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IEEE Transactions on Haptics: Editorial

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Research on rough set theory and applications in China

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Lecture Notes in computer science

作者： Wang, Guoyin Zhang, Qinghua Huang, Houkuan Ye, Dongyi Hu, Qinghua Hu, Xuegang Shi, Zhongzhi Li, Yongli Shang, Lin An, Liping Sai, Ying Chen, Shanben Liang, Jiye Qin, Keyun Zeng, Huanglin Xie, Keming Miao, Duoqian Min, Fan Wu, Zhaocong Wu, Weizhi Dai, Jianhua Institute of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing 400065 China School of Information Science and Technology Southwest Jiaotong University Chengdu 610031 China School of Computer and Information Technology Beijing Jiaotong University Beijing 100044 China College of Math. and Computer Fuzhou University Fuzhou 350002 China Harbin Institute of Technology PO Box 458 Harbin 150006 China School of Computer and Information Hefei University of Technology Hefei 230009 China Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 China Lanzhou University No.222 Tianshui South Rd. Lanzhou 730000 China State Key Laboratory for Novel Software Technology Nanjing University Nanjing 210093 China Management Science and Engineering Department Business School Nankai University Tianjin 300071 China Shandong University of Finance No.40 Shun-geng Road Jinan 250014 China Welding Engineering Institute Shanghai Jiaotong University Shanghai 200030 China School of Computer and Information Technology Shanxi University Taiyuan 030006 China Intelligent Control Development Center Southwest Jiaotong University Chengdu 610031 China Artificial Intelligence of Key Laboratory Sichuan University of Science and Engineering Zigong 643000 China Department of Automation College of Information Engineering Taiyuan University of Technology Taiyuan 030024 China 4800 CaoAn Highway Shanghai 201804 China School of Computer Science and Technology University of Electronic Science and Technology of China Chengdu 610054 China School of Remote Sensing Information Engineering Wuhan University Wuhan 430079 China Institute for Information and System Sciences Faculty of Science Xi'an Jiaotong University Xi'an 710049 China Information College Zhejiang Ocean University Zhejiang 316004 China Institute of Artificial Intelligence Zhejiang University Hangzhou 310027 China

ISBN: (纸本)3540850635

This article gives a capsule view of research on rough set theory and applications ongoing at universities and laboratories in China. Included in this capsule view of rough set research is a brief description of the following things: Chinese research groups on rough set with their URLs for web pages, names of principal researchers (supervisors), numbers of graduate students, and topics being investigated. Statistical summaries showing the growth in the research on rough set theory and application in China are included. In addition, an introduction summarizing the research interests of Chinese researchers is included in this article. The contribution of this article is a complete overview of the principal research directions in rough set theory and its applications in China. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Rough set theory

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Neural networks for disturbance and friction compensation in hard disk drives

Neural networks for disturbance and friction compensation in...

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IEEE Conference on Decision and control

作者： Chow Yin Lai Frank L. Lewis V. Venkataramanan Xuemei Ren Shuzhi Sam Ge Thomas Liew Centre for Life Sciences (CeLS) Graduate School for Integrative Sciences and Engineering (NGS) National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Data Storage Institute Engineering Agency for Science Technology and Research Singapore Department of Automatic Control Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering National University of Singapore Singapore

ISBN: (纸本)9781424431236

In this paper, we show that the tracking performance of a hard disk drive actuator can be improved by using two adaptive neural networks, each of which is tailored for a specific task. The first neural network utilizes accelerometer signal to detect external vibrations, and compensates for its effect on hard disk drive position via feedforward action. In particular, no information on the plant, sensor and disturbance dynamics is needed in the design of this neural network disturbance compensator. The second neural network, designed to compensate for the pivot friction, uses a signum activation function to introduce nonlinearities inherent to pivot friction, thus reducing the neural network¿s burden of expectation. The stability of the proposed scheme is analyzed by the Lyapunov criterion. Simulation results show that the tracking performance of the hard disk drives can be improved significantly with the use of both neural networks compared to the case without compensation, or when only one of the networks is activated.

关键词： Neural networks Friction Hard disks Actuators Adaptive systems Feedforward neural networks Accelerometers Signal detection Stability analysis Stability criteria

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Path planning of free-floating robot in cartesian space using direct kinematics

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International Journal of Advanced Robotic Systems 2007年第1期4卷 17-26页

作者： Xu, Wenfu Liang, Bin Li, Cheng Xu, Yangsheng Qiang, Wenyi Dept. of Control Science and Engineering Harbin Institute of Technology Harbin China Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong Hong Kong

Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited (In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

关键词： Mobile robots

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H∞ control for a class of nonlinear system based on L2 gain computation 9

H∞ control for a class of nonlinear system based on L2 gain...

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2007 9th European control Conference, ECC 2007

作者： Wei, Xiukun Liu, Lihua Verhaegen, Michel Liu, Xiaohe Delft Center for Control and Systems Delft University of Technology Delft Netherlands Department of Computer Science and Automation Beijing Institute of Machinery Beijing China

ISBN: (纸本)9783952417386

This paper addresses the state feedback H∞ control for a class of nonlinear system based on its L2 gain computation, where the technique of the sum of squares decomposition is applied. By reformulating the Hamilton-Jacobin inequality as a linear semi-definite optimization problem, the L2 gain of the considered nonlinear systems can be estimated with the help of the software SOSTOOLS [1] under the sum of squares framework. A new iterative state feedback H∞ control synthesis algorithm for the considered nonlinear system is proposed, where a state feedback H∞ controller is synthesized iteratively based on an initial controller that can stabilize the system to a finite L2 gain. Some examples are shown to illustrate the effectiveness of the proposed algorithm. The iterative algorithm is extended for the output feedback synthesis at the end of this paper. © 2007 EUCA.

