检索结果-内蒙古大学图书馆

第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Hybrid Prediction Model of Carbon Efficiency for Sintering Process

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IFAC-PapersOnLine 2017年第1期50卷 10238-10243页

作者： Hu J. Wu M. Chen X. She J. Cao W. Chen L. Ding H. 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 School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan School of Mechanical Engineering & Electronic Information China University of Geosciences Wuhan 430074 China

Sintering process is the second most energy-consuming process in ironmarking. The main source of energy consumption is the consumption of carbon. It is significant to predict the carbon efficiency to reduce the energy consumption. In the paper, first, the comprehensive coke ratio (CCR) is defined and used as an index to measure the carbon efficiency by analyzing the sintering mechanism. The principal component analysis method is used to find the principal components affecting the CCR. Next, they are divided into different subclasses by adopting the fuzzy C-means clustering algorithm. Then, the least square-support vector machine (LS-SVM) sub-models are established based on the subclasses, and the parameters of the sub-models are obtained using an adaptive particle swarm optimization algorithm. Finally, a FCM-LSSVM model is established by weighting each LS-SVM sub-model with a fuzzy membership function. The simulations using actual production data show that the prediction accuracy of the FCM-LSSVM model is higher than that of a BP neural network model and a single LS-SVM model, and it meets the requirements of actual production. © 2017

关键词： Adaptive particle swarm optimization Comprehensive coke ratio Fuzzy C-means LS-SVM model Principal component analysis Sintering process

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A trajectory tracking control strategy based on finite element method for planar three-link underactuated manipulator

A trajectory tracking control strategy based on finite eleme...

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Annual Conference of Industrial Electronics Society

作者： Yawu Wang Xuzhi Lai Haoqiang Chen Pan Zhang Min Wu School of Automation China University of Geosciences Wuhan Hubei China Intelligent Automation for Complex Systems Hubei Key Laboratory of Advanced Control Wuhan Hubei China

This paper presents a trajectory tracking control strategy based on the finite element method for a planar three-link underactuated manipulator with a passive third joint. From the mechanical structure, the manipulator can be thought of as composed of two parts. The first part is the first link of the manipulator, which is a single link manipulator system. The second part consists of the remaining two links, which can be seen as a plananr Pendubot. First, a finite element model of the planar Pendubot is built by using COMSOL, and the coupling relationship between its active link and its passive link is analyzed. Then, two servo controllers (A and B) with the same structure are designed for two active links of the manipulator, respectively. The servo controller A is directly applied to control the angular velocity of the first link of the manipulator rotating with a constant speed, which makes the end-point of the manipulator move along the trajectory direction. Next, a fuzzy system is designed based on the coupling relationship of the planar Pendubot to calculate the target angular velocity of the second link of the manipulator according to the tracking error and its change rate. The servo controller B is applied to control the angular velocity of the second link of the manipulator, which makes the tracking error converge to zero. Finally, Simulation results demonstrate the effectiveness and the robustness of the proposed control strategy.

关键词： Manipulators Servomotors Zirconium Couplings Angular velocity Trajectory tracking Fuzzy systems

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A review of engineering education in China: History, present and future

A review of engineering education in China: History, present...

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2017 ASEE International Forum

作者： Dong, Xisong Liu, Xiwei State Key Laboratory of Management and Control for Complex Systems Institution of Automation Chinese Academy of Sciences China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Canada

In this globalization and information era, the level of engineering technology represents a country's core competitiveness. With the rapid development of China's industrialization, the high requirement for engineering talents become increasingly urgent. Then, engineering education is facing a great challenge. The history, current situation and problems of engineering education in China are systematically summed up and analyzed in this paper. The challenges and opportunities have also been deeply studied, which constitute the theoretical basis of the sustainable development of engineering education in China. © 2017 American Society for Engineering Education.

关键词： Engineering education

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FCM-based multiple random forest for speech emotion recognition 5

FCM-based multiple random forest for speech emotion recognit...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Zhou, Mengtian Chen, Luefeng Xu, Jianping Cheng, Xianghui Wu, Min Cao, Weihua She, Jinhua Hirota, Kaoru School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Engineering Tokyo University of Technology Tokyo192-0982 Japan Tokyo Institute of Technology Yokohama226-8502 Japan

Speech emotion recognition (SER) is of great importance in the human-robot interaction, and SER have been developed rapidly in recent years. How to identify high correlation features is a main question. In this paper, multiple random forest (MRF) is proposed, which can effectively predict up to several thousand explanatory variables, and improve the recognition result. At the mean time, personalized features and non-personalized features are fused for SER that can be divided into different subclasses by adopting the fuzzy C-means (FCM) clustering algorithm, then FCM-based MRF is proposed. Finally, our model is established, and the confusion matrix is output. Moreover, we conduct a separate classification of some certain emotion, which are difficult to recognition to some extent. And results show that the proposed method of FCM-based MRF achieves good performance for SER, which the recognition accuracy is 84.17%.

