The Mathematical Model of Voice Coil Motor 35
4 The Structure of System Control 36
5 The Design of Fuzzy Nonlinear PID Controller 36
6 The Design of Tracking Differentiator 37
7 The Design of Fuzzy Controller 38
8 The Design of Nonlinear Controlling Unit 40
9 The Control System Simulation and Test Results 40
10 Conclusion 42
References 42
Adaptive Finite-Time Bipartite Consensus for Nonlinear Coopetition Multi-agent Systems with Unknown External Disturbances 44
1 Introduction 44
2 Problem Formulation 45
2.1 Algebraic Graph Theory and Some Lemmas 45
2.2 System Descriptions 46
3 Main Results 47
4 Numerical Results 51
5 Conclusion 52
References 52
Finite-Time Consensus Tracking for Second-Order Multi-agent Systems Without Relative Velocity Measurements 54
1 Introduction 54
2 Problem Statement and Protocol Design 55
2.1 Problem Statement 55
2.2 Protocol Design 56
3 Main Results 56
3.1 Networks with Fixed Topology 56
3.2 Networks with Switching Topology 61
4 Simulation Results 61
5 Conclusions 63
References 63
6 Inland Moving Ships Detection via Compressive Sensing and Saliency Detection 65
Abstract 65
1 Introduction 65
2 Inland Moving Ships Detection 67
2.1 Background Subtraction Based on Compressive Sensing 67
2.2 Inland Saliency Extraction 68
2.3 The Integrated Strategy of Moving Ships Detection 69
2.4 Background Update Mechanism 69
3 Experimental, Results and Discussion 70
3.1 Experimental and Results 70
3.2 Discussion 71
4 Conclusion 72
Acknowledgments 72
References 73
7 Robust Control of Piecewise Linear Switched System with Constrained Input and Ellipsoid 74
Abstract 74
1 Introduction 74
2 System Description 76
3 Design of Control Method 77
3.1 Solving for Problem 1 77
3.2 Solving for Problem 2 80
3.3 Solving for Problem 3 80
3.4 Robust Control for Linear Switched Systems 80
4 Simulation Results 81
4.1 Mathematical Model Simulation 81
4.2 Simulation for Marine Surface Vessel 81
5 Conclusion 85
Acknowledgments 85
References 85
8 Fault Diagnosis Method of Wind Turbine Generators Based on Principal Component Feature Extraction 87
Abstract 87
1 Introduction 87
2 Building the Principal Component Model 88
3 Feature Extraction and Performance Detection of Principal Component Analysis 90
4 Fault Diagnosis of Wind Turbine Based on Principal Component Analysis 92
4.1 State Monitoring Procedure for Wind Turbine 93
4.2 Experiment and Simulation 94
5 Conclusion 96
Acknowledgments 96
References 96
9 Transformer Internal Insulation Fault Diagnosis Based on RBF Neural Network Evolved by Immune Particle Swarm Optimization 97
Abstract 97
1 Introduction 97
2 Internal Insulation Fault Type of Transformer and Its Oil and Gas Component 98
3 Transformer Fault Diagnosis Model Based on RBF Neural Network 100
3.1 The Structure and Principle of Internal Insulation Fault Diagnosis Model of Transformer 100
3.2 Design of Input and Output of Transformer Fault Diagnosis Model Based on RBF Neural Network 101
3.3 Determination of RBF Hidden Layer Center Based on Artificial Immune Network Algorithm 102
3.4 Particle Swarm Optimization Algorithm Based on RBF Network Weights 103
4 Simulation Analysis 105
4.1 Selection of Simulation Samples 105
4.2 Simulation Process 105
4.3 Diagnostic Results 106
5 Conclusion 107
References 107
Consensus Control for Multi-agent Networks with Mixed Undirected Interactions 109
1 Introduction 109
2 Problem Statement 110
2.1 Preliminaries 110
2.2 Problem Description 111
3 Problem Analysis 112
3.1 Consensus Analysis 112
3.2 Main Result 113
4 Illustrative Simulations 114
5 Conclusions 115
References 115
11 Modeling and Simulation of Parafoil Systems in Wind Fields 117
Abstract 117
1 Introduction 117
2 Modeling of Parafoil Systems in Wind Fields 118
2.1 Wind Field Model 118
2.2 Dynamic Model of Parafoil System 119
3 Numerical Simulation Analysis 121
3.1 Gliding with Winds 121
