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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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Input-to-state stability of impulsive switched nonlinear time-delay systems with two asynchronous switching phenomena

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International Journal of Robust and Nonlinear control 2020年第12期30卷

作者： Zhichuang Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

This summary addresses the input-to-state stability (ISS) and integral ISS (iISS) problems of impulsive switched nonlinear time-delay systems (ISNTDSs) under two asynchronous switching effects. In our investigated systems, impulsive instants and switching instants do not necessarily coincide with each other. Meanwhile, systems switching signals are not simultaneous with the corresponding controllers switching signals, which will induce instability seriously, and cause many difficulties and challenges. By utilizing methods of Lyapunov-Krasovskii and Lyapunov-Razumikhin, mode-dependent average dwell time approach, and mode-dependent average impulsive interval technique, some stability criteria are presented for ISNTDSs under two asynchronous switching effects. Our proposed results improve the related existing results on the same topic by removing some restrictive conditions and cover some existing results as special cases. Finally, some simulation examples are presented to illustrate the effectiveness and advantages of our results.

关键词： impulsive switched systems input-to-state stability nonlinear time-delay systems two asynchronous switching phenomena

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Aeromagnetic Compensation Based on Tikhonov Regularization with Limited L-Curve Parameter-Choice Algorithm 37

Aeromagnetic Compensation Based on Tikhonov Regularization w...

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37th Chinese control Conference, CCC 2018

作者： Mengyin, Fu Jie, Li Tailin, Wu Tong, Liu Meiling, Wang Kai, Wang Jiapeng, Kang Beijing Institute of Technology Beijing100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing100081 China Nanjing University of Science and Technology Nanjing210094 China

ISBN: (纸本)9789881563941

Magnetic anomaly detection has great application value to national economic development and national defense construction, while the presence of various interference magnetic fields on the aircraft will affect the detection of magnetic anomaly. Therefore, it is very important to compensate the aircraft interference magnetic field. In order to solve the problem that the accuracy of the parameters is poor by using ridge estimation in the process of solving the parameters of aircraft interference magnetic field model, we propose a method based on Tikhonov Regularization (TR). Firstly, the optimal regularization parameter is obtained by the limited L-curve method in our work. Secondly, the aircraft interference magnetic field model parameters are obtained by using the TR method. Finally, we use the model parameters to calculate the aircraft interference magnetic field in the real flight, and complete the compensation. The effectiveness of this method is validated by simulation experiments. The results show that the method proposed in this paper has the advantages of high precision and convenient application, so it can be used to compensate the aircraft interference magnetic field effectively. © 2018 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Parameter estimation

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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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Stability Analysis of Networked control systems with Aperiodic Sampling and Time-Varying Delay

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IEEE Transactions on Cybernetics 2017年第8期47卷 2312-2320页

作者： Chen, Jie Meng, Su Sun, Jian Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

This paper addresses the stability of networked control systems with aperiodic sampling and time-varying network-induced delay. The sampling intervals are assumed to vary within a known interval. The transmission delay is assumed to belong to a given interval. The closed-loop system is first converted to a discrete-time system with multiple time-varying delays and norm-bounded uncertainties resulting from the variation of the sampling intervals. And then, it is transformed into a delay-free system being form of an interconnection of two subsystems. By utilizing scaled small gain theorem, an asymptotic stability criterion for the closed-loop system is proposed in terms of linear matrix inequality. Finally, numerical examples demonstrate the effectiveness of the proposed method and its advantages over existing methods. © 2013 IEEE.

关键词： Networked control systems

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Event-Triggered control for Uncertain Linear systems

Event-Triggered Control for Uncertain Linear Systems

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American control Conference

作者： Qingtao Zhao Jian Sun Beijing Institute of Technology Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781538654293;9781538654286

In networked control systems, event-triggered control has been widespreadly used for its enormous advantages in the reduction of communication frequency and calculation time to save network resources and energy. However, this strategy was hardly extended to deal with uncertainty systems. In this paper, stability of observer-based event-triggered linear systems with parameter uncertainty is investigated. Sufficient stability condition is obtained in the form of linear matrix inequalities (LMIs), and meanwhile a minimum inter-event time (MIET) is derived to ensure feasibility. A numerical example is presented for illustration of the theoretical claims.

