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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yufeng Chen Zhi Zhong Ka Keung Lee Yangsheng Xu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Department of Automation Shanghai JiaoTong University Shanghai China

Taking as reference the concept of agent in the artificial intelligence, this paper proposes a new multi-agent approach which can be employed in the surveillance for a people group in public places rather than a single person. The agent embodies the state and logic relationship between the person which the agent represents and the others in the same group. It does not merely stand for such individual information of persons as given by the existing surveillance systems. The results of experiments show that by using our multi-agent approach to compute and analyze the relationship between a number of agents, we can well perform real-time surveillance for the group and the related events so as to enhance the applicability and intelligence level of surveillance systems

关键词： Surveillance Security Humans Cameras Robotics and automation Artificial intelligence computer vision Target tracking Intelligent robots Logic

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Particle Swarm Optimization for Operational Parameters of Series Hybrid Electric Vehicle

Particle Swarm Optimization for Operational Parameters of Se...

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IEEE International Conference on Robotics and Biomimetics

作者： Zhancheng Wang Bufu Huang Weimin Li Yangsheng Xu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Department of Automation Shanghai JiaoTong University Shanghai China

Because of the inherent advantages, i. e. increased fuel economy, reduced harmful emissions and better vehicle performance, hybrid electric vehicles (HEV), powered by internal combustion engine (ICE) and energy storage, are being given more and more attention. Since the extent of HEV improvement greatly depends on selection of the control strategy parameters, particle swarm optimization (PSO) algorithm is introduced to optimize the strategy parameters for fuel economy and emissions in this paper. Compared with one of the main strategies, Dividing RECTangles (DIRECT), the computation procedures of particle swarm optimization algorithm are discussed, and simulation study based on the model of series hybrid electric vehicle is given to illustrate the optimization validity of the particle swarm optimization algorithm.

关键词： Particle swarm optimization Hybrid electric vehicles Engines Power control Robotics and automation Fuel economy Batteries Biomimetics Power engineering computing Automotive engineering

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Networked human/robot cooperative environment for tele-assembly of MEMS devices

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Journal of Micromechatronics 2006年第3期3卷 239-266页

作者： Shen, Yantao Xi, Ning Song, Booheon Li, Wen J. Pomeroy, Craig A. Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Automation and Computer Aided Engineering The Chinese University of Hong Kong Shatin Hong Kong

The objective of this paper is to develop a networked cooperative environment to achieve human/robot cooperation for reliable and dependable remote microassembly. At a microscale, surface adhesion forces, such as van der Waals, surface tension and electrostatic forces, become stronger than the downward gravitational force. For a reliable and dependable tele-microassembly, it is absolutely necessary to allow close monitoring of the magnitude and direction of those micro-forces interacting with microdevices during the assembly process. In this paper, based on integrating an in situ polyvinylidene fluoride piezoelectric micro-force sensing tool with a resolution in the range of μN, and using event-synchronization for the feedback of assembly video and micro-force, the developed networked human/robot cooperative platform can greatly advance applications in tele-microassembly. As a result, the reliable and dependable human/robot cooperative assembly operations can be achieved and extended to the single or multiple remote work-cells through a local area network or the Internet. This platform has been used successfully to perform a remote assembly of surface MEMS structures with the event-synchronized micro-force/visual feedback via the Internet between USA and Hong Kong. © VSP 2006.

关键词： Robotic assembly

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Study on key issues of the one-step inverse method

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Wuhan Ligong Daxue Xuebao/Journal of Wuhan University of Technology 2006年第SUPPL. 1期28卷 116-120页

作者： Huang, Ying Ruan, Yi Du, Ruxu College of Logistic Engineering Wuhan University of Technology Wuhan 430070 China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

Even though the inverse method is less accurate than that of the incremental one, it has great potential in the conceptual design stage for its less calculation load and quick speed. However, it faces a number of unsolved problems, which limit its application. The first question is how to find a suitable initial solution while the other one is how to deal with the numerical problems caused by the vertical walls. In this paper, new methods have been proposed to solve above two questions. The methods have also been coded and applied to two parts to test its feasibility.

关键词： Inverse method Modified arc-length method Sheet metal forming

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Synthesis of Bipolar Associative Memories Based on Cellular Neural Networks with Two-dimensional Space-invariant Templates

Synthesis of Bipolar Associative Memories Based on Cellular ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Zhigang Zeng Jun Wang School of Automation Wuhan University of Technology Wuhan Hubei China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, a design procedure is presented for synthesizing associative memories based on cellular neural networks with two-dimensional space-invariant templates. The theoretical analysis herein guarantees that the desired memory patterns are stored as asymptotically stable equilibrium points. In addition, it is shown that procedure herein can ensure the designed input matrix to be obtained by using space-invariant cloning templates. Hence, it is very convenient for one to design cellular neural networks for associative desired memory patterns effectively.

