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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Analysis of underwater locomotion and improvement of FroBot

Analysis of underwater locomotion and improvement of FroBot

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2016 IEEE International Conference on advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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Solving the uncertain multi-objective multi-stage weapon target assignment problem via MOEA/D-AWA

Solving the uncertain multi-objective multi-stage weapon tar...

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Congress on Evolutionary Computation

作者： Juan Li Jie Chen Bin Xin Lihua Dou Zhihong Peng School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing P.R.China

ISBN: (纸本)9781509006243

The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is with uncertainties, namely the uncertain MWTA (UMWTA) problem, and is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the assumption that each element of the kill probability matrix follows four different probability distributions. In order to tackle the two challenges, i.e., multi-objective and the uncertainty, the multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment (MOEA/D-AWA) and the Max-Min robust operator are adopted to solve the problem efficiently. Then comparison studies between the MOEA/D-AWA and a single objective solver used for a relaxed formulation on solving both certain and uncertain instances of two different scaled MWTA problems which include four uncertain scenarios are conducted. Numerical results show that MOEA/D-AWA outperforms the single objective solver on solving both certain and uncertain multi-objective MWTA problems discussed in this paper. Comparisons between the results of the certain and uncertain formulation also indicate the necessity of the robust formulation of practical problems.

关键词： Weapons Uncertainty Discrete wavelet transforms Optimization Robustness Decision making Evolutionary computation

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Adaptive key SURF feature extraction and application in unmanned vehicle dynamic object recognition

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Journal of Beijing Institute of Technology 2015年第1期24卷 83-90页

作者：杜明芳王军政李静李楠李多扬 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Automation School Beijing Union University

A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.

关键词： dynamic object recognition key SURF feature feature matching adaptive Hessianthreshold unmanned vehicle

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Optimizing application layer multicast routing via artificial fish swarm algorithm

Optimizing application layer multicast routing via artificia...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Xuan Ma Rongjun Tang Jingyan Kang Qing Liu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China Faculty of Automation and Information Engineering

ISBN: (纸本)9781509040940

In this paper, we propose an approach based on the use of artificial fish swarm algorithm (AFSA) for solving the problem of multicast routing on application layer. Taking delay, stretch, and degree as three optimization objectives, we design the behaviors of artificial fish individual (AF), i.e. moving randomly, preying, following, and use Pareto ranking to evaluate the fitness of AF. The simulation results show that the proposed algorithm is an appropriate method to explore the search space of the complex problem and leads to good solutions in a reasonable amount of time.

关键词： Delays Routing Optimization Fish Network topology Algorithm design and analysis Visualization

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Consensus for networked multi-agent systems with unknown communication delays

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Journal of the Franklin Institute 2016年第16期353卷 4176-4190页

作者： Xiaoyu Liu Lihua Dou Jian Sun Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China School of Automation Beijing Institute of Technology 100081 P.R. China

The problem of consensus for linear discrete-time networked multi-agent systems with directed topologies and communication delays is investigated in this paper. The communication delays are assumed to be constant but unknown. A consensus protocol is designed to compensate for the unknown delays based on the networked predictive control scheme. A sufficient condition for the consensus of multi-agent systems is derived. Finally, a numerical example is given to illustrate that the consensus protocol proposed in this paper is effective.

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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World Congress on intelligent control and automation

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi Yisheng Lv State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries

ISBN: (纸本)9781467384155

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system, especially the similar cases recommendation. It can not only save the patients' waiting time, but also make use of the historical resources, for many cases with the same purpose have been solved perfectly. However, because of the diversity and non-standard of the patients' descriptions, the inquiry platform cannot find the cases with similar semantic easily. Most traditional retrieval methods require the overlap of two sentences, and this is not suitable with the diversity and non-standard descriptions. In this paper, we try to utilize the sentences' semantic representation in a continuous space to understand the cases, and then recommend the similar cases. We also incorporate it into query likelihood language models, trying to get better results. Our experimental data are all collected from a real internet inquiry platform, and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： Semantics Internet Medical services Context MONOS devices Optimization Information retrieval

