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Erratum to: Robust adaptive synchronization of general dynamical networks with multiple delays and uncertainties

Pramana 2016年第6期86卷 1413-1413页

作者： LU, YIMING HE, PING MA, SHU-HUA LI, GUO-ZHI MOBAYBEN, SALEH Laboratory of Train Network Department of Train Control Tech. Research Center of Product & Tech. CRRC TANGSHAN CO. LTD Tangshan People’s Republic of China School of Information Science and Engineering Northeastern University Shenyang People’s Republic of China School of Automation and Electronic Information Sichuan University of Science and Engineering Zigong People’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin People’s Republic of China

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Vision-based environmental perception and navigation of micro-intelligent vehicles 7

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7th International Conference on Intelligent systems and Knowledge Engineering, ISKE 2012 with 1st International Conference on Cognitive systems and information Processing, CSIP 2012

作者： Yang, Ming Lu, Zhengchen Guo, Lindong Wang, Bing Wang, Chunxiang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9783642378287

The adjustment of actual environmental traffic flow experiments is complicated and time-consuming. In this paper, a method based on micro-intelligent vehicles (micro-IV) is proposed to overcome these unfavorable factors. Vision-based environmental perception employed should be qualified for real-time and robust characteristics. An active vision approach based on visual selective attention is carried out to search regions of interest more efficiently for traffic light recognition. Corner detection based on histogram is applied for real-time location in autonomous parking. A method based on hierarchical topology maps is proposed to realize the navigation without GPS equipment. Experimental results show that the perception and navigation approaches work efficiently and effectively and micro-IV is suitable for traffic flow experiments. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Navigation

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Single Cu nanowire assembled by microdroplet dielectrophoresis on ultrahigh tensible microelectrodes

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Chinese Science Bulletin 2014年第7期59卷 577-584页

作者： Chaolei Huang Hongjiang Zeng Xiaojun Tian Jie Liu Zaili Dong Tie Li Yuelin Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Science and Technology on Micro-system Laboratory and State Key Laboratories of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences

At present,study on dynamic tensile properties and atomic chain fabrication of single nanowire,for understanding its dynamic tensile properties and unique physical properties of atomic chain to fabricate atom scale devices,is one of frontier research issues in nanoscale ***,how to assemble single nanowire on a tensible microstructure becomes one of the most difficult problems,which severely restricts the development of this research *** this paper,after the ultrahigh tensible microelectrode chip is fabricated by MEMS technology,hexamethyldisilazane is utilized to improve hydrophobicity of the chip,and then a microdroplet dielectrophoresis experimental platform and technology is developed to assemble single nanowire on the sensible *** results show that accurate and efficient assembly of single Cu nanowire is realized,which contribute greatly to the further research of dynamic tensile properties and atomic chain *** for guiding the assembly experiments,finite element technology is also utilized to analyze the local microelectro field around the microelectrodes during dieletrophoresis experiments.

关键词：电泳实验纳米线微电极组装介电微滴动态拉伸性能 MEMS技术

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A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

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Acta Automatica Sinica 2014年第11期40卷 2414-2419页

作者： Peng-Cheng WANG Yong-Chun FANG Zi-Ya JIANG Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits: 1) leading the trolley to reach the destination sufficiently fast; 2) keeping the payload swing in an acceptable domain; 3) eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.

关键词： Trajectory planning overhead cranes swing optimization nonlinear kinematics

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An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps

An Extended Probabilistic Self-Localization Algorithm Using ...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Tianyi Li Ming Yang Liuyuan Deng Yong He Chunxiang Wang Department of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of China Research Institute of Robotics Shanghai Jiao Tong University

Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.

关键词： GPS Map An Extended Probabilistic Self-Localization Algorithm Using Hybrid Maps Hybrid

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A Pseudospectral Time-Optimal Motion Planner for Underactuated Overhead Crane systems

A Pseudospectral Time-Optimal Motion Planner for Underactuat...

