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54th Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2015

作者： Yongkun, Wang Zhongxin, Liu Mingwei, Sun Zengqiang, Chen Department of Automation Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer (ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target. © 2015 The Society of Instrument and control Engineers-SICE.

关键词： Lyapunov methods

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Robust stability analysis for BAM neural networks of neutral type with time-varying delays and linear fractional uncertainties

Robust stability analysis for BAM neural networks of neutral...

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2015 4th International Conference on Mechatronics,Materials,Chemistry and computer engineering(ICMMCCE 2015)

作者： Yunxi Zhang Jia Liu Yongxin Li Tianjin Key Laboratory of Information Sensing and Intelligent Control School of Automation and Electrical Engineering Tianjin University of Technology and Education College of Computer and Control Engineering Nankai University

This paper investigates the problem of robust stability for bidirectional associative memory（BAM） neural networks of neutral type with time-varying delays and linear fractional uncertainties. By employing integral equality and constructing a new Lyapunov-Krasovskii functional, a sufficient criterion is proposed on robust asymptotic stability for a given BAM neural networks with linear fractional uncertainties. The parameters uncertainties are expressed in a linear fractional form, which includes the norm bounded uncertainties as a special case. Numerical examples are provided to illustrate the effectiveness and less conservatism of the main result.

关键词： Bidirectional associative memory neural networks Robust stability Time-varying delays Linear fractional form Lyapunov-Krasovskii functional

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Stabilization of a cascaded DC system via adding a virtual impedance in parallel with the load converter

Stabilization of a cascaded DC system via adding a virtual i...

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IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG)

作者： Xin Zhang Wen-Long Ming Qing-Chang Zhong Xin-Bo Ruan Dept of Automatic Control and Systems Engineering The University of Sheffield UK Dept of Electrical and Computer Engineering Illinois Institute of Technology USA College of Automation Engineering Nanjing University of Aeronautics and Astronautics China

ISBN: (纸本)9781479985876

For cascaded systems, interactions among individually designed power subsystems may cause the instability of the whole system. Regulating the input impedance of the load converter is an effectively way to solve this problem, however, one big challenge of this method is how to consider the stability of cascaded system and the dynamic performance of load converter together. In light of this, this paper proposes a parallel-virtual-impedance (PVI) control strategy to improve the input impedance of the load converter. The proposed virtual impedance is in parallel with the load converter, via the proposed virtual impedances, the magnitude and phase of the input impedance of the load converter is modified only in a small range of frequency. As a result, this method not only solves the instability problem of the cascaded system, but also keeps a good dynamic performance for load converter. This paper discusses the concept, realization and design consideration of the proposed strategy in detail. Finally, a 100 W cascaded system, which consisting of an LC filter and a 48V-12V buck converter, is built to verify the correctness of the proposed methods 1 .

关键词： Impedance Stability criteria Frequency conversion Power system stability Resonant frequency Transfer functions Voltage control

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A Hierarchical Hand Motions Recognition Method Based on IMU and sEMG Sensors

A Hierarchical Hand Motions Recognition Method Based on IMU ...

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IEEE International Conference on Robotics and Biomimetics

作者： Wennan Chang Lili Dai Shili Sheng Jeffrey Too Chuan TAN Chi Zhu Feng Duan Department of Automation College of Computer and Control Engineering Nankai University No.94 Weijin Road Tianjin 300071 P.R. China Institute of Industrial Science University of Tokyo Japan Department of Systems Life Engineering Maebashi Institute of Technology Kamisadori 460-1 Maebashi Gunma 371-0816 Japan

ISBN: (纸本)9781467396769

Human hand is crucial to the activity of daily living. To improve amputees' quality of life (QOL), it is imperative to propose a new method for the prosthesis hand to recognize hand motions. According to previous researches, multi-sensor can obtain more information with limited sensors for improving the classification accuracy rate. Therefore, this paper proposed a hierarchical hand motions recognition method based on one inertial measurement unit (IMU) sensor and two surface electromyography (sEMG) sensors. We dealt with two types of signals separately to classified six predefined hand motions in a hierarchical structure. The method utilized SVM classifier for EMG signals and a decision-tree classifier for IMU signals. To verify the feasibility of the hierarchical hand motion recognition method, ten subjects were asked to join the experiment. And experimental results show that proposed method is stable and the overall average accuracy rate is 95.6% The combination of sEMG and IMU signals can be used for prosthetic user interface applications.

关键词： imperative propose IMU

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A study of the human-robot synchronous control system based on skeletal tracking technology

A study of the human-robot synchronous control system based ...

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IEEE International Conference on Robotics and Biomimetics

作者： Ningjia Yang Feng Duan Yudi Wei Chuang Liu Jeffrey Too Chuan Tan Binbin Xu Jin Zhang Department of Automation and Intelligence Science College of Computer and Control Engineering Nankai University Tianjin P.R.China Nankai University The Jiangnan Institute of Modern Industry Tokyo Daigaku Bunkyo-ku Tokyo JP

ISBN: (纸本)9781479927456

The purpose of this study is to develop a new system to synchronously control the simulated robot and humanoid robot based on the skeletal tracking technology. This system is a human-robot interaction system. Human can control the robot through the skeletal tracking technology without placing any marker on the subject's body. We use the Microsoft Kinect to get the skeleton framework information of the subject and input the data into the program. Therefore, the experiment has no demand on color to distinguish the subject's motions, and the subject can just perform in the front of the Kinect without wearing any control device. After processing the data, the computer controls the simulated robot to regenerate the subject's motions synchronously. In this study, we can control the simulated robot to do three different exercises. To verify the validity of the control system, we did a series of experiments to control a humanoid robot NAO. The experimental results show that the synchronous control system can distinguish the movements of human upper limb efficiently, and the cost is lower than that of the previous studies. This system controls both robot model and humanoid robot NAO based on human motion to achieve the human-machine interaction efficiently and the success rate is more than 90%.

