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World Congress on Intelligent control and automation (WCICA)

作者： Shihua Wang Bugong Xu Qingyang Wang Yun-Hui Liu Laboratory of Real-Time Control through Internet and Fieldbuses College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China

Smith predictor is very sensitive to uncertain system with variable time-delay. Using dual-locus diagram method, we first analyse the essence of Smith predictor's sensitivity and present a proposition to illustrate the system stability criteria with relation to system gain and time-delay variation. Then a new modified Smith predictor is proposed to compensate the variable time-delay system with uncertain model for set-point tracking. After that, we discuss the system internal stability and give two-degree freedom controller self-adaptive to eliminate the impact of system uncertainty with varying time-delay. Examples show the improved performance compared to previous modified Smith predictor structures

关键词： Process control Uncertainty Automatic control control systems Uncertain systems Feedback loop Tuning automation Delay systems Robustness

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Modeling and Analyzing Multi-agent Task Plans for Intelligent Virtual Training System using Petri Nets

Modeling and Analyzing Multi-agent Task Plans for Intelligen...

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World Congress on Intelligent control and automation (WCICA)

作者： Linqin Cai Tao Mei Yining Sun Lei Sun Zuchang Ma Department of Automation Center for Biomimetic Sensing and Control Research Center for Biomimetic Sensing and Control ResearchChinese Academy of sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering and Physics Mianyang China

Integrated virtual reality with intelligent tutoring system, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, hierarchy colored Petri nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model

关键词： Intelligent systems Petri nets Machine intelligence Virtual reality Railway safety Sun Biomimetics Automatic control control systems computer architecture

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Configuration control of Space Robots for Impact Minimization

Configuration Control of Space Robots for Impact Minimizatio...

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IEEE International Conference on Robotics and Biomimetics

作者： Panfeng Huang Wenfu Xu Bin Liang Yangsheng Xu College of Astronautics Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

On-orbital services of space robot are playing more and more important roles in the space operation. Nearly all space operation can not possibly avoid to contact the target. The contact and impact do not possibly avoid when the space robot captures the object. The impulse caused by impact is bad to the space robot and object. This paper derives the impact dynamic equations according to the dynamic model of space robot system and the object. We propose a genetic algorithm (GA) based on approach to search the optimal configuration of space robot at capturing moment in order to minimize or avoid the impact. An illustrative example has verified that the proposed method has satisfactory performance and real significance for reducing the impact.

关键词： Robot control Orbital robotics Robot kinematics Aerodynamics Space technology Manipulator dynamics Robotics and automation Equations Trajectory Genetic algorithms

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Factors influencing on flux distribution on focal region of parabolic concentrators

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Journal of Physics: Conference Series 2006年第1期48卷 59-63页

作者： Liu, Y. Dai, J.M. Sun, X.G. Yu, T.H. Department of Automation Measurement and Control Harbin Institute of Technology Heilongjiang Harbin 150001 China Computer Centre Harbin University of Science and Technology Heilongjiang Harbin 150001 China

The random surface error, tracking error, position error and shadow of receiver of parabolic dish concentrators are analysed by using the ray tracing and the Monte-Carlo method. Several examples are given. The analysis is help to optimizing the system efficiency and measuring the flux density distribution. © 2006 IOP Publishing Ltd.

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Trajectory Planning of Space Robot System for Target Berthing and Reorientation after Capturing

Trajectory Planning of Space Robot System for Target Berthin...

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World Congress on Intelligent control and automation (WCICA)

作者： Wenfu Xu Bin Liang Wenyi Qiang Panfeng Huang Yangsheng Xu Department of Control Science and Engineering Harbin Institute of Technology Harbin China College of Astronautics Northwestern Polytechnical University Xi'an China Department of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong China

A typical servicing operation in space mainly includes three phases: capturing the target, berthing and docking the target, and repairing the target. The attitude of a satellite usually changes after the capturing, because the control system is turned off during this phase for safety reasons. In this paper, a method is proposed to achieve the berthing of the target and reorientating the satellite attitude at the same time, both by involving manipulator motion only. Firstly, the constraints on the manipulator and the objective function are defined according to the planning problem. Then the joint trajectory is parameterized by sinusoidal function, whose argument is the polynomial. Finally, genetic algorithm is used to search for the global optimal resolution of the parameters. When the parameters are found, each joint trajectory can be determined. This planned trajectory is smooth and more applicable for the control of the free-floating robotic system. Our proposed method is verified by simulation

关键词： Trajectory Orbital robotics Space technology Satellites Space vehicles Path planning Robotics and automation Attitude control control systems Genetic algorithms

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Implementation of Industrial Robot Force control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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Stereo Vision based Relative Pose and Motion Estimation for Unmanned Helicopter Landing

Stereo Vision based Relative Pose and Motion Estimation for ...

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International Conference on Information and automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines computer vision

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The Tinyphoon's control Concept

The Tinyphoon's Control Concept

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International Conference on Mechatronics (ICM)

作者： Gregor Novak Charlotte Roesener Markus Bader Tobias Deutsch Stefan Jakubek Stefan Krywult Martin Seyr Institute of Computer Technology University of Technology Vienna Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic University of Technology Vienna Vienna Austria

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of realtime communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control

关键词： Service robots Motion control Robotics and automation Automatic control Mobile robots control systems Electrical equipment industry Robot sensing systems Mobile computing Robotic assembly

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Delay-dependent stability of 2D state-delayed linear systems

Delay-dependent stability of 2D state-delayed linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： W. Paszke J. Lam K. Galkowski Shengyuan Xu E. Rogers A. Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Nanjing University of Science and Technology of PLA Nanjing China Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK

This paper addresses the problem of stability for two-dimensional systems with delays in the state. To solve this problem, the Lyapunov second method is used. The resulting condition is written in terms of linear matrix inequalities and it is dependent on the size of delays. This fact allows us to reduce the conservatism in the stability analysis of two-dimensional systems with state delays. A simulation example is given to illustrate the theoretical developments

关键词： Stability Linear systems Delay systems Symmetric matrices control systems Linear matrix inequalities Delay lines Automatic control control engineering computing Mechanical engineering

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Artificial cognitive BP-CT Ant routing algorithm

Artificial cognitive BP-CT Ant routing algorithm

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International Joint Conference on Neural Networks, IJCNN 2005

作者： Jing, Xu Liu, Chunyu Sun, Xiaobo Department of Automation Computer and Control College Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)0780390482

This paper analyses the primary features of computing intelligence in the circumstance of multi-agents modeling, and the artificial cognitive methods with computing intelligent agents, and the artificial cognitive features in reinforcement learning and the Q-routing algorithm which is a kind of reinforcement learning in the domain of intelligent network. At the same time, aiming at the problem in AntNet routing algorithm, this paper introduces BP-CT Ant routing algorithm and simulates the algorithm on OMNeT++ software platform, then proves the availability of the algorithm. Considering the global planning and optimal control theory, BP-CT Ant routing algorithm has some potential aspects of intelligent control, and shows good QoS performance. © 2005 IEEE.

关键词： Neural networks

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