关键词： Network synthesis Cellular neural networks Neural networks Associative memory Cloning Algorithm design and analysis Delay effects automation Stability State feedback

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On delay-dependent robust stability of neutral systems

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控制理论与应用（英文版） 2006年第2期4卷 181-186页

作者： Renxin ZHONG Zhi YANG Guoli WANG Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Shatin NT Hong Kong China Department of Electronics and Communication Engineering Sun Yat-Sen University Guangzhou Guangdong 510275 China

The delay-dependent robust stability of uncertain linear neutral systems with delays is investigated. Both discrete-delay-dependent/neutral-delay-independent and neutral-/discrete- delay-dependent stability criteria will be developed. The proposed stability criteria are formulated in the form of linear matrix inequalities and it is easy to check the robust stability of the considered systems. By introducing certain Lyapunov-Krasovskii functional the mathematical development of our result avoids model transformation and bounding for cross terms, which lead to conservatism. Finally, numerical example is given to indicate the improvement over some existing results.

关键词： Neutral system Delay-dependent criteria Robust stability Time-varying parameter uncertainty Linear matrix inequality

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Combined Impedance/Direct Control of Robot Manipulators

Combined Impedance/Direct Control of Robot Manipulators

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Heng Wang K. H. Low Michael Yu Wang School of Mechanical and AeroSpace Engineering Nanyang Technological University Singapore Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

In the basic impedance control structure, it is usually required to know the environment stiffness/impedance for precise force tracking. In addition, the performance may be degraded when the random external disturbances exist. By incorporating a PI-type compensator to the basic impedance control structure, this paper presents a combined impedance/direct control scheme for control of robot manipulators, which is characterized by high disturbance rejection, robustness to uncertainties, and simple structure for application. Moreover, it does not require to switch the control modes during the transition between the free space motion and the constrained motion. Therefore, the proposed controller combines the advantages of both the direct control and the impedance control. computer simulations are performed to demonstrate the superiority of the proposed control scheme over the impedance control

关键词： Impedance Robot control Manipulators Switches Force control Degradation Orbital robotics Robust control Uncertainty Application software

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On the Position/Force Control of Robot Manipulators with Model Uncertainty and Random Disturbances

On the Position/Force Control of Robot Manipulators with Mod...

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IEEE Conference on Robotics, automation and Mechatronics

This paper first investigates the force tracking performance by impedance control subjecting to model uncertainties and random external disturbances. A simple joint impedance/direct control structure is then proposed. The resulted controller has higher robustness to the environment and model uncertainties, and external disturbances. Furthermore, it does not require to switch the control modes for all task executions. Therefore, the proposed control structure combines the advantages of both the hybrid position/force control and the impedance control. computer simulations are performed to verify the analysis of the impedance control and the effectiveness of the proposed control structure

关键词： Force control Robots Manipulators Uncertainty Impedance Motion control Switches Automatic control Nonlinear dynamical systems Robotics and automation

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Reference Trajectory Generation for Force Tracking Impedance Control by Using Neural Network-based Environment Estimation

Reference Trajectory Generation for Force Tracking Impedance...

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IEEE Conference on Robotics, automation and Mechatronics

This paper presents a reference trajectory generation approach for impedance control by using neural networks to estimate the environment dynamics. In this method, the environment dynamics is estimated by a neural network (NN1), which constructs the relationship between the environment deformation and its first and second derivatives, and the interaction force. Another network (NN2) is then used to approximate the statics of the environment, which is the relationship between the interaction force and the deformation. The major advantage of the proposed method is that no exact environment model is required, so that it suites for operations on any unstructured environments. Furthermore, the neural networks have the capability of learning, due to which the precision of the generated reference trajectory will continuously be increased as the robot-environment interaction lasts. The system performance by using the proposed method is evaluated by simulations

关键词： Force control Trajectory Impedance Neural networks Aerodynamics Motion control Automatic generation control Robots Switches Signal processing algorithms

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Shock Performance of a Disk-Drive Assembly Using Active-Passive Piezoelectric Actuators

Shock Performance of a Disk-Drive Assembly Using Active-Pass...

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Asia-Pacific Magnetic Recording Conference (APMRC)

作者： K. W. Chan W. H. Liao Smart Materials and Structures Laboratory Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

Current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed configuration will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. Finite element analyses of different types of piezoelectric actuators in a disk arm assembly under shock impulse are reported. In the shock test, a 175 g and 1 ms sinusoid acceleration pulse is applied at one end of the base and other end of the base is fixed. The shock responses of the disk arm assembly with different configurations of the piezoelectric actuators are simulated and compared. In the finite element analysis, the viscoelastic damping layers in the hybrid actuators are modeled with the Prony series, which parameters are determined from dynamic frequency data of nomograph

关键词： Electric shock Assembly Piezoelectric actuators Damping Finite element methods Servomechanisms Testing Life estimation Viscosity Elasticity

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