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第三十四届中国控制会议

作者： Peng Tang Guang qiong-Zhao Shao gang-Chen Zhong liang-Tang Wei He School of Computer Science and Engineering University of Electronic Science and Technology of China School of Mathematical Sciences University of Electronic Science and Technology of China Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

In order to reduce the computation burden of conventional unscented particle filter, a method for particle filter based on spherical simplex unscented transformation(SSUT) is proposed. This method uses spherical simplex unscented Kalman filter to generate importance distribution of particle filter. It can extend its overlaps and posterior probability density, and reduce the computation burden by reducing sigma points. However, the sigma point set coverage radius expends over dimension of state space, which results in the deterioration of the aggregation of sigma points. Auxiliary random variable formulation of the scaled transformation can overcome the defect of sigma point set distribution expansion. So the scaled spherical simplex unscented particle filter(SSSUPF) is introduced. The simulation results show that compared with conventional unscented particle filter(UPF), the computation complexity of SSSUPF can be reduced by 50 percent, and compared with spherical simplex unscented particle filter(SSUPF), SSSUPF reduces the system noise and the measurement noise variance estimation error.

关键词： Spherical simplex unscented transformation,Scaled transformation,Particle filter,Nonlinear non-Gaussian

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Boundary Control Design and Stability Analysis of an Euler-Bernoulli Beam System with Input Backlash

Boundary Control Design and Stability Analysis of an Euler-B...

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第三十四届中国控制会议

作者： Xiuyu He Wei He Hui Qin Chang Liu Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China Department of Mathematics and Computer Science Eindhoven University of Technology

ISBN: (纸本)9781467374439

This paper investigates the vibration control of an Euler-Bernoulli Beam with nonlinear backlash input. Based on the dynamical model of the flexible beam, the boundary control law and the disturbance observer are designed to suppress the vibration of the system and reduce the effect of the backlash. The stability of the closed-loop system is proved and the uniform boundness of the states of the system is achieved. The proposed boundary control with appropriate parameters is proved to be effective by the performance of numerical simulations of the flexible beam system.

关键词： Input Backlash Flexible Beam Distributed Parameter Systems Vibration Control

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Transient Electronics: Dry Transient Electronic Systems by Use of Materials that Sublime (Adv. Funct. Mater. 12/2017)

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Advanced Functional Materials 2017年第12期27卷

作者： Bong Hoon Kim Jae‐Hwan Kim Luana Persano Suk‐Won Hwang Seungmin Lee Jungyup Lee Yongjoon Yu Yongseon Kang Sang M. Won Jahyun Koo Youn Kyoung Cho Gyum Hur Anthony Banks Jun‐Kyul Song Phillip Won Young Min Song Kyung‐In Jang Daeshik Kang Chi Hwan Lee Dario Pisignano John A. Rogers Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA NEST Istituto Nanoscienze‐CNR Piazza S. Silvestro 12 I‐56127 Pisa Italy KU‐KIST Graduate School of Converging Science and Technology Korea University Seoul 02841 Republic of Korea School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea Department of Mechanical Engineering Ajou University Suwon 443–749 Republic of Korea Weldon School of Biomedical Engineering School of Mechanical Engineering The Center for Implantable Devices and Birck Nanotechnology Center Purdue University West Lafayette IN 47907 USA Dipartimento di Matematica e Fisica “Ennio De Giorgi” Università del Salento Via Arnesano I‐73100 Lecce Italy

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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MTS/IEEE Washington, OCEANS 2015

作者： Tian, Yu Li, Wei Zhang, Fumin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Computer and Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States

ISBN: (纸本)9780933957435

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source. © 2015 MTS.

关键词： Autonomous underwater vehicles

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Adaptive Extended Kalman Filter for a Red Shift Navigation System

Adaptive Extended Kalman Filter for a Red Shift Navigation S...

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第三十四届中国控制会议

作者： Kui Fu Dan Zhang Peng Tang Zhongliang-Tang Wei He School of Computer Science and Engineering University of Electronic Science and Technology of china Computer Science Department Stony Brook University SUNY Korea Incheon 406-840 Center for Robotics University of Electronic Science and Technology of china

ISBN: (纸本)9781467374439

In this paper, a navigation system based on red shift for spacecraft mission in solar system is implemented. Deep space environment is complex and changeable, its characteristics are hard to handle, there exist difficulties to simulate the deep space environment accurately. We know that red shift navigation system can achieve high navigation accuracy in deep space missions. And innovation-based adaptive estimation(IAE) can utilize latest measurement to adaptive adjust the covariance matrix of observation equations and state error covariance matrix. Using IAE method, we proposed a new adaptive filter to handle variable deep space environment. Employing adaptive extended Kalman filter(AEKF) in this system, the navigation performance is analysed. Simulation results indicate that the proposed navigation system using AEKF can achieve higher precision, better availability and continuity compared with conventional extended Kalman filter(EKF), but greater computational burden.