3.2 Turning with Winds 122
3.3 Flare Landing with Winds 123
4 Conclusion 124
Acknowledgments 124
References 124
12 Implementation of Intelligent Dynamic Tracking Monitoring System for Vehicle Transportation-in Hazardous Goods 126
Abstract 126
1 Introduction 126
2 System Structure of Real-Time Dynamic Tracking and Monitoring 127
3 Monitoring System Design 127
3.1 Vehicle Terminal System 127
3.2 Design of Monitoring Center and Communication System 128
3.3 System Database Design 129
3.4 Electronic Map 130
4 Monitoring System Implementation 130
4.1 Information Management 130
4.2 Real-Time Monitoring 131
4.3 History Query 131
4.4 GPRS Communication Implementation 132
4.5 Implementation of GIS Web Platform 132
4.6 System Testing 133
5 Conclusions 133
References 134
13 Design on Embedded System in Parameter Measurement for Electric Power System 135
Abstract 135
1 Introduction 135
2 Algorithm of System Characteristic Parameter 136
2.1 Two-Point Multiplication Algorithm 136
2.2 Recursive Fast Fourier Algorithm 137
3 Hardware Platform Design 138
3.1 Main Module of Protection Monitor 138
3.2 Analog Input Circuit 139
3.3 Switch Input and Output Circuit 139
3.4 Man–Machine Interface Module 140
4 Software System Design 140
4.1 Software Main Frame 140
4.2 Design A/D Interrupt Program 141
4.3 Design of Man–Machine Interface Programming 142
5 Conclusions 143
References 143
14 Virtual Actuators for Attitude Control Based on Variable-Speed Control Moment Gyros 144
Abstract 144
1 Introduction 144
2 Steering Law for VSCMGs 146
2.1 VSCMGs Dynamics 146
2.2 Singularity Analysis and Steering Law 147
2.3 Null Motion Steering Law 149
3 VSCMGs Maneuver Simulation 149
4 Conclusion 151
References 152
15 Modeling and Control of a Rail-Type Mobile Robotic Work Platform 153
Abstract 153
1 Introduction 153
2 Modeling 154
3 Control Strategy 156
3.1 Linear Quadratic Optimal Control 156
3.2 H/infty Filter [10–13] 157
3.3 Structure of System 158
3.4 Comparison of the Two Filters 158
4 Experiment and Result 159
5 Conclusion 161
References 161
16 Modeling and Control of Rail Type Suspended Conveyor for Electrolytic Aluminum Anode Casting 163
Abstract 163
1 Introduction 163
2 Dynamics Modeling 164
3 Control Law 167
3.1 HSMC Control [7] 167
3.2 Proof of Stability 168
4 Simulation and Result 169
5 Conclusion 174
References 174
Composite DOBC and Hinfty Control for Stochastic Systems with Disturbances 175
1 Introduction 175
2 Formulation of the Problem 176
3 Composite DOBC and Hinfty Control 177
3.1 Stochastic Disturbance Observer (SDO) 177
3.2 Composite DOBC and Hinfty Control 178
4 Simulation Example 181
5 Conclusions 183
References 184
Estimation for a Class of Unknown Frequency Disturbance Using Two-Step Nonlinear Disturbance Observer 185
1 Introduction 185
2 Problem Formulation 186
3 Two-Step Nonlinear Disturbance Observer (TSNDO) 187
4 Simulation Example 190
5 Conclusions 192
References 192
19 Containment Consensus of Multi-agent Systems with Communication Noises 193
Abstract 193
1 Introduction 193
2 Preliminaries 194
3 Mean Square Containment Control of Multi-agent Systems 195
4 Simulations 199
5 Conclusion 200
Acknowledgments 200
References 200
20 Sensor Fault Diagnosis Using Ensemble Empirical Mode Decomposition and Extreme Learning Machine 202
Abstract 202
1 Introduction 202
2 Methodology 203
2.1 Ensemble Empirical Mode Decomposition (EEMD) 204
2.2 Fault Feature Extraction Method 205
2.3 Extreme Learning Machine (ELM) 207
3 Experiments and Analysis 207
3.1 Data Collection 207
3.2 Signal Decomposition 208
3.3 Fault Feature Extraction 208
3.4 State Classification Based on ELM 209
4 Conclusions 211
Acknowledgments 211
References 211
21 A New Quantum-Behaved PSO: Based on Double ?-Potential Wells Model 213
Abstract 213
1 Introduction 213
2 QPSO Algorithm 214
3 QPSO-DPW Algorithm 215
3.1 Particle in Two ?-Potential Wells Model 215
