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Consistent distributed Kalman filter with adaptive matrix weights

Consistent distributed Kalman filter with adaptive matrix we...

引用

international conference on control, automation, robotics and vision

作者： Xingkang He Wenchao Xue Haitao Fang Key Lab. of Systems and Control Academy of Mathematics and Systems Science University of Chinese Academy of Sciences Chinese Academy of Sciences Beijing 100190 P. R. China Key Lab. of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 P. R. China

ISBN: (纸本)9781509035502

the distributed state estimation problem for the time-varying stochastic system is considered in this paper. through minimizing the mean square error for each sensor, the optimal distributed Kalman filter (ODKF) based on matrix weights is derived. To deal with the computation complexity of ODKF, a suboptimal distributed filter is proposed, which keeps the consistent property of estimation. With the general assumption on the overall observability, the stability of the novel distributed algorithm is analyzed. Finally, a numerical simulation is presented so as to show the effectiveness and the feasibility of the proposed algorithm.

关键词： Covariance matrices Kalman filters Algorithm design and analysis State estimation Estimation error Gain measurement

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Design and fabrication of a disposable micro end effector for concentric tube robots

Design and fabrication of a disposable micro end effector fo...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Abigyat B. Prasai Anjali Jaiprakash Ajay K. Pandey Ross Crawford Jonathan Roberts Liao Wu Faculty Queensland University of Technology Australian Centre for Robotic Vision Science and Engineering Brisbane Australia

ISBN: (纸本)9781509035502

Conventional concentric tube robots (CTRs) have low dexterity at the tip, which does not fit the requirements of complicated operations in minimally invasive surgery. A 2mm diameter cable-driven micro end effector is designed and fabricated for CTRs to increase dexterity in confined spaces. the end-effector is made by a simple fabrication procedure and is a combination of readily available materials such as polyolefin tube, acrylic and steel strings. If mass produced, the end effector has the potential to be made into a single use disposable medical tool. this paper discusses the geometric design, fabrication process and force analysis of the end effector. Experiments are conducted on the prototype to validate the derivation. In addition, cases are discussed around the use of the end effector.

关键词： Electron tubes End effectors Force Tendons Fabrication Surgery

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Data driven controller design via a frequency domain approach with application on structure control

Data driven controller design via a frequency domain approac...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Hang Shi Yinghong Wang Fujun Peng Yangmin Xie Aerospace System Engineering Shanghai Shanghai P. R. China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai P. R. China

ISBN: (纸本)9781509035502

this article introduces a frequency domain approach for designing a data-driven controller. Unlike the model-based control, it does not require a parametric model but only needs the input-output open loop test data for the purpose of spectral analysis. the resulting discrete frequency response is then utilized to give an optimal parameter design for a pre-defined structure controller, which is formulated as a non-convex optimization problem. the design approach is applied on a case study, an end-driving flexible beam with highly nonlinear dynamics. Simulations in finite element analysis (FEA) software show that the proposed controller can achieve similar performance as a model-based mixed sensitivity controller under the same design setup. In addition, it has the design flexibility of choosing the structure of the designated controller, which can largely decrease the controller order for implementation merits.

关键词： Stability criteria Frequency response Numerical stability Analytical models Frequency-domain analysis Nonlinear dynamical systems

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Motion estimation for a flexible manipulator using vibration and vision sensing

Motion estimation for a flexible manipulator using vibration...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xi Luo Dunant Halim Pavel M. Trivailo Department of Mechanical Materials and Manufacturing Engineering The University of Nottingham Ningbo China China School of Aerospace Mechanical & Manufacturing Engineering RMIT University Australia

ISBN: (纸本)9781509035502

this work proposed a motion estimation method for a flexible robotic manipulator with a vision-based end-effector. the effectiveness of the proposed estimation method was evaluated by utilizing a non-linear dynamic model of a flexible manipulator using the co-rotational finite element method. this modeling utilized multiple co-ordinate (co-rotational) systems which rotated and translated with each element, allowing the investigation of flexible manipulator dynamics with the large rotational and translational motion. Smart piezoelectric sensors, embedded to the flexible manipulator, were used for vibration sensing purposes. Simulation results on a flexible manipulator demonstrated the feasibility of the proposed estimation method in predicting the movement of end-effector with a satisfactory accuracy. Experimental results confirmed the effectiveness of the estimation method. Results from the vision analysis, based on experimental results, demonstrated the feasibility of the estimation method for a further flexible manipulator application with the eye-in-hand system.

关键词： Manipulator dynamics Robot sensing systems Finite element analysis Vibrations

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2014 13th international conference on control automation robotics and vision, ICARCV 2014

2014 13th International Conference on Control Automation Rob...

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2014 13th international conference on control automation robotics and vision, ICARCV 2014

ISBN: (纸本)9781479951994

the proceedings contain 335 papers. the topics discussed include: control and coordination of multi-robot teams;towards a theory of robot motor control;a brain-computer interface using binary phase-shift keying visual stimuli;power-efficient VLSI implementation of a feature extraction engine for spike sorting in neural recording and signal processing;prediction of pain perception using multivariate pattern analysis of laser-evoked EEG Oscillations;identification of potential biomarkers in the hippocampus region for the diagnosis of ADHD using PBL-McRBFN approach;spatio-temporal variations in hand movement trajectory based brain activation patterns;optimal selection of electrocorticographic sensors for voice activity detection;autonomous object level segmentation;and a suspect point recheck method of fuzzy clustering for robot self-position estimation.