关键词： Adaptive Extended Kalman Filter,Deep Space Navigation,Red Shift

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An automatic screw tightening shaft based on enhanced variable gain PID control

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International Journal of Simulation: Systems, science and technology 2015年第5期16卷 14.1-14.9页

作者： Liu, Sibang Ge, Shuzhi Sam Qin, Gang Li, Min School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore119077 Singapore Centre for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China School of Computer Science and Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China

In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightening shaft enjoys huge potential for industry application. The screw tightening shaft and the screw tightening process are both mathematically modeled as an uncertain feedback system because of the uncertain properties. And the control performance is verified by choosing proper controller parameters that the closed loop system is stable on the basis of the Routh stability criterion whereas the torque tracking error exponentially converges to a small residue. Furthermore, it can be seen from the simulation and experiment results on the screw tightening shaft system that the proposed autonomous system is valid and effective. © 2015, UK Simulation Society. All rights reserved.

关键词： Three term control systems

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Multiple Model Adaptive Estimation for the Celestial Navigation System

Multiple Model Adaptive Estimation for the Celestial Navigat...

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第三十四届中国控制会议

作者： Hui Peng Fangfang Zhao Shuangfei Fan Zhongliang Tang Wei He School of Computer Science and Engineering University of Electronic Science and Technology of China College of engineering Virginia Polytechnic Institute and State University Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

This paper describes the application of multiple model adaptive unscented kalman filters(MMAUKF) algorithm to celestial navigation system. Unscented Kalman filters are utilized to estimate the terminal system state of each model and to generate residual signals. In the multiple-model adaptive estimation technique, the residual signals are used to generate probabilities, which determine the correctness of state estimation of each unscented kalman filter. This algorithm demonstrates better precision than UKF, compared with single model celestial navigation system by simulation. Simulation results show that introducing multiple model adaptive estimation theory into celestial navigation system combined with UKF can enhance the adaptability of system scheme to the environment, meanwhile, greatly improve the accuracy of celestial navigation system.

关键词： Multiple model adaptive estimation,celestial navigation system,unscented Kalman filter

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Powered Upper-Limb Control using Passivity-Based Nonlinear Disturbance Observer for Unknown Payload Carrying Applications

Powered Upper-Limb Control using Passivity-Based Nonlinear D...

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IEEE International Conference on robotics and Automation

作者： Min Jun Kim Woongyong Lee Jae Yeon Choi Yong Sik Park Sung Ho Park Goobong Chung Kyung-Lyong Han I1 Seop Choi I1 Hong Suh Youngjin Choi Wan Kyun Chung the Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology (POSTECH) Pohang 790-784 Gyung-buk Korea the Korea Institute of Robot and Convergence (KIRO) Pohang 790-784 Gyung-buk Korea the POSCO Technical Research Laboratories Pohang 790-300 Gyung-buk Korea the Department of Electronics and Computer Engineering Hanyang University Seoul Korea the Department of Electronic Systems Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781467380270

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.

关键词： Observer Unknown DOB

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Multiple Model Adaptive Estimation Algorithm for SINS/CNS Integrated Navigation System

Multiple Model Adaptive Estimation Algorithm for SINS/CNS In...

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第三十四届中国控制会议

作者： Fangfang Zhao Guangqiong Zhao Shuangfei Fan Zhongliang Tang Wei He School of Computer Science and Engineering University of Electronic Science and Technology of China School of Mathematical Sciences University of Electronic Science and Technology of China College of Engineering Virginia Polytechnic Institute and State University Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467374439

In this paper, we investigate the Multiple Model Adaptive Estimation(MMAE) and present a new filtering method based on MMAE algorithm. This method is applied to the SINS/CNS integrated navigation system under the motion of ballistic missile. In this proposed algorithm, we use improved Kalman filters rather than traditional Kalman filters, such as Extended Kalman Filter(EKF), Unscented Kalman Filter(UKF). And EKF and UKF are used as sub filters in MMAE algorithm to realize the state estimation of nonlinear system. Single model filters have poor adaptability, when system parameters are unknown or uncertainty. The proposed multiple model filters can solve this problem. As the simulation result shows, the improved filtering methods have better navigation accuracy, and can be more flexible when compared with traditional EKF and UKF algorithms,but pay for heavier computational burden.

关键词： Multiple model adaptive estimation,Kalman filter,strap-down inertial navigation,celestial navigation,integrated navigation

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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