3.2 Double ?-Potential Wells Model 216
3.3 Comparison 217
4 Experimental Results 218
4.1 Test Functions 218
4.2 Sensitivity to Control Parameters 218
4.3 Results 219
5 Conclusion 221
References 221
22 Bearing Fault Diagnosis Based on Hilbert Marginal Spectrum and Supervised Locally Linear Embedding 222
Abstract 222
1 Introduction 222
2 Methods 224
2.1 Hilbert-Huang Transform and Its Marginal Spectrum 224
2.2 Supervised Locally Linear Embedding Algorithm 225
3 Experiments and Analysis 226
3.1 Bearing Fault Data 226
3.2 Feature Extraction Based on Hilbert-Huang Transform 227
3.3 Feature Dimension Reduction Based on SLLE 229
3.4 State Classification Based on SVM 230
4 Conclusions 231
Acknowledgments 231
References 232
23 Salient Region Detection Using Multilevel Image Features 233
Abstract 233
1 Introduction 233
2 Proposed Approach 234
2.1 Frequency Saliency Feature 234
2.2 Center Focus Feature 236
2.3 Global Color Contrast Feature 236
2.4 Element Uniqueness and Distribution Feature 237
2.5 Training SVM Classifier 237
3 Experimental Result 238
3.1 Evaluation Criterion 238
3.2 Quantitative Evaluation 239
4 Conclusion 242
References 242
Leader-Following Consensus Problem of Fractional-Order Multi-agent Systems with Perturbation 243
1 Introduction 243
2 Preliminaries 244
3 Network with Fixed and Undirected Topology 246
4 Networks with Fixed and Directed Topology 250
5 Numerical Simulations 251
6 Conclusion 252
References 252
Distributed Control for Formation Switch of Fixed Wing MAVs 254
1 Introduction 254
2 Preliminaries 255
2.1 Kinematics of Fixed Wing MAVs 255
2.2 Virtual Agents 256
2.3 Problem Formulation 256
3 Proposed Method 257
3.1 System Overview 257
3.2 MAV Controller 258
3.3 VA Controllers 259
4 Experimental Results 260
4.1 Experiment Setup 260
4.2 Comparative Experiments 261
4.3 Parameters 262
4.4 Stress Test 263
5 Conclusions 264
References 264
26 Research of Variable Cycle Engine Modeling Technologies 266
Abstract 266
1 Introduction 266
2 Configuration of Variable Cycle Engine 267
3 Model of Forward Fan 267
4 Model of the Mode Selector Valve 268
5 Co-working Equations 268
6 Design Parameters of Variable Cycle Engine 269
7 Simulation 269
8 Conclusion 271
References 272
27 An Improved Kernel K-means Clustering Algorithm 273
Abstract 273
1 Introduction 273
2 Methodologies 274
2.1 Kernel K-means 274
2.2 Global Kernel K-means 275
2.3 Improved Global Kernel K-means 276
3 Results 276
4 Conclusions and Discussions 277
Acknowledgment 278
References 278
28 Metal Magnetic Memory Signal Denoising for Stress Concentration Zone 279
Abstract 279
1 Introduction 280
2 Mechanism of MMM Testing 281
3 MMM Signal Analysis 282
4 Singularity Detection of MMM 283
5 Experimental Data 285
6 Conclusion 287
References 287
29 3D Velocity Measurement of High-Speed Rotating Sphere Based on the Monocular Vision Servo System 289
Abstract 289
1 Introduction 289
2 Measure the Rotating Speed of the Sphere 290
2.1 The Model of Sphere Rotation 290
2.2 Decomposition of Three Dimensional Velocity of the Sphere 291
2.3 Solving the Direction of the Axis of Rotation 292
2.3.1 The Location of the Line ( L^{/prime } ) in the Plane (x?-o?-y?) 292
2.3.2 The Included Angle Between the Line (L?) and the Plane (x?-o?-y?) 294
2.4 Solving the Rotation Velocity 297
3 Experimental Verification 298
4 Conclusion and Suggestion 299
References 299
Observer-Based Event-Triggered Consensus Tracking Control of Multi-agent Systems 301
1 Introduction 301
2 Preliminaries and Problem Statement 302
3 Main Result 304
4 Simulation Example 307
5 Conclusion 309
References 309
An Asynchronous Linear-Threshold Innovation Diffusion Model 310
1 Introduction 311
1.1 Preliminaries 311
2 Main Results 312
2.1 Estimation of Active Vertices 312
2.2 Proportion of Positive Active Vertices 313
3 Experiments 314
4 Concluding Remarks 315
