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作者： Fu, Minyue Huang, Jie School of EECS University of Newcastle Australia Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)008045108X

in this paper, we study the problem of robust regulation for a class of linear uncertain systems which admit the so-called Recursive Augmentation Structure. This structure is known to be quadratically stabilizable and is a rich class, including lowertriangular and upper-triangular structures (which correspond to the so-called backstepping and forwarding in nonlinear control) as special cases. The results of this paper provide conditions on the Recursive Augmentation Structure under which robust regulation can be achieved. Our work differs from existing work on robust regulation for linear systems in the sense that we allow large uncertainties in the system. Our work is also expected to be useful in searching for possible new structures for regulation control of nonlinear systems. Copyright © 2005 IFAC.

关键词： Linear systems

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Modeling human intelligence and application to space object capturing

Modeling human intelligence and application to space object ...

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Huang, Panfeng Xu, Yangsheng Liang, Bin Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shenzhen Space Technology Center Harbin Institute of Technology

ISBN: (纸本)0780393031

It is a great challenge for a robot In space to track and capture a free-flying object in the future space operations. In previous research, most of them employed model-based method which requires robot model in advance. However, it is difficult and time-consuming to obtain the precise mathematical model of robots. Moreover, the computer installed on the space robot is usually not so powerful due to the restriction of weight and volume, thus it is infeasible to computer dynamics parameters for real-time control. To facilitate the computation complexity, we present an approach based on human learning skill for tracking and catching objects. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node-Decoupled Extended Kalman Filtering (CNN-NDEKF)[1]. The goal of skill learning is to obtain the most likely human performance from all the training examples and to transfer this skill to the space robot system by trained cascade neural network. We investigate the learning position trajectory in Cartesian space and position trajectory in Joint space respectively. Especially, learning position trajectory in Joint space is useful to avoid the complex inverse kinematics of space robot and to lower the computation cost. The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. The proposed approach provides a feasible way to plan the tracking trajectory of space robot by learning human demonstration skill. The learning is significant in eliminating sluggish motion planning and correcting a motion command that the operator may mistakenly generate. It will be found useful in various other applications, such as human action recognition in man-machine interfaces, real-time training, and agile manufacturing. © 2005 IEEE.

关键词： Mathematical models

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No jamming condition for force planning in fixture inserting

No jamming condition for force planning in fixture inserting

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Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004

作者： Liu, Tong Wang, Michael Yu IEEE Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)0780386418

This paper focuses on an issue, the jamming condition of rigid bodies under Coulomb's friction law, involved in inserting a workpiece into the fixture system, where we assume point contacts between surfaces of bodies. The results of the paper gives a sufficient and necessary condition for the jamming criteria, which do not rely on the linearization of the friction cone and treats the two dimensional problem and three dimensional problem in a unified way. ©2004 IEEE.

关键词： Force control

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Global robust stabilization of output feedback systems with unknown high-frequency gain sign

Global robust stabilization of output feedback systems with ...

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5th International Conference on Control and automation, ICCA'05

作者： Liu, Lu Huang, Jie Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N. T. Hong Kong

ISBN: (纸本)0780391381

The global robust output feedback stabilization problem for nonlinear systems in output feedback form has been solved under a key assumption that the high-frequency gain sign is known. This paper deals with the same problem without assuming the knowledge of the high-frequency gain sign by integrating the current robust control method and the Nussbaum gain technique. © 2005 IEEE.

关键词： Feedback control

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Vision system and projective rectification for a robot drawing platform

Vision system and projective rectification for a robot drawi...

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5th International Conference on Control and automation, ICCA'05

作者： Kwok, Ka Wai Yam, Yeung Lo, Ka Wah Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N. T. Hong Kong

ISBN: (纸本)0780391381

A robot drawing platform supporting five degrees of freedom (x, y, and z translation, z-rotation, and pitch) of a brush-pen movement is under development. The platform is aimed at the acquisition, learning, and execution of human techniques in Chinese brush pen painting and calligraphy. Both replication of existing works and rendition of new styles are planned. This paper describes the addition of vision-based capabilities to the platform, together with a demonstration of how the vision information can be used to rectify incorrect decision on branch points in iterative steps. © 2005 IEEE.

关键词： Robots

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Parameter optimization of wireless communication system in video surveillance network

Parameter optimization of wireless communication system in v...

