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2013 IEEE International Conference on automation Science and engineering, CASE 2013

作者： Li, Sisi Song, Zhen Zhou, Mengchu Lu, Yan Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07013 United States Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China Department of Automation and Control Siemens Corporation Corporate Technology Princeton NJ 08540 United States

ISBN: (纸本)9781479915156

Building simulation models play a vital role in optimal building climate control, energy audit, fault detection and diagnosis, continuous commissioning, and planning. Real system parameters are often unknown or partially unknown and need to be identified through historical data, which are currently acquired by heuristically designed experiments. Without quality sensor data, model calibration is prone to fail, even if the calibration algorithm is appropriate. In this paper, we propose a Fisher-information-matrix (FIM)-based metric to examine the sensor data measurements and how their quality is related to the model calibration quality. It aims to provide quantitative guidance in the calibration cycle of a whole building model that takes as many variables as possible into consideration for the sake of accuracy. Our concerned model is based on well-known physical laws and tries to avoid simplification, thereby leading to a highly discontinuous system with model switches due to the seasonal or daily variation and other reasons. Such a model is implemented in the form of a software package. Hence, no explicit mathematical expression can be given. A key technical challenge is that the complexity of the model prohibits the analytical derivation of FIM, while the numeric calculation is sensitive to sensor noise and model switches. We, hence, propose to adopt an automatic differentiation method, which exploits the operator overload feature of object oriented programming language, for robust numerical FIM calculation. © 2013 IEEE.

关键词： Numerical methods

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An open-source development and simulation platform for smart wheelchairs

An open-source development and simulation platform for smart...

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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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Modelling, simulation and evaluation of energy consumptions for a manufacturing production line

Modelling, simulation and evaluation of energy consumptions ...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Andrea Cataldo Marco Taisch Bojan Stahl Machine and Manufacturing Control System Institute of Industrial Technology and Automation - National Research Council Department of Management Economics and Industrial Engineering Politecnico di Milano

ISBN: (纸本)9781479902255

The use of discrete event simulation integrated with energy consumption computation is nowadays very useful for the efficient design of an industrial production plant. In this paper a serial manufacturing line made by four operating machines has been modelled by means of SIMIO discrete event simulator, focusing on the production line energy consumption computation. Each operating machine has been described according to three different aspects. Firstly the mechanical behaviour, that is guaranteed from the simulator modelling functionalities itself. Secondly the control functionalities that have been designed by means of Finite State Machines (FSMs), then translated into the C# programming language and finally integrated into the SIMIO platform. Finally the energy consumptions, that have been computed by modelling the energy states associated to the different operating machine working functions. In the end a simulation experiment has been run and the regarding results have been presented. The power absorbed and the energy consumed from the whole plant and from each single machine have been compared in order to allow the discussion about possible actions to be taken in order to respect the maximum amount of energy supplied to the plant, value that often represents a primary economic constraints for the industrial plant management. Main limitations coming from the proposed work regard the missing of plant power and energy measurement and the level of approximation used to model the different machines energy consumption.

关键词： Discrete event simulation Plant energy consumption Manufacturing plant simulation Energy machine modelling Energy efficiency Finite State Machines control discrete event simulation energy consumption modeling and simulation Energy efficiency machine simulation test Power Plants energy capacity C language Energy measurement Energy level Proposed works

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EMG-based neural network control of an upper-limb power-assist exoskeleton robot

EMG-based neural network control of an upper-limb power-assi...

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10th International Symposium on Neural Networks, ISNN 2013

作者： Su, Hang Li, Zhijun Li, Guanglin Yang, Chenguang Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen Guangdong China School of Computing and Mathematics Plymouth University PL4 8AA United Kingdom

ISBN: (纸本)9783642390678

The paper presents the electromyogram (EMG)-based neural network control of an upper-limb power-assist exoskeleton robot, which is proposed to control the robot in accordance with the user's motion intention. The upper limb rehabilitation exoskeleton is with high precision for co-manipulation tasks of human and robot because of its backdrivability, precise positioning capabilities, and zero backlash due to its harmonic drive transmission (HDT). The novelty of this work is the development of an adaptive neural network modeling and control approach to handle the unknown parameters of the harmonic drive transmission in the robot to facilitate motion control. We have conducted the experiments on human subject to identify the various parameters of the harmonic drive system combining sEMG information signals. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Robots

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Mining effective multi-segment sliding window for pathogen incidence rate prediction

Mining effective multi-segment sliding window for pathogen i...

