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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： State estimation

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Robust suboptimal output control for a Twin Rotor MIMO System

Robust suboptimal output control for a Twin Rotor MIMO Syste...

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Sergey A. Vrazevsky Julia V. Chugina Igor B. Furtat Artem S. Kremlev Department of Control Systems and Industrial Robotics IITMO University St. Petersburg Russia The Laboratory “Control of Complex Systems” St. Petersburg Russia Department of Control Systems and Industrial Robotics ITMO University St. Petersburg Russia

ISBN: (纸本)9781467388191

The main focus of this paper is the research of practical application of robust suboptimal control for the Twin Rotor multiple input multiple output (MIMO) System. In this work, MIMO system is represented as dynamically related single input single output (SISO) systems. The robust and suboptimal control algorithm is based on the auxiliary loop method for disturbances compensation and suboptimal linear quadratic regulator (LQR) which is applied to the simplified linearized model of the plant. The proposed approach ensures the high quality of the system functioning and reliability in the presence of parametric uncertainties and external disturbances. Obtained result contributes for control of copters with different configurations. It is experimentally tested on the laboratory platform.

关键词： Transmission line measurements Mathematical model Robustness Rotors MIMO control systems DC motors

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A novel concept of attitude control for large multirotor-UAVs based on moving mass control

A novel concept of attitude control for large multirotor-UAV...

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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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Fault Diagnosis Method Based on Probability Extended SDG and Fault Index

Fault Diagnosis Method Based on Probability Extended SDG and...

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World Congress on Intelligent control and Automation

作者： Ying-Jie Liu Qing-Hao Meng Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University

ISBN: (纸本)9781467384155

A novel fault diagnosis method based on probability extended SDG (Signed Directed Graph) and fault index inference has been proposed. First, the SDG model is extended by fuzzification method and probability distribution. Furthermore, the model structure is simplified to reduce the search space, and the set of fault source candidates is obtained by the hierarchical method. When the system has multiple fault candidates, the fault source can be identified according to the rank order of fault index, which is calculated by fuzzy deviation, fault propagation speed and marginal probability without path information. The reactor of Tennessee Eastman process (TEP) has been taken as a simulation example. The result shows that the diagnosis method has high fault resolution and is suitable for fault location.

关键词： secoisolariciresinol diglucoside Fault diagnosis faults Rank order Fault location Model structures Probability Probability distribution

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Fusing Sound and Dead Reckoning for Multi-robot Cooperative Localization

Fusing Sound and Dead Reckoning for Multi-robot Cooperative ...

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World Congress on Intelligent control and Automation

作者： Yu-Han Cheng Qing-Hao Meng Ying-Jie Liu Ming Zeng Le Xue Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Tianjin China

ISBN: (纸本)9781467384155

This paper presents a multi-robot distributed cooperative localization method based on the fusion of sound and dead reckoning. First, each robot computes its position and orientation by dead reckoning. In order to correct the accumulative error of the dead reckoning, we periodically fuse the dead-reckoning results with the sound based relative localization using the extended Kalman filter (EKF) algorithm. Two self-made small mobile robots are adopted to carry out indoor experiments, and unknown robot is equipped with cheap sound transmitting device and the known robot is equipped with sound receiving device. By comparing the dead-reckoning results, the EKF fusion results and the motion capture localization, we find that the proposed sound based EKF algorithm might be a new solution to the multi-robot localization problem.

关键词： Robot kinematics Dead reckoning Covariance matrices Mobile robots Microphone arrays

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Boosting-Based One-Class SVM for Recognizing True-Fake Chinese Liquors Using Electronic Noses

Boosting-Based One-Class SVM for Recognizing True-Fake Chine...

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World Congress on Intelligent control and Automation

作者： Zhi-Hua Li Qing-Hao Meng Pei-Feng Qi Yu Zhou Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.

关键词： Support Vector Network optimal parameter Electronic Nose Recognition (Psychology) Search methods Chinese Chinese Chinese philosophy Chinese art Feature extraction test sample

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A Numerical Model to Simulate the Aerodynamic Olfactory Effect of the Gas-Sensitive UAV

A Numerical Model to Simulate the Aerodynamic Olfactory Effe...