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第三十二届中国控制会议

作者： ZHANG Xuebo FANG Yongchun SUN Ning SUN Mingwei Institute of Robotics and Automatic Information System Nankai University Department of Automation Nankai University

ISBN: (纸本)9781479900305

In this paper,we present a pseudospectral time-optimal motion planning technique for underactuated overhead crane *** practical constraints,including the lower and upper bounds for the harmful payload swing,the cart/trolley velocity,acceleration and jerk,are all taken into account in the proposed *** with existing approaches that rely heavily on the linearized model around the equilibrium point,the Guass pseudospectral method(GPM) is adopted to convert the original time-optimal problem into a parametric nonlinear programming problem(NLP),for which both the nonlinear dynamics and various constraints can be successfully considered *** comparative simulation results are presented to demonstrate the superior performance of the proposed *** should be remarked that,the results provide some practically meaningful performance limits for automatic or manual operation of the crane systems in transportation-oriented tasks.

关键词： Time-optimal Motion Planning Overhead Crane systems Guass Pseudospectral Method

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： Controllers

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Lane detection and recognition based on around-view system

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 233-236页

作者： Gu, Xiaolin Yang, Ming Wang, Bing Wang, Chunxiang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

A multi-type lane detection and recognition method using onboard around-view system was proposed, which could provide distinct road information around the vehicle and was less susceptible to occlusion by other vehicles. Firstly, the principle direction of the image was rectified based on Hough transform, as lane markings close to the vehicle are straight. Then x space feature histogram was used to detect regions of interest and y space feature histogram was used to recognize the properties of lane markings, such as number of lines, solid/dashed, and so on. Color information was analyzed in the HSV color space. Finally, a Kalman filter and confidence measurement was used to reduce the impact of noise. Experimental results demonstrated the effectiveness of the proposed method.

关键词： Kalman filters

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A pseudospectral time-optimal motion planner for underactuated overhead crane systems

A pseudospectral time-optimal motion planner for underactuat...

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Chinese Control Conference (CCC)

作者： Xuebo Zhang Yongchun Fang Ning Sun Mingwei Sun Institute of Robotics and Automatic Information System Nankai University Tianjin P.R. China Department of Automation Nankai University Tianjin P.R. China

In this paper, we present a pseudospectral time-optimal motion planning technique for underactuated overhead crane systems. Various practical constraints, including the lower and upper bounds for the harmful payload swing, the cart/trolley velocity, acceleration and jerk, are all taken into account in the proposed approach. Different with existing approaches that rely heavily on the linearized model around the equilibrium point, the Guass pseudospectral method (GPM) is adopted to convert the original time-optimal problem into a parametric nonlinear programming problem (NLP), for which both the nonlinear dynamics and various constraints can be successfully considered simultaneously. Extensive comparative simulation results are presented to demonstrate the superior performance of the proposed approach. It should be remarked that, the results provide some practically meaningful performance limits for automatic or manual operation of the crane systems in transportation-oriented tasks.

关键词： Planning Cranes Acceleration Trajectory Payloads Simulation Optimal control

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Global and Local Path Planning of MicroIV for Traffic Flow Modeling and Simulation

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IFAC Proceedings Volumes 2013年第13期46卷 502-507页

作者： Lindong GUO Ming YANG Zhengchen LU Bing WANG Chunxiang WANG Department of automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hierarchical topology maps is proposed to achieve a legal optimal path with the consideration of complicated topology maps caused by the dynamic traffic rules in local intersections and lanes. Secondly, multi-agents based control system architecture of MicroIV is designed where multi-autonomous driving tasks involved. Thirdly, a local path planning approach for different autonomous driving is proposed with the control system architecture. Experimental results show that these proposed approaches could meet the demand of path planning for MicroIV in complex traffic flow simulation.

关键词： micro intelligent vehicles path planning control system architecture

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