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International Conference on Intelligent Transportation

作者： Zhen Shen Kai Wang Fenghua Zhu State Key Laboratory of Intelligent Control and Management of Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences (CAS) Beijing China Center of Military Computational Experiments and Parallel Systems Technology and College of Mechatronics Engineering and Automation National University of Defense Technology Changsha Hunan China

With the advantage of simulating the details of a transportation system, the “microsimulation” of a traffic system has long been a hot topic in the Intelligent Transportation Systems (ITS) research. The Cellular Automata (CA) and the Multi-Agent System (MAS) modeling are two typical methods for the traffic microsimulation. However, the computing burden for the microsimulation and the optimization based on it is usually very heavy. In recent years the Graphics Processing Units (GPUs) have been applied successfully in many areas for parallel computing. Compared with the traditional CPU cluster, GPU has an obvious advantage of low cost of hardware and electricity consumption. In this paper we build an MAS model for a road network of four signalized intersections and we use a Genetic Algorithm (GA) to optimize the traffic signal timing with the objective of maximizing the number of the vehicles leaving the network in a given period of time. Both the simulation and the optimization are accelerated by GPU and a speedup by a factor of 195 is obtained. In the future we will extend the work to large scale road networks.

关键词： Graphics processing unit Vehicles Roads Optimization Computational modeling Genetic algorithms Timing

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Hybrid Position, Posture, Force and Moment control with Impedance Characteristics for Robot Manipulators

Hybrid Position, Posture, Force and Moment Control with Impe...

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2011 IEEE International Conference mechatronics and automation(2011 IEEE机电一体化与自动化国际会议)

作者： Yu Yao Qingjiu Huang Yan Peng Taishi Oiwa Institute of Robotic Science and Engineering Nanjing University of Technology 5 Xinmofan Rd Nanjing Institute of Robotic Science and Engineering Nanjing University of Technology 5 Xinmofan Rd Nanjing School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 Ookayama

There are more and more needs for surface contact works, such as polish, grinding, paint, inspection, etc., with robot manipulators in recent years. In this paper, to achieve high-speed and high-precision surface contact work by robot manipulator, we propose a separation method of posture components to solve the problem of the rotation order, and a method of introducing the impedance characteristics to hybrid position, posture, force and moment control to eliminate the interference between free space and constrained space. Furthermore, the effectiveness of our control method for surface contact work was verified by the dynamic simulation of charactererasing motion on the white board of 6-DOF robot manipulator.

关键词： 6-DOF robot manipulator hybrid control impedance characteristics surface contact work dynamic modeling

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Adaptive and Repetitive controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

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IEEE International Conference on Robotics and Biomimetics

作者： Pannatee Rakprayoon Peerayot Sanposh Nattapon Chayopitak Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Industrial Control and Automation Laboratory National Electronics and Computer Technology Center

ISBN: (纸本)9781457721366

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements control Architecture Manipulators Unknown parameter Linear Combination

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control of an overhead crane with the controlled Lagrangian method

Control of an overhead crane with the controlled Lagrangian ...

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作者： Poljak, Daniel Schindele, Dominik Antritter, Felix Aschemann, Harald Hillermeier, Claus Department of Automation and Control Engineering University of the Bundeswehr Munich Germany Department of Mechatronics University of Rostock Germany

ISBN: (纸本)9783902661807

A nonlinear controller structure for an overhead crane is designed and implemented on a crane plant. The energy based stabilizing controller part is derived by the method of controlled Lagrangians. In that framework, kinetic and potential shaping is performed and so-called general matching conditions are employed. control parameters well suited for the practical implementation are found by optimization using the linearization of the closed loop system. Nonlinear damping effects are counteracted in the overall controller structure by feedforward compensation and a reduced nonlinear disturbance observer. © 2010 IFAC.

关键词： Lagrange multipliers

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Camera parameters auto-adjusting technique for robust robot vision

Camera parameters auto-adjusting technique for robust robot ...

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2010 IEEE International Conference on Robotics and automation, ICRA 2010

作者： Lu, Huimin Zhang, Hui Yang, Shaowu Zheng, Zhiqiang Department of Automatic Control College of Mechatronics Engineering and Automation National University of Defense Technology Changsha Hunan China

ISBN: (纸本)9781424450381

How to make vision system work robustly under dynamic light conditions is still a challenging research focus in computer/robot vision community. In this paper, a novel camera parameters auto-adjusting technique based on image entropy is proposed. Firstly image entropy is defined and its relationship with camera parameters is verified by experiments. Then how to optimize the camera parameters based on image entropy is proposed to make robot vision adaptive to the different light conditions. The algorithm is tested by using the omnidirectional vision in indoor RoboCup Middle Size League environment and the perspective camera in outdoor ordinary environment, and the results show that the method is effective and color constancy to some extent can be achieved. ©2010 IEEE.