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World Congress on Intelligent control and Automation

作者： Bing Luo Qing-Hao Meng Jia-Ying Wang Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Tianjin China

ISBN: (纸本)9781467384155

The attempts of robot implementations and simulation framework designs for the solution to three dimensional robot active olfaction problems are reviewed. A numerical model is proposed to dynamically simulate the gas dispersion under the air flow disturbance introduced by the rotating propellers of gas-sensitive unmanned aerial vehicles (UAVs). The model is an interdisciplinary approach that integrates free vortex methods and statistical approaches. Both velocity field and gas dispersion calculation processes are described. Theoretically the model is suitable for the simulation of all gas-sensitive UAVs which gain thrust with propellers.

关键词： Atmospheric modeling Computational modeling Robot sensing systems Three-dimensional displays Dispersion Blades three-dimensional displays Manipulator sensing systems Atmospheric models Blades Computational modeling Unmanned Aerial Vehicle gas dispersion PROPELLER drone honey bees simulating Smell dispersion Dispersion

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Rapid Detection of Chinese Liquors Using a Portable E-nose Based on C-SVM

Rapid Detection of Chinese Liquors Using a Portable E-nose B...

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World Congress on Intelligent control and Automation

作者： Pei-Feng Qi Qing-Hao Meng Ya-Qi Jing Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. The sequential sampling and clean-out lasted 100 seconds and 3 minutes, respectively. Hence, one fast detection process could be finished within 3 minutes without regard to clean-out. In order to acquire enough information from array's sampling curves for classification, we chose 60 features (including 6 features per sensor) according to the response curves, the derivative of the response curves and the relative change rate curves of conductivity. Then the dimension of features was reduced by principle component analysis (PCA). Finally, classification of Chinese liquors was performed using C-Support Vector Machine (C-SVM) and the classification rate was 96.7%.

关键词： Sensor arrays Conductivity Principal component analysis Gas detectors Heating Support vector machine classification Support vector machine classification Electronic Nose Gas detectors Sensor arrays principal components analysis conductivity response curves change rate Heating Chinese Chinese Chinese philosophy Chinese art

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Design considerations for a large quadrotor with moving mass control

Design considerations for a large quadrotor with moving mass...

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International Conference on Unmanned Aircraft systems

作者： Tomislav Haus Matko Orsag Stjepan Bogdan the University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 10000 Zagreb

ISBN: (纸本)9781467393355

In this paper we present our ongoing efforts to build a heavy lift multirotor platform capable of lifting over 50kg of payload. Such a system requires a paradigm shift in the design of the UAV. Therefore we propose using miniature two stroke internal combustion engines to supply the necessary lift and endurance and combine them with a novel control concept based on the variations of the center of gravity (CoG) of the system. In this paper we present a detailed stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the construction design parametrization. We present simulation results from a Gazebo based simulator that confirm the results of our mathematical analysis.

关键词： Design considerations large

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Cooperative load transport based on fuzzy logic controllers

Cooperative load transport based on fuzzy logic controllers

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Marco Antonio Teixeira Higor Barbosa Santos Andre Schneider de Oliveira João Alberto Fabro Lucia Valeria Ramos de Arruda Flavio Neves-Jr Federal University of Technology — Parana Curitiba Parana Brazil Automation and Advanced Control System Laboratory (LASCA) Advanced Laboratory of Embedded Systems and Robotics (LASER)

This work presents the use of multiple mobile robots to perform a common transportation task. The main objective is to perform a navigation with a shared cargo, which allows the transport of objects with high payload or high sizes. Two robots are virtually linked through two Fuzzy controllers, one to control distance and another for orientation. A depth camera on the trailer's robot is used to measure the distance and orientation of the leader robot. The proposed approach is experimentally validated with two standard Pioneer mobile robots that collaboratively carry a large box.

关键词： Robot kinematics Robot sensing systems Mobile robots Payloads Three-dimensional displays Lasers

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