References 316
Deconvolution Estimation Problem for Measurement-Delay Systems with Packet Dropping 317
1 Introduction 317
2 Problems Statement and Preliminary 319
3 Main Results 320
3.1 Design of the Optimal State Estimator 320
3.2 Design of the Optimal White Noise Estimator 324
4 Numerical Example 327
5 Conclusion 329
References 330
33 Adaptive Dynamic Surface Control for Dual-Motor Driving System with H? Performance 331
Abstract 331
1 Introduction 331
2 Dynamic Model of a Dual-Motor Driving System 332
3 Adaptive Controller Design 334
4 Simulation Results 338
5 Conclusions 339
References 339
Stabilization of a Class of Uncertain Nonlinear System via Fractional Sliding Mode Controller 341
1 Introduction 341
2 Preliminaries 342
3 Main Results 343
3.1 Problem Statement 343
3.2 Design of Fractional Sliding Mode Controller 344
4 An Illustrative Example 348
5 Conclusions 350
References 350
35 B-SIFT: A Simple and Effective SIFT for Real-Time Application 352
Abstract 352
1 Introduction 352
2 Related Work 353
3 B-Sift 354
3.1 Keypoint Detection 354
3.2 Orientation Assign 354
3.3 Binary Descriptor Computing 354
4 Performance Evaluation and Comparison 355
5 Conclusion 357
References 357
36 Multi-sensor Fault Diagnosis of Aircraft Engine Based on Kalman Filter Group 358
Abstract 358
1 Introduction 358
2 Aircraft Engine Model 359
3 Aircraft Engine Sensor Fault Diagnosis System Design 362
3.1 Single Sensor Fault Diagnosis 362
3.2 Multiple Sensors Fault Diagnosis 364
4 Simulation 364
5 Conclusions 373
References 374
Non-negative Matrix Semi-tensor Factorization for Image Feature Extraction and Clustering 375
1 Introduction 375
2 Related Works 377
2.1 Non-negative Matrix Factorization 377
2.2 Left Semi-tensor Product 378
3 Non-negative Matrix Semi-tensor Factorization 379
3.1 NMSTF with Euclidean Distance 379
3.2 Updating Rules to Minimizing Objective Function 379
3.3 Computational Complexity Analysis 381
4 Experiment 382
4.1 Data Sets 382
4.2 Feature Extraction 382
4.3 Convergence Analysis 383
4.4 Clustering Comparison 384
4.5 Parameter Analysis 385
5 Conclusions 386
References 386
38 Prediction of Air Target Intention Utilizing Incomplete Information 388
Abstract 388
1 Introduction 388
2 Threat Factors Prediction 389
2.1 Definition of the Threat Factors 389
2.2 Prediction of Threat Factors Based on Grey Markov Chain 391
3 Rules Acquisition from Incomplete Information Table 391
3.1 Definition of the Decision Factors 392
3.2 Dominance Relation Theory of Incomplete Fuzzy Rough Set 392
4 Procedure of the Intention Prediction 392
5 Simulation and Analysis 394
6 Conclusion 396
Acknowledgments 396
References 396
Robust Tracking Control of Wheeled Mobile Robots with Parameter Uncertainties and only Target's Position Measurement 397
1 Introduction 397
2 Problem Formation 398
3 Controller Design 399
3.1 Target Observer Design 400
3.2 Sliding-Mode Controller 401
4 Simulation Results 404
5 Conclusion 405
References 406
40 Parabola-Based Flue Gas Temperature Modeling and Its Application in BTP Control of a Sintering Process 407
Abstract 407
1 Introduction 408
1.1 Sintering Process 408
1.2 Burning Through Point (BTP) of a Dwight–Lloyd Sintering Machine 410
1.3 Modeling of Relationship Between the Flue Gas Temperature and the Negative Pressure 410
1.4 Modeling of Relationship Between the Negative Pressure and the Duty Cycle 411
1.5 Modeling of Relationship Between the Flue Gas Temperature and the Duty Cycle 412
1.6 The Fuzzy Control System for the Burning Through Point Control in a Sintering Process 413
1.7 Design of Fuzzy Control Rules 413
1.8 Simulations and Analysis 414
2 Conclusion 416
Acknowledgments 416
References 416
41 Passive Control of Lorenz Chaos System with Nonlinear Virtual Contraction Analysis 417
Abstract 417
1 Introduction 417
2 Some Preliminary Results 419
2.1 Introduction of the Lorenz Chaos System 419