关键词： Cameras

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Investigation of a rotary-linear switched reluctance motor

Investigation of a rotary-linear switched reluctance motor

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19th International Conference on Electrical Machines, ICEM 2010

作者： Pan, J.F. Cheung, N.C. Cao, Guang-Zhong Department of Automation College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong Hong Kong

ISBN: (纸本)9781424441754

A novel direct-drive rotary-linear switched reluctance motor (RLSRM) is proposed. The motor has the advantages of robust mechanical structure, low manufacture cost and capability of operation under hostile environments. Simulation tools such as finite element analysis (FEA) are applied for the verification of motor performance and corresponding experiments are carried out to testify the simulation results. The authors expect that the innovative actuator design can be applied in industrial applications that require both rotary and linear motions. ©2010 IEEE.

关键词： Finite element method

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Real-time on-line parameter estimation of linear switched reluctance motor

Real-time on-line parameter estimation of linear switched re...

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作者： Cheung, N.C. Pan, J.F. Li, Jin-Quan Department of Automation College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong Hong Kong

ISBN: (纸本)9781424441754

The on-line least-square identification method is applied for the linear switched reluctance motor (LSRM) based closed-loop control system. Since switched reluctance motors have severe nonlinear characteristics, on-line system identification for model parameters is the basis for precise modeling and effective control algorithms. By on-line parameter identification of LSRM with least-square scheme, the parameter characteristics can be predicted despite of operation variations. The experimental results demonstrate the identification scheme has fast response and converging speed and the capability of effective parameter prediction under different conditions. ©2010 IEEE.

关键词： Closed loop control systems

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control of an Overhead Crane with the controlled Lagrangian Method

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IFAC Proceedings Volumes 2010年第14期43卷 131-136页

作者： Daniel Poljak Dominik Schindele Felix Antritter Harald Aschemann Claus Hillermeier Chair of Automation and Control Engineering University of the Bundeswehr Munich Germany Chair of Mechatronics University of Rostock Germany

关键词： energy based control underactuated mechanical systems controlled Lagrangians

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An adaptive multimodality (ECT, ERT and electrodynamic) sensor for multiphase flow measurement 6

An adaptive multimodality (ECT, ERT and electrodynamic) ...

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6th World Congress in Industrial Process Tomography

作者： Deng, Xiang Chen, Dixiang Yang, Wuqiang School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China School of Mechatronics Engineering and Automation National University of Defence Technology Changsha410073 China School of Electrical and Electronic Engineering The University of Manchester ManchesterM60 1QD United Kingdom

ISBN: (纸本)9780853163220

Accurate measurement of multiphase flows, including gas/solids, gas/liquid and liquid/liquid flows, is still challenging. In principle, electrical capacitance tomography (ECT) can be used to measure the concentration of solids in a gas/solids flow and the liquid (e.g. oil) fraction in a gas/liquid flow if the liquid is nonconductive. Electrical resistance tomography (ERT) can be used to measure a gas/liquid flow if the liquid is conductive. It has been attempted to use a dualmodality ECT/ERT system to measure both the concentration profile and the velocity profile by pixelbased cross correlation. However, this approach is not realistic because of the dynamic characteristics and the complexity of multiphase flows and the difficulties in determining the velocities by cross correlation. In this paper, the issues with dual modality ECT/ERT and the difficulties with pixelbased cross correlation will be discussed. A new adaptive multimodality (ECT, ERT and electrodynamic) sensor, which can be used to measure a gas/solids or gas/liquid flow, will be described. Some details of the electrostatic charge amplifier and signal processing will be discussed. Initial experimental results will be given. © International Society for Industrial Process Tomography, 2010. All rights reserved.

关键词： Liquids

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Comparison of three electrical capacitance tomography systems

Comparison of three electrical capacitance tomography system...

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IEEE International Conference on Imaging Systems and Techniques

作者： Deng, Xiang Chen, Dixiang Yang, Wuqiang School of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD United Kingdom

ISBN: (纸本)9781424464944

Electrical capacitance tomography (ECT) has been developed for two decades to visualize the internal behavior of industrial processes containing dielectric components. Three different ECT systems have been developed: (1) based on a charge/discharge capacitance measuring circuit, (2) based on an AC circuit and (3) based on an impedance analyzer. In this paper the operation principles, calibration methods and some performance of the three systems are compared. The experimental results prove that the AC-based ECT system is superior to the charge/discharge ECT system. Although the impedance analyzer based ECT system can provide the highest accuracy and the best image quality, it is bulky and expensive. © 2010 IEEE.

关键词： Calibration

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