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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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Modelling, simulation and evaluation of energy consumptions for a manufacturing production line

Modelling, simulation and evaluation of energy consumptions ...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Andrea Cataldo Marco Taisch Bojan Stahl Machine and Manufacturing Control System Institute of Industrial Technology and Automation - National Research Council Department of Management Economics and Industrial Engineering Politecnico di Milano

ISBN: (纸本)9781479902255

The use of discrete event simulation integrated with energy consumption computation is nowadays very useful for the efficient design of an industrial production plant. In this paper a serial manufacturing line made by four operating machines has been modelled by means of SIMIO discrete event simulator, focusing on the production line energy consumption computation. Each operating machine has been described according to three different aspects. Firstly the mechanical behaviour, that is guaranteed from the simulator modelling functionalities itself. Secondly the control functionalities that have been designed by means of Finite State Machines (FSMs), then translated into the C# programming language and finally integrated into the SIMIO platform. Finally the energy consumptions, that have been computed by modelling the energy states associated to the different operating machine working functions. In the end a simulation experiment has been run and the regarding results have been presented. The power absorbed and the energy consumed from the whole plant and from each single machine have been compared in order to allow the discussion about possible actions to be taken in order to respect the maximum amount of energy supplied to the plant, value that often represents a primary economic constraints for the industrial plant management. Main limitations coming from the proposed work regard the missing of plant power and energy measurement and the level of approximation used to model the different machines energy consumption.

关键词： Discrete event simulation Plant energy consumption Manufacturing plant simulation Energy machine modelling Energy efficiency Finite State Machines control discrete event simulation energy consumption modeling and simulation Energy efficiency machine simulation test Power Plants energy capacity C language Energy measurement Energy level Proposed works

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Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

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Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

Image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Mining effective multi-segment sliding window for pathogen incidence rate prediction

Mining effective multi-segment sliding window for pathogen i...

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作者： Duan, Lei Tang, Changjie Li, Xiaosong Dong, Guozhu Wang, Xianming Zuo, Jie Jiang, Min Li, Zhongqi Zhang, Yongqing School of Computer Science Sichuan University Chengdu 610065 China West China School of Public Health Sichuan University Chengdu 610041 China Department of Computer Science and Engineering Wright State University Dayton 45435 United States National Key Laboratory of Air Traffic Control Automation System Technology Chengdu 610065 China

Pathogen incidence rate prediction, which can be considered as time series modeling, is an important task for infectious disease incidence rate prediction and for public health. This paper investigates the application of a genetic computation technique, namely GEP, for pathogen incidence rate prediction. To overcome the shortcomings of traditional sliding windows in GEP-based time series modeling, the paper introduces the problem of mining effective sliding window, for discovering optimal sliding windows for building accurate prediction models. To utilize the periodical characteristic of pathogen incidence rates, a multi-segment sliding window consisting of several segments from different periodical intervals is proposed and used. Since the number of such candidate windows is still very large, a heuristic method is designed for enumerating the candidate effective multi-segment sliding windows. Moreover, methods to find the optimal sliding window and then produce a mathematical model based on that window are proposed. A performance study on real-world datasets shows that the techniques are effective and efficient for pathogen incidence rate prediction. © 2013 Elsevier B.V. All rights reserved.

关键词： Data mining

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A unified optimization method for real-time trajectory generation of mobile robots with kinodynamic constraints in dynamic environment

A unified optimization method for real-time trajectory gener...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Wenhao Luo Jun Peng Weirong Liu Jing Wang Wentao Yu Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Controland Intelligent Automation Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly, both the constraints and performance functions are incorporated by similar forms in terms of trajectory parameters, which thereby can be considered in a uniform way. A parameter space of adjustable trajectory parameters is constructed to solve the unified optimization problem with constraints and results in more flexible and better optimal performance. The proposed approach is complete and enhances methods of deterministic real-time planning by overcoming typical drawbacks as intermediate configuration, curvature discontinuities, vertical singularities and incomplete optimization. Simulation results verify the validity and superiority of the proposed method.

关键词： Trajectory Robot kinematics Collision avoidance Mobile robots Acceleration Optimization

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Gain-scheduling Distributed MPC for Polytopic Uncertain systems subject to Actuator Saturation

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IFAC Proceedings Volumes 2013年第13期46卷 444-449页

作者： Langwen Zhang Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

In this paper, we present a gain-scheduling distributed model predictive control (MPC) algorithm for polytopic uncertain systems subject to actuator saturation. A large-scale system is decomposed into subsystems and sub-controllers are designed independently. An invariant set condition is provided and a min-max distributed MPC strategy is proposed based on the invariant set. The distributed MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. An iterative algorithm is provided to coordinate the sub-controllers. A numerical example is carried out to demonstrate the effectiveness of the proposed algorithm.

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Distributed Leader-following Swarm of Heterogeneous Multi-agent systems *

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IFAC Proceedings Volumes 2013年第13期46卷 13-18页

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z.Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering The University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result.

关键词： Swarm Multi-agent systems Heterogeneous systems Distributed control

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Swarm Stability of Heterogeneous Multi-agent systems via Periodically Intermittent control

Swarm Stability of Heterogeneous Multi-agent Systems via Per...

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第三十二届中国控制会议

作者： Haili Liang Housheng Su Xiaofan Wang Michael Z. Q. Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9789881563835

This paper investigates distributed leader-following swarm stability of heterogeneous multi-agent systems with periodically intermittent control. We assume that the agents in the network are nonidentical and the coupling matrix is balanced. Each heterogeneous follower is assumed to obtain some information from the leader and the neighbors only on a series of periodically time intervals. We show that the system will be exponentially stable. The stability properties are proved via theoretical analysis and verified via numerical simulations. The stability of the heterogeneous multi-agent systems is proved based on matrix theory and the Lyapunov stability theorem. A numerical example is shown to demonstrate the effectiveness of the theoretical result.

关键词： Multi-agent systems, Heterogeneous systems, Intermittent control, Swarm

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Global Leader-Following Consensus of a Group of Multiple Integrator Agents Using Bounded controls

Global Leader-Following Consensus of a Group of Multiple Int...

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第三十二届中国控制会议

作者： Zhiyun Zhao Zongli Lin Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781479900305

This paper studies the global leader-following consensus problem for a multi-agent system using bounded controls. Both the agents and the leader are described by a chain of integrators of arbitrary length. A saturated linear feedback control law is constructed for each system in the group. These feedback laws use a multi-hop relay protocol, in which each agent obtains the information of other agents through multi-hop paths in the communication network, and the feedback gains are constructed from the adjacency matrix of the communication network. It is shown that global leader-following consensus is achieved under the feedback control laws we have constructed when the communication topology among follower agents is a strongly connected and detailed balanced directed graph and the leader is a neighbor of at least one follower. Simulation results are given to illustrate the theoretical results.

关键词： Multi-agent systems, leader-following consensus, bounded control, actuator saturation

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