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6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED ON STEREO VISION

Chinese Journal of Mechanical engineering 2008年第2期21卷 87-92页

作者： CAO Wanpeng BI Wei CHE Rensheng GUO Wenbo YE Dong Department of Automatic Measurement and Control Harbin Institute of Technology Harbin 150001 China China Academy of Machinery Science and Technology Beijing 100044 China Department of Electrical Engineering and Automation Harbin Institute of Technology Harbin 150001 China

A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.

关键词： Motion estimation Center of rotation 6-DOF motion Stereo vision

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A Novel Belief Rule-Based Fault Diagnosis Method with Interpretability

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Computer Modeling in engineering & sciences 2023年第8期136卷 1165-1185页

作者： Zhijie Zhou Zhichao Ming Jie Wang Shuaiwen Tang You Cao Xiaoxia Han Gang Xiang Rocket Force University of Engineering Xi’an710025China School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191China Beijing Aerospace Automatic Control Institute Beijing100070China

Fault diagnosis plays an irreplaceable role in the normal operation of equipment.A fault diagnosis model is often required to be interpretable for increasing the trust between humans and the *** to the understandable knowledge expression and transparent reasoning process,the belief rule base(BRB)has extensive applications as an interpretable expert system in fault *** is an effective means to weaken the subjectivity of experts in BRB,where the interpretability of BRB may be ***,to obtain a credible result,the weakening factors of interpretability in the BRB-based fault diagnosis model are firstly analyzed,which are manifested in deviation from the initial judgement of experts and over-optimization of *** these two factors,three indexes are proposed,namely the consistency index of rules,consistency index of the rule base and over-optimization index,tomeasure the interpretability of the *** both the accuracy and interpretability of amodel,an improved coordinate ascent(I-CA)algorithmis proposed to fine-tune the parameters of the fault diagnosis model based on *** I-CA,the algorithm combined with the advance and retreat method and the golden section method is employed to be one-dimensional search ***,the random optimization sequence and adaptive step size are proposed to improve the accuracy of the ***,a case study of fault diagnosis in aerospace relays based on BRB is carried out to verify the effectiveness of the proposed method.

关键词： Fault diagnosis belief rule base interpretability weakening factors improved coordinate ascent

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Artificial Intelligence Embedded Object-Oriented Methodology For Model Based Decision Support

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Journal of Systems engineering and Electronics 1996年第1期7卷 1-14页

作者： Feng Shan Tian Yuan Li Tong & Cai Jun (institute of System engineering, Department of automatic control engineering Huazhong University of science and Technology, Wuhan, Hubei, 430074, P. R. China) Institute of System Engineering Department of Automatic Control Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 P. R. China

The paper presents the coupling of artificial intelligence-AI and Object-oriented methodology applied for the construction of the model-based decision support system *** MBDSS is designed for support the strategic decision making lead to the achievemellt of optimal path towardsmarket economy from the central planning situation in China. To meet user's various requirements,a series of innovations in software development have been carried out, such as system formalization with OBFRAMEs in an object-oriented paradigm for problem solving automation and techniques of modules intelligent cooperation, hybrid system of reasoning, connectionist framework utilization,etc. Integration technology has been highly emphasized and discussed in this article and an outlook to future software engineering is given in the conclusion section.

关键词： Artificial intelligence Object-oriented methodology Knowledge-based systems Intelligently cooperative systems Neural nets Case hased reasoning Behavioral science,Advancedautomation.

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Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

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science China(Information sciences) 2017年第7期60卷 29-39页

作者： Chunyan WANG Zongyu ZUO Qinghai GONG Zhengtao DING School of Electrical and Electronic Engineering University of Manchester Sackville Street Building Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building The Seventh Research Division and Science and Technology on Aircraft Control Laboratory Beihang University Beijing Aerospace Automatic Control Institute

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

关键词： multi-agent systems formation control Lipschitz nonlinearity disturbance rejection

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Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint

Tank based unified torque/impedance control for a pneumatica...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Toedtheide, Alexander Shahriari, Erfan Haddadin, Sami Institute of Automatic Control Faculty of Electrical Engineering and Computer Science Institute of Automatic Control Leibniz Universität Hannover Appelstr. 11 HannoverD-30167 Germany

ISBN: (纸本)9781509046331

In this paper the concept of a unified torque/impedance controller is applied to a pneumatically actuated, antagonistic robot joint. The investigated control algorithm consists of a cascaded structure in which the outer torque/impedance controller commands a desired torque to two cylinder-based force controllers. The torque-/impedance controller is equipped with a virtual tank that ensures passivity of the control loops above force level. Additionally, a shaping function provides a continuous transition to impedance control in case of sudden contact loss during a torque control operation. External torques used in the feedback loop for contact force regulation are estimated by a momentum observer. Experimental and simulation results show a maximum deflection of 9.7° over 130 ms in case of contact loss until a resting position is reached. Additionally, step and sinusoidal torque tracking up to 5 Hz was successfully tested at good performance. © 2017 IEEE.

