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International Conference on advanced Robotics and Mechatronics (ICARM)

作者： Huai Xiao Jundong Wu Wenjun Ye Yawu Wang School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan Hubei China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

This paper proposes a dynamic model for dielectric elastomer actuators (DEAs) based on the long-short term memory (LSTM) deep neural network. The fabrication of the DEA and the framework of the experimental platform are introduced firstly. The behaviors of the DEA are analyzed through several sets of experiments, which shows the DEA has obvious memory behavior (i.e., the hysteresis behavior and creep behavior), where the hysteresis behavior is a symmetry and rate-dependence. Considering that the traditional neural network is difficult to describe the memory property, the LSTM deep neural network is constructed as the dynamic model of the DEA. Then, such neural network is trained according to the experimental data. Finally, the comparation results of the experimental data and the model output verify the effectiveness as well as the generalization ability of the dynamic model.

关键词： Mathematical model Neural networks Hysteresis Actuators Logic gates Soft robotics

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Disturbance rejection of two-dimensional repetitive control system based on T-S fuzzy model

Disturbance rejection of two-dimensional repetitive control ...

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IEEE Conference on Decision and control

作者： Shengnan Tian Min Wu Manli Zhang Chengda Lu Luefeng Chen Jinhua She School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Engineering Tokyo University of Technology Hachioji Japan

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

In this paper, the issue of disturbance rejection of nonlinear repetitive control system (RCS) based on a continuous-discrete two-dimensional (2D) model is studied. Since a RCS involves continuous control and discrete learning, higher tracking performance may be realizable by taking into account these two different actions in system design. This paper construct a fuzzy RCS based on T-S model at first. Then, an improved fuzzy-equivalent-input-disturbance (IFEID)-based 2D RCS is presented to achieve both high tracking precision of periodic input and satisfactory rejection of aperiodic disturbances. Stability conditions of two subsystems are derived by exploiting separation theorem to ease the solution of state-feedback and observer gains. A design algorithm is presented via the concept of parallel distributed compensation. A simulation and a comparison demonstrate the availability and advantage of the IFEID-based 2D RCS approach.

关键词： Two dimensional displays Observers control systems Estimation State feedback Stability analysis Time-frequency analysis

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Research on Foot Trajectory Tracking of Parallel Wheel-legged Robot based on Dynamic Model Predictive control

Research Square

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Research Square 2020年

作者： Liu, Daohe Wang, Shoukun Chen, Zhihua Wang, Junzheng Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Sefvo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China

In this paper, the foot trajectory tracking control for parallel structure of the six wheel-legged robot is investigated. The accuracy of trajectory tracking and dynamic response with heavy load are the main challenges of parallel mechanism. To guarantee the tracking performance and improve dynamic response frequency to posture input, a method based on dynamic model predictive control is proposed under the establishment of dynamic model of single leg. Newton-Eulerian equation is derived and converted into a discrete state space expression for velocity loop control, appropriate parameters including prediction time domain, control time domain and proportional gain are determined by co-simulation. Desired sinusoidal trajectories with different frequencies are tracked with satisfactory performance in terms of accuracy and response frequency. Finally, comparative experimental results using BIT-NAZA robot derived from the proposed control strategy indicate that the delay error and amplitude error are better than PI controller under the same conditions. This research can provide theoretical and engineering guidance for accurate planning of intelligent robot, and facilitate the control performance of wheel-legged robot in practical system. © 2020, CC BY.

关键词： Dynamic models

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Position control of a Planar Single-Link Flexible-Link Manipulator Based on Enhanced Dynamic Coupling Model ⁎

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IFAC-PapersOnLine 2020年第2期53卷 7777-7782页

作者： Qingxin Meng Jundong Wu Ze Yan Chun-Yi Su School of Automation China University of Geosciences Wuhan Hubei 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei 430074 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada

Position control of a planar single-link flexible-link manipulator always faces huge challenges due to the underactuated characteristic of the system and the vibration of the flexible link. Since the system state variables related to the vibration is underactuated, this paper considers enhancing the dynamic coupling of this system. An enhanced dynamic coupling model is established by making equivalent transformation for the real dynamic model of the system. This enhanced dynamic coupling model makes the vibration variables appear as active variables in the proposed energy-based controller. Therefore, the proposed controller achieves good vibration suppression effect. The stability analysis is presented to prove that the proposed controller can effectively achieve the position control objective, and the simulation results further demonstrate the superiority of the proposed control method.

关键词： Flexible-link manipulator underactuated system enhanced dynamic coupling position control vibration control

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Local Path Planning Algorithm for UGV Based on Improved Covariance Matrix Adaptive Evolution Strategy

Local Path Planning Algorithm for UGV Based on Improved Cova...

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第33届中国控制与决策会议

作者： Jiangbo Zhao Jiaquan Zhang Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Techenology Center of Special Vehicle Manufacture and Evaluation Engineering of Beijing Beijing North Vehicle Group Co.Ltd.

Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance of the algorithm,a non-uniform column grid lines modeling method is introduced,and on this basis,a modeling method for planning paths is *** at the path planning problem in a multi-obstacle environment,the evaluation function of the path is constructed from four aspects,and the covariance matrix adaptive evolution strategy(CMA-ES)is used to solve the nonlinear optimization *** order to further reduce the amount of calculation,the CMA-ES algorithm is improved by the dynamic adjustment strategy of population *** results show that the path planning algorithm can effectively realize the local path planning in complex environment.

