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A Facial Expression Emotion Recognition Based Human-robot Interaction System

IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 668-676页

作者： Zhentao Liu Min Wu Weihua Cao Luefeng Chen Jianping Xu Ri Zhang Mengtian Zhou Junwei Mao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems IEEE

A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on2D-Gabor, uniform local binary pattern(LBP) operator, and multiclass extreme learning machine(ELM) classifier is presented,which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios,i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEERHRI system can be applied in home service, smart home, safe driving, and so on.

关键词： Emotion generation facial expression emotion recognition(FEER) human-robot interaction(HRI) system design

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Optimization of Overhauser magnetometer based on multi-channel frequency measurement algorithm

Optimization of Overhauser magnetometer based on multi-chann...

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第37届中国控制会议

作者： Guanzhong Wang Haobin Dong Jian Ge Wang Luo Huan Liu Zhiwen Yuan Jun Zhu Haiyang Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advance Control and Intelligent Automation for Complex Systems

Overhauser magnetometer is a weak magnetic measuring instrument based on the dynamic nuclear polarization of free radical *** has the characteristics of high precision,high sensitivity,low power consumption and continuous *** is widely used in geophysics,aeromagnetic surveying,satellite Magnetic measuring,military and various engineering *** at the problem that the measurement accuracy of the magnetometer prototype is low and the measurement effect is poor when the angle between the probe axis and the geomagnetic field is 0°,several optimization methods are proposed and the magnetometer is optimized by adding the frequency measurement channel on the basis of the *** on the standard deviation of GSM-19 measurement data,comparing the experimental data that use the multi-channel frequency measurement algorithm,the standard deviation of prototype data decreases from 0.397 to 0.203 when the angle between probe axial and geomagnetic field is 45°,the standard deviation of the prototype data decreases from 0.631 to 0.371 when the angle between probe axial and geomagnetic field is 0°,which provides an important reference for the follow-up optimization of the magnetometer.

关键词： Overhauser magnetometer optimization standard deviation

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Fractional Sliding Mode control for Nonlinear Aerospace systems

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IOP Conference Series: Materials Science and Engineering 2020年第1期831卷

作者： Shiqi Zheng Bingyun Liang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China

This paper focuses on the study of fractional order terminal sliding mode control for nonlinear aerospace systems. Firstly, a novel fractional order integral terminal sliding mode control (FO-I-TSMC) method is proposed for the control of first order nonlinear system. FO-I-TSMC has three attractive advantages: i) Non-singular control law; ii) Elimination of the reaching phase; iii) Calculable finite convergence time. Furthermore, theory analysis is presented to reveal the potential advantages of the FO-I-TSMC method over its integer order counterparts. Secondly, a novel fractional order derivative integral-TSMC (FO-DI-TSMC) method is presented to deal with second order nonlinear system. Finally, FO-DI-TSMC is extended to deal with a general class of higher order control system. Simulation results are given to verify the effectiveness of the proposed methods.

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Real-world Robot Reaching Skill Learning Based on Deep Reinforcement Learning

Real-world Robot Reaching Skill Learning Based on Deep Reinf...

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第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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Optimize Student Learning via Random Forest-Based Adaptive Narrative Game

Optimize Student Learning via Random Forest-Based Adaptive N...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Ryan Hare Ying Tang Wei Cui Joleen Liang Department of Electrical and Computer Engineering Rowan University Glassboro USA State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China Squirrel AI Learning Shanghai China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

This paper presents an adaptive narrative game system that focuses on sequential logic design. The system adapts a random forest machine learning model to estimate a student's current level of domain knowledge relative to the problem presented to him through his game-playing behavior data, such as time taken to find solutions, errors in solutions, and emotional indicators. Hints, prompts, and/or individualized lessons are then offered to the player to guide their learning in a positive and productive direction. Our preliminary pilot study demonstrates that the model can make accurate classifications, from which proper assistance can then be provided to individual students as they play.

关键词： Games Databases Forestry Education Problem-solving Presses Artificial intelligence

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Graph Optimization Based Long-distance GPS/IMU Integrated Navigation

Graph Optimization Based Long-distance GPS/IMU Integrated Na...

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第三十八届中国控制会议

作者： Xiaojie Gu Fengdi Zhang Jian Xu Qing Yuan Hongwei Ma Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing

The accurate position estimation plays an critical role in the autonomous navigation for Micro Aerial Vehicles(MAV).Global positioning System(GPS) and inertial measurement unit(IMU) are two common sensors for navigation widely used on MAVs in the urban environment. Both of them have its distinct disadvantages that the GPS is susceptible to environmental interference and the IMU has accumulative errors. To overcome these problems, a GPS/IMU integrated system based on the factor graph optimization is developed in this paper. Unlike the conventional extended Kalman filter(EKF)-based method, the graph optimization method takes the whole trajectory into consideration so that it can achieve enough accuracy even after a long distance. Furthermore, the IMU preintegration method is used to avoid the repeated computation of high-rate IMU *** with the EKF method, the experimental results on the Zurich urban micro aerial vehicle dataset show the superior accuracy of the proposed factor graph optimization algorithm.

关键词： Global positioning System(GPS) inertial measurement unit(IMU) IMU preintegration graph optimization integrated navigation

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Research on High Precision control of Joint Position Servo System for Hydraulic Quadruped Robot

Research on High Precision Control of Joint Position Servo S...

