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IEEE International Conference on Robotics and Biomimetics

作者： Hesheng Wang Yun-Hui Liu Department of Automation and Computer Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

This paper extends the method in our earlier work to control S target points to their desired positions on the image plane by using the visual feedback form an eye-in-hand camera. The controller is designed to cope with the case when the intrinsic and extrinsic parameters of the camera as well as the target positions are not calibrated. The controller employs the depth-independent interaction matrix to map the errors on the image plane onto the joint space. By using the depth-independent interaction matrix, it is possible to linearly parameterize the unknown camera parameters and the unknown coordinates of the target points in the closed loop dynamics of the system. A new algorithm is developed to estimate unknown parameters on-line. By minimizing the errors between the real and estimated projections of the target points on the image plane, this new adaptive algorithm can guarantee the convergence of the estimated parameters to the real values. Based on the nonlinear robot dynamics, we prove asymptotic convergence of the image errors to zero by the Lyapunov theory. Experiments have been conducted to demonstrate the performance of the proposed controller.

关键词： Visual servoing Manipulators Feedback Cameras Robot kinematics Parameter estimation Convergence Robot vision systems Error correction Adaptive algorithm

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Multi-Objective Genetic Algorithm for Hybrid Electric Vehicle Parameter Optimization

Multi-Objective Genetic Algorithm for Hybrid Electric Vehicl...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bufu Huang Zhancheng Wang Yangsheng Xu Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

As a typical multi-objective optimization problem, parameter optimization of HEV power control strategy must deal with the conflict between objectives, as fuel consumption and emissions. Classical methods define the HEV parameter optimization as a single objective problem to minimize the fuel consumption. In this paper, the multi-objective genetic algorithm (MOGA) is generalized for parameter optimization of power control strategy of series hybrid electric vehicle. Using a single unified formulation, a number of design objectives can be simultaneously optimized through searching in the parameter space. Compared with two main strategies, as Thermostatic and single-objective genetic algorithm (SOGA), the computation procedures of MOGA are discussed. Simulation results based on the model of series hybrid electric vehicle illustrate the optimization validity of MOGA

关键词： Genetic algorithms Hybrid electric vehicles Power control Engines Fuels Optimization methods Automobiles Energy consumption Torque control Batteries

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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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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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Sequential blind extraction of instantaneous mixtures with arbitrary rank

Sequential blind extraction of instantaneous mixtures with a...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Sanqing Hu Derong Liu Jun Wang Department of Electrical and Computer Engineering University of Illinois Chicago Chicago IL USA Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, we present new extractability conditions for blind source extraction of linear instantaneous mixtures. Two general conditions for source extraction of arbitrarily mixed nonzero sources are presented. A sufficient condition is provided to guarantee that sequential extraction can be continued. We also show an important property for inseparable mixtures; that is, any two extracted signals involving the same sources are proportional to each other. For sub-Gaussian or sup-Gaussian source signals with only mutual independence, cost functions based on fourth-order cumulants are introduced to sequentially extract all separable single sources and all inseparable mixtures. By minimizing the cost functions, gradient-based methods are developed. Our algorithms are guaranteed to converge. Finally, simulation results show the operation characteristics and the effectiveness of our methods

关键词： Cost function automation Sufficient conditions

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Non-holonomic Path Planning of Space Robot Based On Genetic Algorithm

Non-holonomic Path Planning of Space Robot Based On Genetic ...

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IEEE International Conference on Robotics and Biomimetics

作者： Wenfu Xu Bin Liang Cheng Li Wenyi Qiang Yangshen Xu Ka Keung Lee Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

The nonholonomic characteristic of space robot is used to plan the path of the manipulator, by whose motion the base attitude and the manipulator joints attain the desired states. Firstly, the functions of the joint angles are parameterized by sinusoidal functions. Secondly, the objective function is defined according to the accuracy requirement and the constraints of the system state. Finally, genetic algorithm (GA) is used to search the global optimal solution of the parameters. Comparing with other methods, our approach has a number of advantages: 1) The kinematic and dynamic constraints of the manipulator are taken into consideration in the planning process; 2) The dynamic singular point doesn't affect the algorithm since only the direct kinematic equations are utilized; 3) The planned path is very smooth and more applicable in controlling the manipulator; 4) The state converges to the global optimal values. The simulation results verify the method.

关键词： Path planning Orbital robotics Genetic algorithms Manipulator dynamics Satellites Space technology Equations Space vehicles Kinematics Bismuth

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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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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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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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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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