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ICIA 2005: 2005 International Conference on Information Acquisition

作者： Shi, Xi Hu, Jianming Song, Jingyan Xu, Yangsheng Department of Automation and Computer-aided Engineering Chinese University of Hong Kong Shatin Hong Kong Department of Automation Tsinghua University Beijing 100084 China College of Computer Science and Engineering Guizhou University Guiyang 550025 China

ISBN: (纸本)0780393031

Aiming at the more and more serious traffic problem in large cities, this paper proposes a new architecture of urban traffic surveillance system based on the concept of sensor network. Since the speed and quality of communication system has a critical effect on the performance of the overall system, the optimal combination of duty cycle, one of the most important parameters, is introduced to optimize the system performance. This paper puts forward a duty cycle optimization model based on calculating n-times reachable matrix. Now that the parameter optimization model can be boiled down to a NP-hard problem, an improved genetic algorithm is introduced to solve the problem. The computational procedure and efficiency are discussed, and simulation study based on a practical road network is given to illustrate the validity of the proposed method. © 2005 IEEE.

关键词： Wireless telecommunication systems

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Global robust servomechanism problem of lower-triangular systems in the general case

Global robust servomechanism problem of lower-triangular sys...

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Fourth International Conference on Control and automation

作者： Chen, Zhiyong Huang, Jie Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin N. T. Hong Kong

ISBN: (纸本)078037777X

We will show that, for the class of nonlinear lower-triangular systems, the robust servomechanism problem can be cast into a robust regulation problem for the same class of systems augmented by dynamic uncertainties. Thus, using our recent result on adaptive regulation of lower-triangular systems with both static and dynamic uncertainties, we will solve the robust servomechanism problem of the lower-triangular systems for the general case where both the uncertain parameter and the exogenous signal can be arbitrarily large. © 2003 IEEE.

关键词： Nonlinear control systems

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Implicit fitting and smoothing using radial basis functions with partition of unity

Implicit fitting and smoothing using radial basis functions ...

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9th International Conference on computer aided Design and computer Graphics, CAD/CG 2005

作者： Xiaojun, Wu Michael, Yu Wang, Qi Xia Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong Department of Automation and Mechatronics Harbin Institute of Technology Shenzhen Graduate School

ISBN: (纸本)0769524737

A new scheme for 3D reconstruction of implicit surfaces from large scattered point sets based on the radial basis functions (RBFs) is proposed in this paper. The partition of unity (POU) method and a binary tree is used to organize the point sets into some overlapping local subdomains and reconstructing a local surface for each of the subdomains from non-disjunct subsets of the points, we use only a single point at the offset of the surface to avoid the trivial solution of RBF linear system. When the offset point is chosen properly, the technique is not only efficient but also robust, offering a higher level of scalability. The global solution can be obtained by combining the local solutions with POU equations. We also adapt the methodology of level set propagation of a dynamic surface and employ it for smoothing the reconstructed surfaces. We develop versatile computational framework with many benefits in topological flexibility and numerical efficiency. © 2005 IEEE.

关键词： computer graphics

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Fuzzy logic decision fusion in a multimodal biometric system 8

Fuzzy logic decision fusion in a multimodal biometric system

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8th International Conference on Spoken Language Processing, ICSLP 2004

作者： Lau, Chun Wai Ma, Bin Meng, Helen M. Moon, Y.S. Yam, Yeung Human-Computer Communications Laboratory Department of Systems Engineering and Engineering Management Hong Kong Department of Computer Science and Engineering Hong Kong Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

This paper presents a multi-biometric verification system that combines speaker verification, fingerprint verification with face identification. Their respective equal error rates (EER) are 4.3%, 5.1% and the range of (5.1% to 11.5%) for matched conditions in facial image capture. Fusion of the three by majority voting gave a relative improvement of 48% over speaker verification (i.e. the best-performing biometric). Fusion by weighted average scores produced a further relative improvement of 52%. We propose the use of fuzzy logic decision fusion, in order to account for external conditions that affect verification performance. Examples include recording conditions of utterances for speaker verification, lighting and facial expressions in face identification and finger placement and pressure for fingerprint verification. The fuzzy logic framework incorporates some external factors relating to face and fingerprint verification and achieved an additional improvement of 19%.

关键词： Fuzzy logic

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Study on Key Issues of the One-step Inverse Method

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武汉理工大学学报 2006年第S1期28卷 116-120页

作者： HUANG Ying 1,2 ,RUAN Yi1,DU Ruxu2 (1.College of Logistic engineering,Wuhan University of Technology,Wuhan 430070,China 2.department of automation & computer-aided engineering,The Chinese University of Hong Kong,Hong Kong,China) College of Logistic Engineering Wuhan University of TechnologyWuhan 430070China Department of Automation & Computer-Aided Engineering The Chinese University of Hong KongHong KongChina College of Logistic Engineering Wuhan University of TechnologyWuhan 430070China Department of Automation & Computer-Aided Engineering The Chinese University of Hong KongHong KongChina

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： sheet metal forming inverse method modified arc-length method

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