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IEEE International Conference on Automation and Logistics

作者： Suo Tan Simon X. Yang Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada

ISBN: (纸本)9781424425020

In this paper, a fuzzy-inference controller with Accelerate/Brake (A/B) Module is proposed for navigation control of a mobile robot in dynamic environments. This approach includes target seeking, obstacle avoidance, and optimal path planning. By utilizing the fuzzy controller, a mobile robot could approach a target in a dynamic environment autonomously. The A/B Module of the proposed system is to enable the mobile robot to make human-like decisions as it moves toward a target. Under the control of the proposed fuzzy inference model, the robot can perform well both in avoiding static and moving obstacles like human beings along a reasonable short path.

关键词： Mobile robots Robots Robot sensing systems Navigation Acceleration Wheels Heuristic algorithms

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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New Distributed Positioning Algorithm Based on Centroid of Circular Belt for Wireless Sensor Networks

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International Journal of Automation and computing 2007年第3期4卷 315-324页

作者： Xu-Zhi Lai Simon X. Yang Gui-Xiu Zeng Jin-Hua She Min Wu School of Information Science ＆ Engineering Central South UniversityChangsha 410083PRC Advanced Robotics and Intelligent Systems Laboratory School of EngineeringUniversity of GuelphGuelphOntario NIG 2W1Canada School of Bionics Tokyo University of Technology1404-1 KatakuraHachiojiTokyo 192-0982Japan

This paper presents a new distributed positioning algorithm for unknown nodes in a wireless sensor network. The algorithm is based exclusively on connectivity. First, assuming that the positions of the anchor nodes are already known, a circular belt containing an unknown node is obtained using information about the anchor nodes that are in radio range of the unknown node, based on the geometric relationships and communication constraints among the unknown node and the anchor nodes. Then, the centroid of the circular belt is taken to be the estimated position of the unknown node. Since the algorithm is very simple and since the only communication needed is between the anchor nodes and the unknown node, the communication and computational loads are very small. Furthermore, the algorithm is robust because neither the failure of old unknown nodes nor the addition of new unknown nodes influences the positioning of unknown nodes to be located. A theoretical analysis and simulation results show that the algorithm does not produce any cumulative error and is insensitive to range error, and that a change in the number of sensor nodes does not affect the communication or computational load. These features make this algorithm suitable for all sizes of low-power wireless sensor networks.

关键词： Positioning wireless sensor networks circular belt algorithm performance.

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Solution of Singularity Problem in Motion Control of Acrobots

Solution of Singularity Problem in Motion Control of Acrobot...

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第二十六届中国控制会议

作者： Yang Simon X Advanced Robotics and Intelligent Systems（ARIS） Lab.School of Engineering University of GuelphGuelphOntario N1G 2W1Canada

This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an ***,the singularity that arises in motion control based on Lyapunov function is ***,a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law,Finally,two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control *** results show the efectiveness of the proposed control strategy.

关键词： Acrobot fuzzy control Lyapunov function singularity

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Spatial Distribution of Water Quality Based on Generalized Regression Neural Network

Spatial Distribution of Water Quality Based on Generalized R...

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International Conference on Information and Automation (ICIA)

作者： Huibin Wang Lizhong Xu Shaohua Sun Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

The paper proposes a new model for analyzing spatial distribution of water quality. The model is based on statistics and generalized regression neural network. The model is based on statistic theories and easy to approximate a nonlinear function. The advantages of the model include simple net structure, few artificial parameters, and high accuracy calculation. The developed approach is successfully applied to the water quality assessment of the Taihu Lake of China P.R, which includes the dissolved oxygen concentration of water-quality index and the spatial distribution of the water-quality level. The results show that the model can generate a credible spatial distribution of the water quality.

关键词： Neural networks Lakes Statistical distributions Monitoring intelligent robots Function approximation Probability density function Sun Educational institutions Computer networks

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Vague Sets Based Evidence Combinational Rule With Generalized Belief Function

Vague Sets Based Evidence Combinational Rule With Generalize...