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Modeling and control of a hexacopter with a rotating seesaw

Modeling and control of a hexacopter with a rotating seesaw

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international conference on control, automation, robotics and vision

作者： Dolev Yecheskel Shai Arogeti Department of Mechanical Engineering Ben-Gurion University of the Negev Beer-Sheva Israel

ISBN: (纸本)9781509035502

this paper presents a novel multicomputer type with a unique structure. this structure allows decoupling angular motion from translational motion along one of the body axes, and by that, five of the body degrees of freedom (DoF) can be controlled independently. the proposed aerial vehicle is a hexacopter with six propellers, such that four propellers are attached to the vehicle body and the other two attached to a seesaw. the seesaw is free to rotate around a single axis that is fixed in the body frame. Compared to a standard hexacopter, this unique design improves the maneuverability of the aerial vehicle, without the price of additional actuators. As opposed to tilting-rotor aerial-vehicle, in the proposed design all actuators generate lift. the paper describes the dynamical model of the novel vehicle and suggests a nonlinear controller to track desired trajectories along five of its DoF. the performances of the design are demonstrated numerically.

关键词： under-actuated system multicopter hexacopter thrust vectoring integral backstepping seesaw

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Unified particle-based coupling algorithm for stable soft tissue-blood interaction

Unified particle-based coupling algorithm for stable soft ti...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xuqiang Shao Baoyi Wang Meihua Zhao School of Control and Computer Engineering North China Electric Power University Baoding Hebei China

ISBN: (纸本)9781509035502

the stable physical simulation of soft tissue-blood interaction is indispensable for virtual surgery. In this paper a novel unified particle-based algorithm, eliminating the need to define an interface for coupling different models, is presented to simulate soft tissue-blood interaction based on Smoothed Particle Hydrodynamics (SPH). In this method tissue-blood interaction is treated as fluid-fluid interaction with large rest density ratio, therefore interaction forces between particles can be computed by unified SPH model. Moreover, a simple penetration detection and velocity correction is adopted to prevent blood leaking into soft tissue. In order to strengthen interaction simulation realism, a surface tension model with a stable and accurate surface curvature calculation are provided. the experimental results show that this model is capable of animating the realistic and stable soft tissue-blood interaction.

关键词： Computational modeling Fluids Biological tissues Solids Blood Force Deformable models

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Inferential active disturbance rejection control of a heat integrated distillation column

Inferential active disturbance rejection control of a heat i...

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international conference on control, automation, robotics and vision

作者： Fahad Khamis Al Kalbani Jie Zhang School of Chemical Engineering and Advanced Materials Newcastle University Newcastle upon Tyne NE1 7RU UK

ISBN: (纸本)9781509035502

Heat integrated distillation columns (HIDiC) can save around 50% of energy consumption compared to conventional distillation columns. To reach this amount of energy saving, the HIDiC should be properly controlled. the high thermally coupled nature of HIDiC leads to high loop interactions making HIDiC difficult to control. In order to improve control performance, inferential active disturbance rejection control (ADRC) for HIDiC is proposed in this paper. the proposed control scheme integrates ADRC strategy with inferential feedback control. Tray temperatures are used as secondary measurements to estimate the product compositions. Due to the strong collinearity in tray temperatures, principal component regression (PCR) is used to build the soft sensor from process operation data. the proposed technique is applied to a simulated HIDiC for separating Benzene-Toluene mixture. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： principal component regression active disturbance rejection control inferential control heat integrated distillation column

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Multi-UAV UWA video surveillance system

Multi-UAV UWA video surveillance system

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international conference on control, automation, robotics and vision

作者： Chen Yu Jianan Wang Jiayuan Shan Ming Xin School of Aerospace Engineering Beijing Institute of Technology Beijing 100081 China Dept. of Mechanical and Aerospace Engineering University of Missouri Columbia MO 65211 USA

ISBN: (纸本)9781509035502

In this work, an autonomous surveillance system providing ultra wide angle (UWA) video information is presented using multi-UAV platform. Towards this end, a fleet of UAVs are initially deployed into appropriate formation (such as triangle, diamond, or line) with cameras pointing outwards to cover the region of interest (ROI). In aid of image processing technique, the UAVs formation will be further optimized using temporal as well as spatial information to achieve a decent overlap (20% is defined in this work from both information adequacy and utilization efficiency perspective) between any two adjacent video sources. thereafter, videos separately captured will be stitched together forming an UWA video by extracting and matching feature points in the base station. Notably, a vision-feedback-formation-control (VFFC) closed-loop framework is proposed for better performance. In the end, an experiment is elaborated to illustrate the UWA video generated by the proposed system.

关键词： video stitching multi-UAV systems formation control UWA surveillance

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Research methods review of magnetic materials multi-process coordination production planning and scheduling

Research methods review of magnetic materials multi-process ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yefeng Liu Tianyou Chai College of information and control Shenyang Institute of Technology Fushun China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (纸本)9781509035502

Due to the non-renewable character, magnetic materials (especially rare earth permanent magnet) become a hot topic which world scientists are eager to explore and research. Magnetic enterprises are constantly promoting lean production. the core of lean production is production planning and scheduling, which is also the core of enterprise management. It is essential to effective control of plant inventory, improve production efficiency, reduce production cost and rise product delivery satisfaction rate. All above can be realized by using the fast and effective methods which come from multi-process coordination production planning and scheduling. A research method review of magnetic materials multi-process coordination production planning and scheduling is given on the base of describing magnetic materials production process with rare earth as the raw material. Finally, the paper gives four research fields of magnetic materials multi-process coordination production planning and scheduling.

关键词： Job shop scheduling Magnetic materials Dynamic scheduling Production planning Mathematical model Heuristic algorithms

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