关键词： Torque

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Integrated control System of Vehicle ABS/ASR/ACC Based onMC9S12DP256

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Journal of Beijing institute of Technology 2003年第S1期12卷 49-53页

作者：张景波刘昭度时开斌钟秋海 Department of Automatic Control School of Information Science and Technology Beijing Institute of TechnologyBeijing 100081China Department of Vehicle EngineeringSchool of Mechanical and Vehicular EngineeringBeijing Institute of TechnologyBeijing 100081China Department of Vehicle Engineering School of Mechanical and Vehicular EngineeringBeijing Institute of TechnologyBeijing 100081China Department of Automatic Control School of Information Science and TechnologyBeijing Institute of TechnologyBeijing 100081China

The integrated control system of vehicle ABS/ASR/ACC has been developed using the MC9S12DP256 single chip, which is the new Motorola 16-bit product in HSC12 family. The system including the main control module, the data collection module and the drive and fault diagnosis module is demonstrated and its data collection function is presented in detail. The system designed by the modularization can supervise the data, drive the valves and pump. The program can be debugged on line, which is steady and reliable validated by the large numbers of vehicle road tests.

关键词： MC9S12DP256 single chip vehicle ABS/ASR/ACC integrated control system modularization

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Distributed event-triggered control with network delays and packet losses

Distributed event-triggered control with network delays and ...

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Guinaldo, M. Lehmann, D. Sanchez, J. Dormido, S. Johansson, K. H. Department of Computer Science and Automatic Control at UNED Spain School of Electrical Engineering Royal Institute of Technology (KTH) Sweden

ISBN: (纸本)9781467320665

This paper presents a distributed event-based control approach to cope with communication delays and packet losses affecting a networked dynamical system consisting of N linear time-invariant coupled systems. Two communication protocols are proposed to deal with these communication effects. It is shown that both protocols preserve the system stability in the sense that the state of every subsystem converges to a small region around the origin if the delay and the number of packet losses are bounded. Analytical expressions for the delay bound and the maximum number of consecutive packet losses are derived. Simulations illustrate the results.

关键词： delays distributed parameter systems linear systems networked control systems protocols stability

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Enlarging the terminal region of nmpc with parameter-dependent terminal control law

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作者： Yu, Shuyou Chen, Hong Böhm, Christoph Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Control Science and Engineering Jilin University China

ISBN: (纸本)9783642010934

Nominal stability of a quasi-infinite horizon nonlinear model predictive control (QIH-NMPC) scheme is obtained by an appropriate choice of the terminal region and the terminal penalty term. This paper presents a new method to enlarge the terminal region, and therefore the domain of attraction of the QIH-NMPC scheme. The proposed method applies a parameter-dependent terminal controller. The problem of maximizing the terminal region is formulated as a convex optimization problem based on linear matrix inequalities. Compared to existing methods using a linear time-invariant terminal controller, the presented approach may enlarge the terminal region significantly. This is confirmed via simulations of an example system. © 2009 Springer Berlin Heidelberg.

关键词： Linear matrix inequalities

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Adaptive Model Predictive control with Robust Constraint Satisfaction

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IFAC-PapersOnLine 2017年第1期50卷 3313-3318页

作者： Lorenzen M. Allgöwer F. Cannon M. Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Engineering Science University of Oxford United Kingdom

Adaptive control for constrained, linear systems is addressed and a solution based on Model Predictive control (MPC) and set-membership system identification is presented. The paper introduces a computationally tractable solution which uses observations of past state and input trajectories to update the model and improve control performance while maintaining guaranteed constraint satisfaction and recursive feasibility. The developed approach is applied to a stabilizing MPC scheme and practical stability under persistent, additive disturbance is proved. A numerical example and brief comparison with non-adaptive MPC is provided. © 2017

关键词： Adaptive control Constraint Satisfaction Problems Model Predictive control System Identification Uncertain Linear Systems

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Design and Implementation of Simulator for AOS High-Speed Payload Multiplexer

Design and Implementation of Simulator for AOS High-Speed Pa...

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2013 IEEE 11th International Conference on Electronic Measurement & Instruments

作者： Liu Yuefeng Zhao Guangquan Peng Xiyuan Department of Automatic Test and Control Harbin Institute of Technology School of Information Engineering Inner Mongolia University of Science & Technology

ISBN: (纸本)9781479907571

A small simulator for AOS high-speed payload multiplexer is designed and implemented based on the idea of satellite hierarchical test,which will be used in the test for satellite data transmission subsystem. The simulator uses the FPGA as control center,including multi-input and multi-output LVDS and RS422 interfaces. It caches the received payload data using the large-capacity SRAM dual caching technology,selects data downlink channel and downlink rate which both can be configured,uses a virtual channel (VC) scheduling algorithm based on the Consultative Committee for Space Data Systems (CCSDS) Advanced Orbiting Systems (AOS) data link protocol to make many kinds of VCs multiplexing physical downlink channel effectively. Finally multi-channel downlinks the payload data timely and correctly. The closed-loop path test results from the data source to the data receiving terminal show that the simulator can meet the technical requirements of the real satellite payload data high-speed multiplexer.

关键词： multiplexer, simulator, virtual channel scheduling algorithm, FPGA, AOS.

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