关键词： Clustering algorithms

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Proposal of Initiative Service Model for Service Robot

Proposal of Initiative Service Model for Service Robot

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第十二届中国智能机器人大会

作者： Man Hao Weihua Cao Min Wu Zhentao Liu Luefeng Chen Ri Zhang School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Service robots are becoming a part of our *** realize friendly human-robot interaction,an initiative service model for service robot is proposed,which is composed of three layers,i.e.,information acquisition layer,in which communication information and environmental information are collected by sensors;decision layer,in which personal intention and emotional states are obtained by multi-modal emotion recognition and intention understanding,and users' demands are obtained by demand analysis model;initiative service execution layer,in which the task execution and emotion adaption of robot are carried *** service can sense motive of people,by which a humanized and real-time service could be *** service experiments are performed,including passive service and initiative service of *** results show that the drinking time of passive service lags behind the initiative service 30 minutes on average,and the initiative service renders drinking service 2 times more than passive service on average,besides,the water quantity provided by initiative service is more reasonable,which demonstrates the feasibility of the *** prospect,initiative service model could be applied to many occasions in our daily life,e.g.,family service,caring for the elderly,and medical rehabilitation.

关键词： service robots service pattern fuzzy production rules emotion recognition intention understanding

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Tobit Kalman filtering: Conditional expectation approach

Tobit Kalman filtering: Conditional expectation approach

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2017 Chinese automation Congress, CAC 2017

作者： Han, Fei Dong, Hongli Hou, Nan Bu, Xianye Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Daqing China Institute of Complex Systems and Advanced Control Northeast Petroleum University Daqing China

ISBN: (纸本)9781538635247

This paper is concerned with the Tobit Kalman filtering for a class of discrete-time linear systems. A set of Bernoulli random variables is introduced to describe the randomly occurring censored measurements, which are dependent on the measurement outputs. Such dependence among random variables leads to the largest challenge encountered in this paper. The conditional expectation as a basic tool is utilized to address this challenge. Within the framework of the traditional Kalman filtering, the obtained filter includes not only the information from the system parameters but also the censored measurements. Finally, an illustrative simulation is presented to demonstrate the effectiveness and applicability of the proposed algorithm. © 2017 IEEE.

关键词： Random variables

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Development of a Tetris Playing Robot controlled by KNR

Development of a Tetris Playing Robot Controlled by KNR

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IEEE International Conference on Mechatronics and automation

作者： Ming Wang Yanlu Zhang Huifang Dong Xu Li Junzhi Yu Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system.

关键词： Mobile robots Cameras Robot sensing systems Image color analysis Servomotors Robot kinematics

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Design of AI + Curriculum for Primary and Secondary Schools in Qingdao

Design of AI + Curriculum for Primary and Secondary Schools ...

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2018 Chinese automation Congress, CAC 2018

作者： Han, Xiao Hu, Fang Xiong, Gang Liu, Xiwei Gong, Xiaoyan Niu, Xiaojie Shi, Wanruo Wang, Xinzhu Qingdao Institute of Education Sciences Qingdao China Qingdao No.2 Middle School of Shandong Province Qingdao China Cloud Computing Center Chinese Academy of Sciences Dongguan China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Faculty of Education Beijing Normal University Institute of Educational Technology Beijing China

ISBN: (纸本)9781728113128

We are entering a new AI era, and the development of AI technology and popularization of AI education has become the national strategy of China. The primary and secondary school students are the builder of future society, and have strong curiosity and passion to learn new things;therefore, we should make a good preparation of AI education for them and cultivate their basic AI literacy and computational thinking to adapt to the future. In this paper, from the viewpoint of thinking mode and literacy and skill training, a curriculum including basic, project, and practical types is designed. Integrating with the iSTREAM educational system proposed by Chinese Academy of Sciences, exploratory works were shown with some case studies. The applications show that AI education is helpful to enrich the study of primary and secondary school students and to prompt comprehensive quality. © 2018 IEEE.

关键词： Curricula

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Maximum power point tracking control of direct-drive permanent magnet wind turbine based on adaptive neuro-fuzzy inference system 5

Maximum power point tracking control of direct-drive permane...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Ding, Min Ou, Yingxiong Hu, Bo She, Jinhua Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China State Grid Energy Research Institute Beijing102200 China School of Engineering Tokyo University of Technology Tokyo192-0982 Japan

The power from wind varies depending on the environmental factors. Because of the randomness and intermittent of wind, it is difficult for the wind energy conversion system to locate and track the maximum power point (MPP) with fast speed and high accuracy under the condition of variable wind speed. In this paper, a variable-speed wind-generator maximum power point tracking (MPPT) control method based on adaptative neuro-fuzzy inference system (ANFIS) is presented. It is designed as a combination of the Sugeno fuzzy model and neural network. The ANFIS based controller predicts the optimum speed with the inputs as the speed change and power change, and controls the speed with PI controllers. The performance of the proposed controller is tested for direct-drive permanent magnet wind turbine based wind energy conversion system under fast wind speed variation in MATLAB/Simulink. The simulation results show that the designed control method has good dynamic characteristics and steady-state accuracy in wind power MPPT and improves the working efficiency.

关键词： Wind turbines

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