关键词： Joints Robot sensing systems Elbow Tracking Filtering algorithms control systems

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Communication related design considerations of WSN-aided Multi-Robot SLAM

Communication related design considerations of WSN-aided Mul...

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IEEE International Conference on Mechatronics

作者： Tuna, Gurkan Gulez, Kayhan Gungor, V. Cagri Trakya University Vocational College of Technical Sciences Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Eng. Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Department of Computer Engineering Besiktas Istanbul Turkey

ISBN: (纸本)9781612849836

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE.

关键词： Wireless sensor networks

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Research on rough set theory and applications in China

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Lecture Notes in computer Science

作者： Wang, Guoyin Zhang, Qinghua Huang, Houkuan Ye, Dongyi Hu, Qinghua Hu, Xuegang Shi, Zhongzhi Li, Yongli Shang, Lin An, Liping Sai, Ying Chen, Shanben Liang, Jiye Qin, Keyun Zeng, Huanglin Xie, Keming Miao, Duoqian Min, Fan Wu, Zhaocong Wu, Weizhi Dai, Jianhua Institute of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing 400065 China School of Information Science and Technology Southwest Jiaotong University Chengdu 610031 China School of Computer and Information Technology Beijing Jiaotong University Beijing 100044 China College of Math. and Computer Fuzhou University Fuzhou 350002 China Harbin Institute of Technology PO Box 458 Harbin 150006 China School of Computer and Information Hefei University of Technology Hefei 230009 China Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 China Lanzhou University No.222 Tianshui South Rd. Lanzhou 730000 China State Key Laboratory for Novel Software Technology Nanjing University Nanjing 210093 China Management Science and Engineering Department Business School Nankai University Tianjin 300071 China Shandong University of Finance No.40 Shun-geng Road Jinan 250014 China Welding Engineering Institute Shanghai Jiaotong University Shanghai 200030 China School of Computer and Information Technology Shanxi University Taiyuan 030006 China Intelligent Control Development Center Southwest Jiaotong University Chengdu 610031 China Artificial Intelligence of Key Laboratory Sichuan University of Science and Engineering Zigong 643000 China Department of Automation College of Information Engineering Taiyuan University of Technology Taiyuan 030024 China 4800 CaoAn Highway Shanghai 201804 China School of Computer Science and Technology University of Electronic Science and Technology of China Chengdu 610054 China School of Remote Sensing Information Engineering Wuhan University Wuhan 430079 China Institute for Information and System Sciences Faculty of Science Xi'an Jiaotong University Xi'an 710049 China Information College Zhejiang Ocean University Zhejiang 316004 China Institute of Artificial Intelligence Zhejiang University Hangzhou 310027 China

ISBN: (纸本)3540850635

This article gives a capsule view of research on rough set theory and applications ongoing at universities and laboratories in China. Included in this capsule view of rough set research is a brief description of the following things: Chinese research groups on rough set with their URLs for web pages, names of principal researchers (supervisors), numbers of graduate students, and topics being investigated. Statistical summaries showing the growth in the research on rough set theory and application in China are included. In addition, an introduction summarizing the research interests of Chinese researchers is included in this article. The contribution of this article is a complete overview of the principal research directions in rough set theory and its applications in China. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Rough set theory

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Efficient target detection algorithm on the basis of SMC

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Guofang Keji Daxue Xuebao/Journal of National university of Defense Technology 2007年第2期29卷 65-69页

作者： Li, Gan-Hua Dong, Li Cai, Xuan-Ping Zhou, Dong-Xiang Liu, Yun-Hui College of Electronic Science and Engineering National Univ. of Defense Technology Changsha 410073 China Xi'an Satellite Control Center Xi'an 710043 China Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

An efficient target detection algorithm for infrared sequence image with sea-sky background is presented. For the big none-Gaussian noises and the none-linear movement of the target, the algorithm is established mainly on the basis of the sequential Monte Carlo (SMC) method. The algorithm uses the statistic values of the target's feature image to change the weight of the particles which are produced by Monte Carlo sampling, and the target is detected and tracked based on the control of these weights. The difference image is used as the feature image. The experimental results demonstrate the effectiveness and real-time efficient of the algorithm.

关键词： Decrease noise Sequential infrared image SMC Target detection

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Modified Smith Predictor and controller for time-delay process with uncertainty

Modified Smith Predictor and controller for time-delay proce...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Wang, Shihua Xu, Bugong Wang, Qingyang Liu, Yun-Hui Lab. of Real-Time Control Through Internet and Fieldbuses College of Automation Science and Engineering South China Univ. of Technology Guangzhou 510640 China Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong

ISBN: (纸本)1424403324

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. © 2006 IEEE.

关键词： Uncertain systems

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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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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Wenfu, Xu Bin, Liang Wenyi, Qiang Panfeng, Huang Yangsheng, Xu Dept. of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China College of Astronautics Northwestern Polytechnical University Xi'An China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)1424403324

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. © 2006 IEEE.

关键词： Mobile robots

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