关键词： Observers Linear systems Uncertainty Uncertain systems control systems Stability analysis Numerical stability"

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A New Fast and Robust Template Matching with Randomness 29

A New Fast and Robust Template Matching with Randomness

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第29届中国控制与决策会议

作者： Chang Liu Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509046584

Template matching is one of the most important techniques in computer vision,where the algorithm should find the location of template image in scene *** commonly used method of template matching is Normalized Cross Correlation which has a high matching accuracy while consuming a large amount of computational *** this paper,a novel,fast and robust template matching approach is *** new algorithm randomly visits the pixels and locates local maxima by gradually moving to the regions with larger NCC *** further improve the speed and accuracy of the algorithm,several additional rules are *** analysis and experimental results show that the proposed algorithm maintain a high matching accuracy while providing a significant speedup.

关键词： Template Matching Normalized Cross Correlation Brightness-contrast Invariance

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Loose Coupling Visual-lidar Odometry by combining VISO2 and LOAM 36

Loose Coupling Visual-lidar Odometry by combining VISO2 and ...

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第36届中国控制会议

作者： Min Yan Junzheng Wang Jing Li Chi Zhang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9781538629185

Odometry is a very popular research direction in recent decades and plays a very critical role in the autonomous navigation ***02,as a relatively robust and mature visual odometry algorithm,becomes unreliable when distinct visual features are insufficiently or when the texture of the environment is *** if not in such a challenging environment,the drift is still a big problem for the practical ***,a lidar odometry algorithm,has been leading the way for the performance on KITTI data *** fact,it also has limitations in shape features not prominent environment,like a highway with few buildings *** that the current mobile unmanned platforms（e.g.,unmanned vehicles） are almost equipped with both lidar and cameras,this paper proposes a loose coupling visual-lidar odometry by combining VIS02 and LOAM to achieve the advantages of both camera and lidar and reduce the number of restricted *** algorithm proposed in this paper is tested on the raw data set of *** average translation error is about 1.37% on 10 sequences,and the accuracy is improved with respect to LOAM with the same *** the help of VIS02,the algorithm also performs well in shape features not prominent environment（e.g.,highway）,and from the experiment results,we confirmed the efficient strategy to combine VIS02 and LOAM to adapt to challenging environment and to keep the accuracy of the algorithm.

关键词： Ego-motion Estimation Visual Odometry Lidar Odometry SLAM

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Obstacle Information Detection Based on Fusion of 3D LADAR and Camera 36

Obstacle Information Detection Based on Fusion of 3D LADAR a...

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第36届中国控制会议

作者： Jing Li Liuzhi Yu Junzheng Wang Min Yan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538629185

Obstacle information detection is a prerequisite for safety and stability driving of unmanned platforms in the unknown *** detection of the obstacle using the 3D laser radar(3D LADAR) and camera is proposed in this ***,joint calibration between 3D LADAR and camera based on the planar feature method is ***,laser point cloud is clustered to identify the number of obstacles,and then detected image is divided into the corresponding small regions according to the number of ***,we use the image processing technology to detect the obstacle *** experiments in the real world are implemented to show that the proposed approach can effectively detect the size of the obstacles.

关键词： Obstacle detection Joint calibration Monocular camera 3D LADAR Information fusion

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Observer-based Finite Time Dissipative control for Nonlinear Discrete Time-varying system with Time-varying Delay

Observer-based Finite Time Dissipative Control for Nonlinear...

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American control Conference

作者： Menghua Chen Jian Sun Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781538654293;9781538654286

This paper addresses an observer-based finite time dissipative control problem for nonlinear discrete time-varying systems with time-varying delay. The nonlinear perturbation is subject to the Lipchitz condition. On the basis of a newly augment time-varying Lyapunov-like functional, delay-dependent conditions are obtained using the discrete Wirtinger-type inequality. The conditions ensure that the closed-loop system is finite time bounded (FTB) as well as the dissipative performance is satisfied. Then the observer-based time-varying control problem is achieved by solving a class of recursive linear matrix inequalities (RLMIs). Two examples illustrate the feasibility and superiority of the proposed method.

关键词： Time-varying systems Delays Linear matrix inequalities Symmetric matrices Closed loop systems Observers Asymptotic stability"

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