2.2 Nonlinear Contraction Analysis 419
2.3 A Glimpse of Passive Theory 420
3 The Main Results 421
3.1 Observer Design for Lorenz Chaos System via Nonlinear Virtual Contraction Analysis 421
3.2 Passive Control of Lorenz Chaos System with the Observed States 423
3.2.1 Passive Control of Lorenz Chaos System When the Full States Are Available 423
3.2.2 Passive Control of Lorenz Chaos System with Only the Single Available Output 425
3.3 Simulation Results 426
4 Conclusions 427
Acknowledgments 427
References 427
42 A Method of Virtual Test Based on Model Checking and a Case Study 429
Abstract 429
1 Introduction 430
2 Related Work 430
2.1 Virtual Test 430
2.2 Formal Methods 431
3 Window Tree Modeling 431
4 State Transition Graph 433
5 Virtual Test Method 434
5.1 Motivation and Mechanism 434
5.2 Test Case Generation 435
5.3 Model Checker Algorithms 436
5.4 Virtual Test 438
6 Case Study 438
6.1 Target System—Sample Satellite 438
6.2 Sample Satellite WT Model 439
6.3 Sample Satellite STG Model 441
6.4 Virtual Test Result 441
7 Conclusion 444
Acknowledgments 444
References 444
Adaptive Synchronization of Networked Mechanical Systems with Communication Delays 446
1 Introduction 446
2 Preliminaries 448
2.1 Graph Theory 448
2.2 Robot Model 448
3 Adaptive Synchronization with Time Delays 449
4 Simulation Examples 455
5 Conclusion 458
References 458
44 Robust H? Consensus of the Second-Order Multi-agent Systems with Random Time-Delays 461
Abstract 461
1 Introduction 461
2 Graph Theory 462
3 Problem Statement and Control Protocol 462
3.1 Problem Statement 462
3.2 Control Protocol 463
4 Main Result 464
4.1 Network with Random Time-Delay on Fixed Topology 464
4.2 Network with Random Time-Delay on Switching Topology 466
5 Simulation 467
6 Conclusion 469
Acknowledgments 469
References 469
45 Multi-exposure Dynamic Image Fusion Based on PatchMatch and Illumination Estimation 471
Abstract 471
1 Introduction 471
2 Proposed Image Fusion Algorithm Based on PatchMatch and Illumination Estimation 473
2.1 Dynamic Image Alignment Based on PatchMatch 473
2.2 Multi-exposure Dynamic Image Fusion Based on Illumination Estimation 475
3 Analysis of Experimental Results 476
4 Conclusions 480
Acknowledgments 480
References 480
46 Fast Moving Crowd Counting for Unconstrained Videos 482
Abstract 482
1 Introduction 483
2 Related Work of Fast Moving Crowd Counting 484
3 The Framework of Fast Moving Crowd Counting Algorithm 484
3.1 The Implementing Procedures of the Proposed Algorithm 484
3.2 Fast Moving Pedestrian Segmentation for Unconstrained Videos 486
3.3 The Extraction and Combination Process of Motion Features and Appearance Features 486
3.4 The Proposed Crowd Counting Regression Algorithm 487
4 Experiment Results and Discussion 488
5 Conclusion 491
Acknowledgments 491
References 491
47 An Augmented Multiple-Model Adaptive Estimation for Time-Varying Uncertain Systems 492
Abstract 492
1 Introduction 492
2 System Model and Filter Equation 493
3 Convergence Analysis 496
4 Numerical Simulations 500
5 Conclusion 505
Acknowledgments 505
References 505
Robust Hinfty-optimal Output Feedback Actuator Placement with a Class of Actuator Constraints 507
1 Introduction 507
2 Preliminaries 508
2.1 Notation 508
2.2 System Description and Problem Formulation 509
3 Output Feedback Actuator Location Algorithm 510
4 Conclusions 515
References 516
49 Tourism Activity Recognition and Discovery Based on Improved LDA Model 517
Abstract 517
1 Introduction 517
2 Related Work on LDA Improvement 518
3 Improved LDA Model Based on Activity-Topic 519
3.1 Definition of LDA Model Based on Activity-Topic 519
3.2 Solution Probability Distribution Based on Gibbs Sampling 520
3.3 Evaluation Model Based on Perplexity 522
3.4 Algorithm of LDA Model Based on Activity-Topic 522
4 Discovery of Tourism Activities Based on Activity-Topic 523