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International Conference on Information and Automation (ICIA)

作者： Lizhong Xu Zhigui Lin Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems ARIS Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a new vague evidence theory is proposed to expand the conventional evidence theory. First, the concept of vague evidence theory is introduced. Based on the features of vague sets, a belief function is formulated, and its characteristics is analyzed and proved mathematically. After that, based on the degree of similarity in vague sets, the relative contribution to the combined vague sets is obtained, and a vague sets based combinational rule is formulated. Finally, experiments are conducted to demonstrate the effectiveness of the proposed vague evidence theory. The proposed vague evidence theory based method is capable of representing and processing problems with vagueness, uncertainties and imprecision.

关键词： Fuzzy sets Set theory Area measurement Measurement uncertainty Humans intelligent robots Fuzzy set theory Educational institutions intelligent systems Arithmetic

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Stability analysis and control law design for acrobots

Stability analysis and control law design for acrobots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xu-Zhi Lai Jin-Hua She S.X. Yang Min Wu School of Information Science and Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Hachioji Tokyo Japan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that are derived based on three Lyapunov functions are applied successively in three stages of motion control to achieve a suitable posture and increase the energy so as to make the acrobot move into the area around the unstable inverted equilibrium position, and to stabilize it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy

关键词： Stability analysis Motion control Lyapunov method Control systems Information science intelligent robots Actuators Fuzzy control intelligent systems Centralized control

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Unified Treatment of Motion Control of Underactuated two-link manipulators

Unified Treatment of Motion Control of Underactuated two-lin...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xu-zhi Lai Jin-hua She Simon X. Yang Min Wu School of Information Science & Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Tokyo Japan Advanced Robotics & Intelligent Systems ARIS Lab School of Engineering University of Guelph Guelph ONT Canada

This paper presents a comprehensive unified control strategy for underactuated two-link manipulators, including acrobots and pendubots. The motion space is divided into two areas: swing-up and attractive; and control laws are designed for each. First, a control law based on a weak control Lyapunov function (WCLF) is employed to increase the energy and control the posture of the actuated link in the swing-up area. Next, one of the parameters of the WCLF is chosen to be a nonlinear function of the state so as to avoid any singularities. Then, another parameter in the control law is adjusted based on the state to improve the control performance. Stability is guaranteed in the swing-up area by the use of a WCLF based on the LaSalle invariant theorem. Finally, the global stability of the control system is guaranteed by the use of a non-smooth Lyapunov function integrated with a minimum-switching strategy. Simulation results for a pendubot and an acrobot show this control scheme to be very effective

关键词： Motion control Control systems Stability intelligent robots Lyapunov method Manipulators Information science Torque control intelligent systems Centralized control

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Hybrid Model of WT and ANFIS and Its Application on Time Series Prediction of Ship Roll Motion

Hybrid Model of WT and ANFIS and Its Application on Time Ser...

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Computational engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Hui Li Chen Guo Simon X. Yang Hongzhang Jin Automation and Electrical Engineering College Dalian Maritime University Dalian China Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Canada Automation College Harbin Engineering of Technology Harbin China

Based on the multi time and frequency scale and the nonlinear character of ship roll motion, a hybrid model prediction approach combining wavelet transform (WT) and adaptive neuro-fuzzy inference system (ANFIS) is proposed in this paper. By using multi-resolution nalysis (MRA) of WT, multilevel 1-D wavelet decompositions of roll motion are completed to obtain simple and regular period signals. Then the multiple-input/single-output (MISO) ANFIS model is employed as prediction model for the main decomposed signals above. Finally, a prediction result is given through linear combination. The simulation experiments demonstrate the proposed method can effectively reduce the prediction difficulty and obtain better prediction precision. This method can also be used in ship pitch and heave motion prediction

关键词： Predictive models Marine vehicles Wavelet analysis Wavelet transforms Multiresolution analysis Wavelet domain robotics and automation Educational institutions intelligent robots Frequency

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

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5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Optical flows

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