关键词： Local path planning CMA-ES Unmanned ground vehicle

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Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field

Path Planning and Evaluation for Obstacle Avoidance of Manip...

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第33届中国控制与决策会议

作者： Jiangbo Zhao Qiang Zhao Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Technology Center of Special Vehicle Manufacture and Evaluation Enginneering of Beijing Beijing North Vehicle Group Co.Ltd.

This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.

关键词： Artificial potential field Danger field Obstacle avoidance Path planning Collision detection

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Graph convolutional subspace clustering: A robust subspace clustering framework for hyperspectral image

arXiv

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arXiv 2020年

作者： Cai, Yaoming Zhang, Zijia Cai, Zhihua Liu, Xiaobo Jiang, Xinwei Yan, Qin School of Computer Science China University of Geosciences Wuhan430074 China School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan430074 China

Hyperspectral image (HSI) clustering is a challenging task due to the high complexity of HSI data. Subspace clustering has been proven to be powerful for exploiting the intrinsic relationship between data points. Despite the impressive performance in the HSI clustering, traditional subspace clustering methods often ignore the inherent structural information among data. In this paper, we revisit the subspace clustering with graph convolution and present a novel subspace clustering framework called Graph Convolutional Subspace Clustering (GCSC) for robust HSI clustering. Specifically, the framework recasts the self-expressiveness property of the data into the non-Euclidean domain, which results in a more robust graph embedding dictionary. We show that traditional subspace clustering models are the special forms of our framework with the Euclidean data. Basing on the framework, we further propose two novel subspace clustering models by using the Frobenius norm, namely Efficient GCSC (EGCSC) and Efficient Kernel GCSC (EKGCSC). Both models have a globally optimal closed-form solution, which makes them easier to implement, train, and apply in practice. Extensive experiments on three popular HSI datasets demonstrate that EGCSC and EKGCSC can achieve state-of-the-art clustering performance and dramatically outperforms many existing methods with significant margins. Copyright © 2020, The Authors. All rights reserved.

关键词： Spectroscopy

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Design of Ultrasonic Ranging system Based on Cross-correlation Method

Design of Ultrasonic Ranging System Based on Cross-correlati...

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Chinese control Conference (CCC)

作者： Han Lu Zhihua Li Pei Gao School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

In order to solve the problem that ultrasonic ranging is difficult to obtain the first wave, an ultrasonic ranging system based on cross-correlation method is designed. In this system, the signal generating unit is mainly responsible for transmitting high frequency sound waves, and the data acquisition unit is mainly responsible for collecting and storing the sound waves. Then, according to the time delay between the collected acoustic signals, the time difference between the signals received by the signal acquisition unit is obtained, so as to measure the distance.

关键词： Acoustics Correlation Ultrasonic variables measurement Delays Power supplies Distance measurement

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A Privilege Management Method of Centralized Management system in the Computer Room

A Privilege Management Method of Centralized Management Syst...

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Chinese automation Congress (CAC)

作者： XiaoYu Dou Yan Yuan Weihua Cao Peilun Ouyang School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The computer room management system is a management system for network monitoring, bottom control, information filtering and security monitoring of computer room. It has the characteristics of multi-user and multi module. Scientific and intelligent management and control is the premise of efficient and stable work in computer room. Aiming at the problems of power supply security and efficiency, user authority configuration and management security of traditional computer room, a centralized management system of computer room based on Role Based of Access control(RBAC) is designed and implemented. This paper first introduces the structure and function of the system, then focuses on the detailed design of the user management subsystem of the system, and finally gives the realization and actual operation of the system. At present, the system has been successfully applied to a power room equipment, which proves the security, stability and efficiency of the system.

关键词： Computer security Security Encryption Databases Real-time systems Personnel complexity theory

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Graph Convolutional Extreme Learning Machine

Graph Convolutional Extreme Learning Machine

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International Joint Conference on Neural Networks (IJCNN)

作者： Zijia Zhang Yaoming Cai Wenyin Gong Xiaobo Liu Zhihua Cai School of Computer Science China University of Geosciences Wuhan China School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9781728169262

ISBN: (纸本)9781728169279

Extreme Learning Machine (ELM) has gained lots of research interest due to its universal approximation capability and fast learning speed. However, traditional ELMs are devised for regular Euclidean data, such as 2D grid and 1D sequence, and thus don't apply to non-Euclidean data, e.g., graph-structured data. To overcome this shortcoming, this paper presents a Graph Convolutional Extreme Learning Machine (termed as GCELM) for semi-supervised classification. Technically, a random graph convolutional layer is introduced to replace the random projection of original ELM, which endues ELM with the capability of dealing with graph-structured data directly. To generate a robust graph from the raw dataset, a self-representation model is adopted to construct a weighted graph. Extensive experiments on 27 UCI datasets demonstrate that GCELM outperforms many popular semi-supervised methods, and with faster learning speed. To the best of our knowledge, this is the first work that combines graph convolution with ELM.

关键词： Convolution Robustness Closed-form solutions Neural networks Training Convolutional codes Optimization

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