5 Experimental Results and Analysis 524
5.1 Experimental Data and System Environment 524
5.2 Experimental Results Analysis 524
6 Conclusion 527
Acknowledgments 527
References 527
50 Community Detection Based on Local Similarity Index in Chinese Aviation Network 529
Abstract 529
1 Introduction 529
2 Modularity Measure 531
3 Construct Chinese Aviation Network 531
4 The Proposed Method 532
4.1 Node Similarity 532
4.2 Weight Improvement 533
4.3 Community Detection 533
4.4 Complexity Analysis 534
5 Comparison of Similarity Index 534
5.1 Similarity Index 534
5.2 Simulation Results 536
6 Concluding Remarks 537
Acknowledgments 538
Appendix 1 538
References 539
51 The Transformer Fault Diagnosis Based on AdaBoost Least Square Support Vector Machine 541
Abstract 541
1 Introduction 541
2 LS-SVM Algorithm Based on AdaBoost 542
2.1 Least Squares Support Vector Machine 542
2.2 AdaBoost Algorithms 544
3 Fault Diagnosis of Power Transformers 545
3.1 Power Transformer Fault Type 545
3.2 Fault Diagnosis of Power Transformers 545
4 Fault Diagnosis Examples 548
5 Conclusion 548
Acknowledgments 549
References 549
Evolution and Spread of Public Opinion in Structured Multi-agent Systems 550
1 Introduction 550
2 Model Description 552
3 Replicate Dynamics Analysis 554
4 Simulation Results 557
5 Conclusions 558
References 558
53 Proposal Generating Method Using Geometrical Features for Vehicle Detection 560
Abstract 560
1 Introduction 560
2 Related Work 561
2.1 Grouping Proposal Methods 561
2.2 Window Scoring Proposal Methods 562
3 Approach 562
3.1 Regression Analysis Prediction 563
3.2 Geometrical Constraints 565
4 Experiments and Analysis 566
5 Conclusion 569
References 569
54 Abnormal Event Detection Based on Crowd Density Distribution and Social Force Model 571
Abstract 571
1 Introduction 571
2 Proposed Abnormal Event Detection Method 572
2.1 Local People Density Extraction Using Feature Point Clustering 573
2.2 Abnormal Event Detection Based on Weighted Social Force Model 574
2.2.1 The Extraction Process of the Particle Feature 574
2.2.2 The Process of Traditional Social Force Model 574
2.2.3 The Proposed Weighted Social Force Model 576
2.2.4 Abnormal Event Detection Based on LDA Model 577
3 Experiment and Analysis 577
3.1 Experimental Results of the UNM and PETS Abnormal Datasets 577
3.2 Experimental Results of a Scenic Spot Video on Website 580
4 Conclusions 581
Acknowledgments 581
References 581
55 Study on the Leakage Current and Neutral-Point Potential Balance in TL-Boost Photovoltaic System 582
Abstract 582
1 Introduction 583
2 Influences on the Common-Mode Leakage Current in TL-Boost Converter 584
3 Fuzzy Control Strategy for Voltage Balance of TL-Boost Circuit 586
3.1 Methods of Achieving Neutral-Point Potential Balance 587
3.2 Determination of Fuzzy Control Rule 588
4 Experimental Results 589
5 Conclusion 592
References 592
56 Path Following Control for Nonholonomic Mobile Robots with a Distance Between the Mass Center and the Geometrical Center 594
Abstract 594
1 Introduction 594
2 Problem Formulation 595
3 Controller Design 596
4 Stability Analysis 599
5 Simulation and Experimental Results 600
6 Conclusions 602
References 602
57 Looking After the House Using the Mobile Phone to Control the Robot Remotely on the Internet 604
Abstract 604
1 Introduction 604
2 System Analysis and Design 605
3 The Function of the System 606
3.1 The Introduction of the Client 606
3.2 The Introduction of the Server 608
4 The Underlying Control of the Robot 611
5 The Video Transmission 611
6 Conclusions 612
References 612
58 Adaptive Neural Output Feedback Control for Flexible-Joint Robotic Manipulators 614
Abstract 614
1 Introduction 614
2 System Description 615
3 Observer Design 616
4 Controller Design and Stability Analysis 617
5 Simulation Results 622
6 Conclusion 624
Acknowledgments 624
References 625