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作者： Duan, Lei Tang, Changjie Li, Xiaosong Dong, Guozhu Wang, Xianming Zuo, Jie Jiang, Min Li, Zhongqi Zhang, Yongqing School of Computer Science Sichuan University Chengdu 610065 China West China School of Public Health Sichuan University Chengdu 610041 China Department of Computer Science and Engineering Wright State University Dayton 45435 United States National Key Laboratory of Air Traffic Control Automation System Technology Chengdu 610065 China

Pathogen incidence rate prediction, which can be considered as time series modeling, is an important task for infectious disease incidence rate prediction and for public health. This paper investigates the application of a genetic computation technique, namely GEP, for pathogen incidence rate prediction. To overcome the shortcomings of traditional sliding windows in GEP-based time series modeling, the paper introduces the problem of mining effective sliding window, for discovering optimal sliding windows for building accurate prediction models. To utilize the periodical characteristic of pathogen incidence rates, a multi-segment sliding window consisting of several segments from different periodical intervals is proposed and used. Since the number of such candidate windows is still very large, a heuristic method is designed for enumerating the candidate effective multi-segment sliding windows. Moreover, methods to find the optimal sliding window and then produce a mathematical model based on that window are proposed. A performance study on real-world datasets shows that the techniques are effective and efficient for pathogen incidence rate prediction. © 2013 Elsevier B.V. All rights reserved.

关键词： Data mining

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A unified optimization method for real-time trajectory generation of mobile robots with kinodynamic constraints in dynamic environment

A unified optimization method for real-time trajectory gener...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Wenhao Luo Jun Peng Weirong Liu Jing Wang Wentao Yu Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Controland Intelligent Automation Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly, both the constraints and performance functions are incorporated by similar forms in terms of trajectory parameters, which thereby can be considered in a uniform way. A parameter space of adjustable trajectory parameters is constructed to solve the unified optimization problem with constraints and results in more flexible and better optimal performance. The proposed approach is complete and enhances methods of deterministic real-time planning by overcoming typical drawbacks as intermediate configuration, curvature discontinuities, vertical singularities and incomplete optimization. Simulation results verify the validity and superiority of the proposed method.

关键词： Trajectory Robot kinematics Collision avoidance Mobile robots Acceleration Optimization

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Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

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Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

Image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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Gain-scheduling Distributed MPC for Polytopic Uncertain systems subject to Actuator Saturation

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IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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Online and Remote Machine Condition Monitoring and Fault Diagnosis system Using Wireless Sensor Networks

Online and Remote Machine Condition Monitoring and Fault Dia...

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2013 15th IEEE International Conference on Communication Technology

作者： Yanyu Zhang Peng Zeng Guang Yang Jinying Li Key Lab.of Networked Control System Shenyang Institute of AutomationChinese Academy of Sciences School of Computer and Information Engineering Henan University University of Chinese Academy of Sciences

ISBN: (纸本)9781479900763

Motor systems are critical equipment in modern *** make the equipment maintenance more efficient,this paper proposes an online and remote machine condition monitoring and fault diagnosis system for motor system based on WIA-PA(Wireless network for Industry automation Process automation).The system continuously monitors the status of the target motor systems using wireless vibration *** extracting the feature of vibration signals,the wireless vibration transmitters send feature data to host computer through WIA-PA wireless sensor *** data are processed further in host computer to make diagnosis for the motor system using the customized expert *** paper describes the structure of the system,vibration transmitter,WIA-PA wireless network and host computer system in *** proposed system was tested in field,and the results are presented.

关键词： Condition-based maintenance Fault diagnosis Industrial wireless sensor network WIA-PA Vibration transmitter

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