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第三十八届中国控制会议

作者： CHEN Zhihua WANG Shoukun XU Kang WANG Junzheng ZHAO Jiangbo NIU Shanshuai Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

Electro-hydraulic servo valve-controlled cylinder(EHSVCC) is a highly integrated and high-performance electrohydraulic servo driving unit(EHSDU), which is the basic driving unit of the leg joint for hydraulic quadruped robot. The robot impedance control mostly adopts control methods based on position inner loop and impedance outer loop, the high precision control of position inner loop is the key to improve impedance control. Therefore, it is of great significance to study a high precision position control method. Firstly, the electro-hydraulic servo drive unit of the foot robot is taken as the research object. The model of the nonlinear system is established, and the feedback linearization of the system is carried out. Secondly, in order to improve the tracking performance and anti-jamming ability of the position inner loop input/output a sliding mode variable structure robust controller(SMVSRC) with switching function, variable structure control rate and improved boundary layer function is designed. Finally, the electro-hydraulic servo drive unit(EHSDU) and the hydraulic foot robot test platform are tested, the influence of the two control algorithms on the position response and tracking error for EHSDU is analyzed and compared under the control of sinusoidal signals with different amplitudes and frequencies and diagonal gait signals. The experimental results show that the improved SMVSRC algorithm is feasible and effective, which provides a theoretical basis for the later study of impedance control based on position inner loop.

关键词： Hydraulic quadruped robot Position control Feedback linearization Sliding mode controller

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Multi-robot Path Planning and Trajectory Smoothing

Multi-robot Path Planning and Trajectory Smoothing

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Hub Ali Gang Xiong Huaiyu Wu Bin Hu Zhen Shen Hongxing Bai School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences China Hubei Jointown Technology Co. Ltd Artificial Intelligence Research Institute Wuhan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

In this paper we consider a problem in task execution for multi-robot trajectory planning with collision avoidance in a shared working environment. Consider two or more robots generating trajectories towards their respective goal positions. The collision may occur if their trajectory coordinates are intersecting at a point or follow the same path segment simultaneously. The central planner is introduced to control robot motion in the collision state and to reduce the complexity of the multi-robot path planning system. The global path for every robot is generated by the $\mathrm{A}^{*}$ algorithm in a grid-based environment. The path has presented a sequence of optimal grid numbers and later transformed into Cartesian coordinates for smooth trajectory generation. The central planner takes an optimal grid sequence for every robot to analyze the collision state according to its cost value. It regenerates the trajectories to minimize the complexity cost value and replaces the previous trajectory based on minimum cost value. In the collision state, the central planner allows one robot at a time to pass along the conflict path segment and hold others in queue at a safety offset distance until the previous robot passes safely. The algorithm has been applied to robots working in a shared environment in complex maps and the simulations is performed with MATLAB to calculate the efficiency of this approach for handling collision states in a multi-robot path planning system.

关键词： Robot kinematics Trajectory Collision avoidance Task analysis Resource management

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Sensorless control of a Tubular Oscillatory LPMSM based on MARS and Deadbeat Current Predictive control

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IOP Conference Series: Materials Science and Engineering 2020年第6期768卷

作者： Kang Lu Tao Wu Haonan Chen He Wang Jia Gao School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China

In the vector control system of the tubular oscillatory linear permanent magnet (PM) synchronous motor (LPMSM), it is difficult for traditional mechanical sensors to accurately obtain the feedback information under harsh conditions. In this work, a speed sensorless vector control system is designed and applied to the tubular oscillatory LPMSM which adopts the model reference adaptive system (MRAS), and the deadbeat current predictive control (DCPC) is also adopted to replace the traditional PI current loop to establish the coordination controller, which overcomes the difficulties of global optimization and PI control parameter setting. And the method is proved by the simulation results and it gets better dynamic performance.

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Non-fragile finite-time dissipative piecewise control for time-varying system with time-varying delay

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IET control Theory & Applications 2019年第3期13卷 321-332页

作者： Menghua Chen Jian Sun School of Automation Beijing Institute of Technology Beijing 100081 People's Republic of China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 People's Republic of China

This study is concerned with the problem of non-fragile finite-time dissipative (FTD) control for time-varying system with delay. The delay is time varying and belongs to a given interval. Finite-time bounded (FTB) and FTD concepts are introduced to time-varying system with delay. First, new FTB conditions are derived for time-varying system with delay by using a piecewise Lyapunov functional combined with reciprocally convex approach. Second, FTD conditions are obtained to guarantee that the time-varying system with delay is not only FTB but also satisfies a dissipative performance index. Moreover, based on the FTD conditions, the non-fragile piecewise feedback controllers are designed in terms of linear matrix inequalities (LMIs). In addition, an LMI-based iterative algorithm is given to obtain the piecewise feedback non-fragile controller gains. Finally, numerical examples demonstrate the effectiveness of the proposed method.

关键词： linear matrix inequalities delays feedback iterative methods control system synthesis Lyapunov methods time-varying systems performance index finite-time dissipative control time-varying system nonfragile piecewise feedback controllers piecewise feedback nonfragile controller gains time-varying delay nonfragile finite-time dissipative piecewise control finite-time bounded piecewise Lyapunov functional reciprocally convex approach dissipative performance index linear matrix inequalities LMI-based iterative algorithm

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