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检索条件"机构=Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan"

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Inverse Kinematic control Method of Redundant Manipulators with Joint Limits Constraints

Inverse Kinematic Control Method of Redundant Manipulators w...

引用

第37届中国控制会议

作者： Ting Fei Xin Chen Jiafeng Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

For the control problem of redundant manipulators with joint limits constraints, a novel method combining the simplified clamping weighted least-norm method and the typical gradient projection method is proposed in this paper. The method solves the problem that the manipulability of the redundant manipulator is poor caused by the clamping weighted least-norm method and makes the joint velocity change more smoothly. The proposed novel method is implemented on a kinematic redundant manipulator with four degree-of-freedom(DOF) which belongs to the dulcimer music-playing robot. The numerical simulation results show that the joint positions are well-bounded within the joint limits and the manipulator has a good performance for tracking a given trajectory.

关键词： Redundant manipulators Joint limits Inverse kinematic control

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Single-Parameter Optimization Method for Extracting Coupling Matrix from Lossy Filters

Single-Parameter Optimization Method for Extracting Coupling...

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第37届中国控制会议

作者： Wei-Hua Cao Can Liu Yan Yuan Xiao-Long Zhuang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a novel single-parameter optimization method for extracting coupling matrix from either measured or electromagnetic simulated S-parameters of a narrow band coaxial-resonator filter with losses. Having had the polynomials of the S-parameters of a filter by the Cauchy method with removing phase shift, the rational polynomials can be *** the rational polynomials having been determined, a single-parameter optimization method is proposed to obtain ε and the coupling matrix with an assigned topology, which can be extracted using well established techniques. The measured Sparameters compared with the S-parameters obtained from the coupling matrix, and the attenuation factor K is easily *** loss effects will be removed after obtaining the value of the attenuation factor K. The approach is useful and can be used in computer-aided tuning of microwave filters. Example is presented to illustrate the validity of the proposed method.

关键词： Parameter optimization coupling matrix coupling matrix extraction computer-aided tuning

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CamShift Target Tracking Based on the Combination of Inter-frame Difference and Background Difference

CamShift Target Tracking Based on the Combination of Inter-f...

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第37届中国控制会议

作者： Lianghua He Lai Ge School of automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Aiming at the detection of moving objects in video series, a moving object detection algorithm based on background difference method and inter-frame difference method is proposed. A new background update method is proposed to update the unchanged background area into the background frame. Experiments show that this method overcomes the problems of false detection and empty in the previous detection algorithms. The method can meet the need of real-time detection and tracking of moving targets with the advantages of high accuracy and fast calculation speed.

关键词： Inter-frame Difference Background Difference Cam Shift Moving Target Tracking

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Hyperspectral Remote Sensing Image Classification Based on Convolutional Neural Network

Hyperspectral Remote Sensing Image Classification Based on C...

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第37届中国控制会议

作者： Xiangyang Dai Wei Xue School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Remote sensing hyperspectral imaging can obtain rich spectral information of terrestrial objects, which allows the indistinguishable matter in the traditional wideband remote sensing to be distinguished in hyperspectral remote *** image has the characteristics of "combining image with spectrum". Making full use of spectral information and spatial information in hyperspectral image is the premise of obtaining accurate classification results. At present, most of hyperspectral data feature extraction algorithms mainly utilize local spatial information in the same channel and spectral information in the same spatial location of different channels. However, these methods require a large amount of prior knowledge, it is difficult to fully grasp the hyperspectral data of all spatial and spectral information, and the model generalization ability is poor. With the development of deep learning, convolutional neural network shows superior performance in all kinds of visual tasks, especially in the two-dimensional image classification, and could get a high classification accuracy. In this paper, an image classification method based on three-dimensional convolution neural network is proposed based on the structural properties of hyperspectral data. In the proposed method, first the stereo image blocks of hyperspectral data are intercepted, then multi-layer convolution and pooling operation of extracted blocks by convolutional neural network are implemented to obtain the essential information of hyperspectral data, finally the classification of hyperspectral data is completed. The experimental results show the proposed method could provide better feature expression and classification accuracy for hyperspectral image.

关键词： Convolutional Neural Network Hyperspectral Image Deep Learning Classification

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Design of Distributed Three Component Seismic Data Acquisition System Based on LoRa Wireless Communication Technology

Design of Distributed Three Component Seismic Data Acquisiti...

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第37届中国控制会议

作者： Pei Gao Zhihua Li Fan Li Hongwei Li Zikun Yang Wenqi Zhou School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

The traditional wired seismograph has disadvantages such as cumbersome cable, complicated wiring, crosstalk and noise between adjacent transmission lines. In addition, the dynamic range of the instrument is small, and the observation of seismic signals is not intuitive, which can not meet the needs of high-precision seismic exploration. In order to solve these problems, the design of distributed three component seismic data acquisition system based on Lo Ra wireless communication technology is proposed. The system uses Lo Ra long-distance wireless communication technology and 24 bit Σ-Δ ADC, which realizes long-distance wireless communication and large dynamic range seismic data acquisition. Besides, the system has manmachine interaction interface, which can observe the parameters of seismic waveform in real time and adjust sampling rate directly. The whole circuit has the advantages of simple design, high precision and good stability. To sum up, the design has certain practical value and application prospect.

关键词： Seismic data acquisition system LoRa technology Human-computer interaction Σ-Δ ADC

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control strategy based on differential evolution algorithm for planar second-order nonholonomic manipulator

Control strategy based on differential evolution algorithm f...