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Shadow lane robust detection by image signal local reconstruction

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2016年第3期9卷 89-102页

作者： Du, Mingfang Junzheng, Wang Nan, Li Duoyang, Li School of Automation Beijing Union University Beijing China State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Key Laboratory of Information Service Engineering

In order to resolve shadow interference and slow image processing speed in the visual navigation of unmanned vehicles on city roads, a new lane detection algorithm based on the Inverse Perspective Mapping(IPM) of vertical sub-image reconstruction using local bands was proposed. The lane’s IPM aerial image was obtained using the projective transformation of three-dimensional images of city roads. The ROI portion of the IPM map was decomposed and analyzed using the sym3 wavelet, and after analyzing and comparing the experimental results the first and second levels of the vertical sub images were selected for the reconstruction, compression, and removal of shadows from the original image. The Canny algorithm was proposed and adopted in order to extract the edge features of the reconstructed images according to real-time road image quality. A modified, polar angle, constraint-based, fast Hough transform was used to locate the candidate lanes. Finally, the main control point, straight-line-fitting algorithm was used to fit the final lanes, which achieved the precise location and recognition of the lane lines. The California Polytechnic lane data set, a public data platform, which is now widely used in road visual recognition fields around the world, was selected for the testing and verification of the algorithm. The results of the experiment and actual operation indicated that, despite having a storage space of approximately one tenth the size of similar algorithms, this detection algorithm effectively solves the issue of shadow removal, meets the real-time requirements of roadway image processing systems for unmanned vehicles with a recognition time of less than 20ms, and is robust. © 2016 SERSC.

关键词： Wavelet transforms

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Modelling and Optimization of Heating Dispatch in Thermal Power Plant

Modelling and Optimization of Heating Dispatch in Thermal Po...

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第28届中国控制与决策会议

作者： Lixia Xie Yali Wu Xianyong Peng Lei Li Fan Yi School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Emerson Process Management Co.Ltd.

ISBN: (纸本)9781467397155

With the addition of heating in thermal power *** to lack of guidance for heating scheduling in traditional scheduling mode,it has been unable to satisfy the current costs for energy conservation and saving of thermal power *** load distribution(especially heat load dispatch) is an important subject in the operation optimization of a thermal power *** model of heat load dispatch on the condition of economic power dispatch is established and linear programming for optimized heat load distribution among units based on LINGO is *** average distribution and linear programming distribution are contrasted in a thermal power *** is obviously shown by simulation and calculation that linear programming distribution gets more optimal results than current average *** has important significance to reduce energy consumption and save costs.

关键词： Heating Dispatch Thermal Power Plant LINGO

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Interval Kalman Filter Based RFID Indoor Positioning

Interval Kalman Filter Based RFID Indoor Positioning

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第28届中国控制与决策会议

作者： Ning Li Hongbin Ma Chenguang Yang School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Zienkiewicz Centre for Computational Engineering Swansea University

ISBN: (纸本)9781467397155

Radio Frequency Identification(RFID) technology has shown its potential in the field of indoor positioning in recent years,and has been widely used in large establishments such as the airport lobby,supermarkets,libraries,underground parking and so ***,the complexity of the indoor environments make positioning a challenging problem in terms of accuracy,stability,reliability,and interference *** this paper,we develop an algorithm of passive RFID indoor positioning based on interval Kalman filter,according to the geometric constraints of responding tags,combined with the target motion *** interval Kalman filter is adopted to integrate target position of one preceding time point and reference tags position to estimate the current *** of this algorithm is to use passive tags to reduce hardware costs,and on the other hand the introduction of filtering algorithm improves the positioning accuracy.

关键词： RFID Indoor positioning Interval Kalman Filter Interval arithmetic

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