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作者： Jin, Qinglong Chen, Wenjie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator {2.'s parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the {2.. Simulation results show that the 6-DOF adaptive control {2. has a good tracking performance in both normal and extreme limited working conditions. © 2.11 Chinese Assoc of Automati.

关键词： Adaptive control systems

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A theorem for relationship between the MA process and its inversion for ARMAX identification

A theorem for relationship between the MA process and its in...

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作者： Xin, Bin Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9787894631046

The paper presents a theorem to show the relationship between the parameters of the Moving Average (MA) process and those of its inversed process. The theorem can be used for the parameter identification of the MA process. It is further shown in this paper that the parameter identification of autoregressive moving average with exogenous variable model (ARMAX), based on the identification of its MA part, can be easily achieved. The approach, at first, achieves the identification of the ARX part by directly using least-square estimations to find out a straightforward relationship between estimated parameters and observed data. Then, the inversed model of the MA part is identified in a similar way. Finally, the noise variance can be computed by using identified MA parameters. Numerical simulations validate the effectiveness and efficiency of the proposed approach.

关键词： Least squares approximations

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly {2.,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization {2. is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Virtual realization of dynamic path planning in target-creator based on Vega/HLA

Virtual realization of dynamic path planning in target-creat...

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作者： Zhu, Wenbin Zhang, Juan Yu, Haixin Peng, Zhihong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

The importance of testing for multi-targets detecting and tracking algorithms accelerates the current technologies of target-creator system which provides multiple and various targets. Traditional target-creator systems are mostly based on the physical devices or video stream. Based on the need of building virtual environment and realizing system integration, VR technology and HLA technology are applied to improve the efficiency. With VR technology, three-dimensional models and visual scenes are built effectively and method of dynamic path planning is put forward. Through HLA technology, targets position information will be interacted real time, so algorithm evaluation is available by comparing real positions and detection results. In this paper, a virtual target-creator system based on Vega/HLA is designed which cuts down the outlay and time of the experiment. © 2.11 Chinese Assoc of Automati.

关键词： Motion planning

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on complex Medical Engineering, CME 2.12

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2.12.IEEE.

关键词： Inverse kinematics

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Modeling of GPS Code and Carrier Tracking Error in Multipath

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Chinese Journal of Electronics 2023年第1期21卷 78-84页

作者： Jie Chen Lan Cheng Minggang Gan Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

The code tracking error model of coherent Code tracking loop (CTL) is modified since existing model cannot accurately describe the characteristic that the code tracking error is determined by multipath and correlator spacing in multipath. The noncoherent DOT-product (DOT) power mode CTL is established as a comparison with different CTLs in multipath. Besides, the carrier tracking error model is modified based on the established code tracking error models, which indicates that the carrier tracking error is also determined by the multipath and the correlator spacing. The presented error models indicate that the correlation between the code tracking error and carrier tracking error can be decorrelated. Theoretical analysis shows that the noncoherent DOT power mode CTL is essentially coherent when the discriminator output of carrier tracking loop is zero. The influence of multipath and correlator spacing on CTL and carrier tracking loop is analyzed by simulations.

关键词： Tracking loops Analytical models Codes Correlation US Department of Transportation Correlators Decorrelation

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Research on Synthetic Data Generation and Multi-modal Target Detection

Research on Synthetic Data Generation and Multi-modal Target...

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第34届中国控制与决策会议

作者： Jiexi Liu Chenyu Wang Lei Xu Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

Target Detection is one of the most important tasks in Computer Vision,which has broad application prospects in many *** the past few years,great progress has been made in this field with the rapid development of deep learning ***,it's still a big challenge at complex scenarios such as dim environment for traditional single-modal visible *** address this problem,researchers introduce thermal images as additional modal in consideration of that thermal cameras are less susceptible to interference and explore how to fuse the two modalities information ***,the lack of large labeled and high-quality visible-thermal datasets hampers the usage of convolutional neural networks for ***,we propose to use image-to-image translation model combined with a differentiable data augmentation method to generate fake thermal images from labeled visible images and use multi-modal target detection model to prove the validity of the *** experiment results show that our method can provide us a large labeled dataset of synthetic visible-thermal image pairs with better generalization and the introduction of thermal modality can obtain a better performance than single modality.

关键词： Image-to-image translation Multi-modal target detection Deep learning

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Process Noise Estimator Based on Observation Sequence and its Application on Inertial Navigation system

Process Noise Estimator Based on Observation Sequence and it...

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2.16 IEEE 13th International Conference on Signal Processing（ICSP2.16）

作者： Xiao Xuan Huang Kun Yang Liming Liang Yuan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Kalman filter has been extensively applied in vast areas. However, it is widely acknowledged that the performance of Kalman filter depends on the accuracy of priori information such as model structure, statistics information of process and observation noise. Obtaining the covariance matrix of process noise is difficult in some application *** such background, this paper presents a process noise estimation algorithm based on the noise observation sequence. By constructing a transform matrix and removing the state variables from the observation, the noise observation sequence can be established, through which the covariance matrix of process noise can be estimated. Comparing to conventional adaptive filter, this algorithm needs less calculation. Moreover,the noise estimation process is separated from Kalman filter thus ensures Kalman Filters independence and optimality. The simulation results show that the new algorithm can effectively estimate the process noise covariance, and remain uninfluenced by the initial condition.

关键词： Adapt Kalman filter noise estimate

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A Self-correcting Localization Approach for Automobile Robots Based on the Two Dimensional LADAR

A Self-correcting Localization Approach for Automobile Robot...

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第35届中国控制会议

作者： Jing Li Wenxue Liu Junzheng Wang Jianan Qiao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper,a novel localization approach for autonomous mobile robots is *** can accomplish the all-terrain localization function with the laser radar(LADAR) and the inertial measurement unit(IMU).First of all,for the multiple-input nonlinear localization system,a fuzzy filter is built up to estimate the position of the mobile ***,an efficient evaluation index is raised to determine whether the landmarks extracted from the adjacent data frame are the same,which can help the mobile robot to realize the self-correction *** the final,the experiments in the real world are implemented to show the effectiveness of the proposed approach.

关键词： Localization SLAM Fuzzy filter Self-correcting Obstacle match

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3D Semantic Mapping Based on Convolutional Neural Networks

3D Semantic Mapping Based on Convolutional Neural Networks

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第37届中国控制会议

作者： Jing Li Yanyu Liu Junzheng Wang Min Yan Yanzhi Yao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

As an important part of environmental perception, maps guarantee the accuracy of intelligent robots in navigation,localization and path planning. The traditional 3D maps mainly focus on the spatial structure of the objects, which lacks the semantic information. A method is proposed in the paper, this method combines convolutional neural networks（CNNs） and Simultaneous Localization and Mapping（SLAM） to create global dense 3D semantic maps for indoor scenes. The deep neural network that includes convolution and deconvolution is designed to predict semantic category of every pixel. RGB-D camera is used to obtain scene information, accomplish localization and build 3D maps simultaneously. The semantic information is integrated into the 3D scene, we present an octree map method to replace traditional point clouds method, which can reduce the error from pose estimation and single frame labeling. By this method, the accuracy of semantic information is greatly improved.

关键词： CNNs SLAM Semantic Map Octree Map

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