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第37届中国控制会议

作者： Yawu Wang Xuzhi Lai Pan Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper presents a two-stage position control strategy based on the differential evolution(DE) algorithm for a planar second-order nonholonomic manipulator,which has one passive joint and this passive joint is not the first joint(planar APA manipulator for short,where m≥1,n≥0).An offline DE algorithm is used to calculate all link target angles corresponding to the target *** to these target angles,a Lyapunov function is constructed to design the controllers A for the control stage 1,which are used to control all active links to their target *** to the constraint equation of the planar APA manipulator,an oscillatory trajectory is planned for the first active link based on the online DE *** the first active link tracks the oscillatory trajectory,it will back to its target angle ***,the passive link will be jointly controlled to its target angle ***,the other Lyapunov function is constructed to design the controllers B for the control stage 2,which are used to control the first active link tracks the target trajectory and control the remaining m+n-1 active links maintain in their target *** results of a planar AAPA manipulator demonstrate the effectiveness of the proposed control strategy.

关键词： Planar second-order nonholonomic manipulator Differential evolution algorithm Lyapunov function Online intelligent trajectory planning

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H∞ control for singular systems with time-varying delay based on augmented Lyapunov-Krasovskii functional

H∞ control for singular systems with time-varying delay bas...

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第37届中国控制会议

作者： ZHI Ya-Li HE Yong School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper concers the H∞ control for singular systems with time-varying ***,an augmented LyapunovKrasovskii functional（ALKF） is constructed by adding some integral terms which are dependent on the singular matrix to the quadratic ***,to handle the derivative of the ALKF,a modified relaxed integral inequality is *** a result,a sufficient condition with a state feedback controller is derived to ensure the closed-loop system to be regular,impulse free and asymptotically stable with H∞ ***,a numerical example is given to verify the effectiveness and the superiority of the proposed method.

关键词： H∞ control Singular systems with time-varying delay Augmented Lyapunov-Krasovskii functional Relaxed integral inequality State feedback

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Observer-Based Tracking control for Suppressing Stick-Slip Vibration of Drillstring System

Observer-Based Tracking Control for Suppressing Stick-Slip V...

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第37届中国控制会议

作者： Jun Cheng Min Wu Luefeng Chen School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

A control method is proposed to suppress stick-slip vibration of drillstring system based on tracking control with zero steady-state error and state observer in this paper. A multiple degree-of-freedom(DOF) model of drillstring dynamic is presented first, which considers high-order modal of stick-slip vibration. Then, state observer is constructed to estimate the states of drillstring system, whose states are usually difficult to measure in the top of drillstring system. Finally, combing state feedback control and internal model principle, a tracking control with zero steady-state error is proposed to ensure the speed of rotary table and bit are consistent. The proposal only need top measurement, can eliminate multiple torsional modes, and has a strong robustness. Simulations show the effective of the proposal.

关键词： Stick-slip vibration Multi-DOF model Tracking control State observer

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Multi-Convolution Neural Networks-Based Deep Learning Model for Emotion Understanding

Multi-Convolution Neural Networks-Based Deep Learning Model ...

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Chinese control Conference

作者： Luefeng Chen Min Wu Wanjuan Su Kaoru Hirota Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Tokyo Institute of Technology Yokohama Japan

Multi-convolution neural networks-based deep learning model in combination with multimodal data for emotion understanding is proposed, in which facial expression and body gesture are used to achieve emotional states recognition for emotion understanding. It aims to understand coexistence multimodal information in human-robot interaction by using multi-convolution neural networks, where multilayer convolutions are connected in series and multiple networks are executed in parallel. Moreover, when optimizing the weights of deep neural network by traditional method, it is easy to fall into poor local optimal. To address this problem, a hybrid genetic algorithm with stochastic gradient descent is developed, which has the capacity of inherent implicit parallelism and better global optimization of genetic algorithm so that it can adaptively find the better weights of the network. And in order to speed up the convergence of the proposal, the weights optimized by stochastic gradient descent will be taken as a chromosome of genetic algorithms initial population, and it also can be used as a priori knowledge. To verify the effectiveness of the proposal, experiments on benchmark database of spontaneous emotion expressions are developed, and experimental results show that the proposal outperforms the state-of-the-art methods. Meanwhile, the preliminary application experiments are also carried out and the results indicate that the proposal can be extended to human-robot interaction.

关键词： Feature extraction Genetic algorithms Biological cells Machine learning Sociology Statistics Neural networks

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GMI Effect Automatic Test System Based on Network Analyzer

GMI Effect Automatic Test System Based on Network Analyzer

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第37届中国控制会议

作者： Zhi Zhao Hengchang Rao Fang JIn Jinchao Wang Lei Zhu Junlei Song Kaifeng Dong Wenqin Mo School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

The measuring instrument selects the network analyzer, combines the direct current source and the Helmholtz coil to form the GMI effect test system. PC program written in Lab VIEW, network analyzer and DC current source is controlled by the host computer. The host computer can process and plot the impedance data collected by the network analyzer, and save the data and images locally. The test system by measuring the commercial Vitrovac6025 strip material, found that the material all showed a strong GMI effect at different frequencies. By comparing the measured data of the network analyzer and the impedance analyzer measured in the same frequency band, we found that the two are consistent, which verifies the accuracy and reliability of the test system.

关键词： Giant magneto-impedance（GMI） LabVIEW Network Analyzer

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