关键词： State feedback

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Study on area measurement based on active contour

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2007年第6期18卷 710-713页

作者： Zhao, Peng Pu, Zhao-Bang Zhang, Tian-Wen Department of Automation Measurement and Control Harbin Institute of Technology Harbin 150001 China Department of Computer Science and Engineering Harbin Institute of Technology Harbin 150001 China

A novel and precise measurement scheme for the planar object's surface area is proposed. This scheme consists of two steps which are the measurement of the image target's pixel area and the calibration of the pixel's size equivalence. A 2D image measuring machine is used to obtain the detected object's image. A cubic B-spline active contour is applied to converge to the target's contour edge. The image target's pixel area is computed with the area formula of a closed cubic B-spline curve. Similarly, the centroid coordinate of the convergent active contour is computed. A novel centroid-self-calibration method is devised, which measures the pixel's size equivalence with the displacement of the centroid coordinate and that measured by a dual-frequency laser. This scheme is applied to measure the small circular aperture's true area in a work surface, which indicates that when the control point number is 20, the measuring repetition error of the true area is less than 0.30%.

关键词： Light measurement

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LPV control for the Air Path System of Diesel Engines

LPV Control for the Air Path System of Diesel Engines

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International Conference on control and automation (ICCA)

作者： Lihua Liu Xiukun Wei Xiaohe Liu Department of Computer Science and Automation Beijing Institute of Machinery Beijing China Delft Center for Control and Systems Delft University of Technnology Delft Netherlands

This paper addresses the gain scheduled H infin control issue for the air path system of diesel engines. The air path system is modeled as a linear parameter varying (LPV) system, where the system matrices are dependent on two exogenous variables: the engine speed and the turbine vane position. The open loop frequency property is presented as well as the detailed synthesis procedure of the gain scheduled controller such as the weighting function selection and design. A comparative study between the gain scheduled LPV control and the H infin control is investigated. Simulation results are shown to demonstrate the effectiveness of the gain scheduled LPV controller.

关键词： control systems Diesel engines Job shop scheduling Open loop systems control system synthesis Automatic control automation Nonlinear control systems computer science Machinery

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Stable PD and Internal Force control of Omnidirectional Wheeled Mobile Manipulators

Stable PD and Internal Force Control of Omnidirectional Whee...

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IEEE International Conference on Mechatronics and automation

作者： Dong Xu Dongbin Zhao Jianqiang Yi Xuyue Deng Guosheng Yang Key Lab of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Information Engineering Henan University Kaifeng China

Omnidirectional mobile manipulator, which is composed by a three DOF omnidirectional mobile platform and a mounted manipulator, can move in any direction at any time. By reason of the redundantly actuated mechanism, the omnidirectional motion property of the mobile platform is similar to the parallel manipulator cooperatively manipulating objects, which admits internal force doing none contribution to the motion of the platform. Thus, the internal force should be controlled to reduce energy waste. Therefore, a stable PD controller is developed first for motion control of the integrated mobile manipulator system. Then, by treating the motion induced force as disturbance, a feed forward plus PI type force controller is addressed to regulate the internal force to zero. Finally, simulation results demonstrate the validity of the proposed approach.

关键词： Force control Motion control Wheels Kinematics Manipulator dynamics automation control systems Intelligent actuators Centralized control Mechatronics

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Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator

Teleoperation System of the Internet-based Omnidirectional M...

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IEEE International Conference on Mechatronics and automation

作者： Dawei Wang Jianqiang Yi Dongbin Zhao Guosheng Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Informaion Engineering Henan University Kaifeng China

A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.

关键词： Internet Mobile robots Manipulators Robot sensing systems Robot control User interfaces control systems computer interfaces Computational modeling System testing

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Ridgelet transform with application in ground penetrating radar processing

Ridgelet transform with application in ground penetrating ra...

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Zhi-Yu Zhang Jiu-Long Zhang Hai-Yan Yu Yan-Jun Lu School of Automation and Information Engineering Xi''an University of Technology Xi'an China School of Computer Science and Engineering Xi''an University of Technology Xi'an China Department of Information & Control Xi''an Institute of Posts and Telecommunications Xi'an China

Ridgelet is the new development of wavelet dealing with line singularities in signals. In goundpenetrating radar (GPR) signal, the direct wave is a strong noise which has line singularity. In time-space domain, the useful information in GPR signal is badly polluted by strong direct wave so that the underground targets can not be recognized correctly. Ridgelet overcomes the disadvantages of wavelets in dealing with high dimensions that it can effectively represent singularities along lines or hyperplanes. Concerning the characteristics of GPR signals, the ridgelet transform is employed to remove the background noise and separate the direct wave. The simulation results for real GPR signals demonstrate its effectiveness.

关键词： Ground penetrating radar Wavelet transforms Continuous wavelet transforms Wavelet analysis Noise reduction Pattern analysis Pattern recognition Signal processing Pollution

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