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IEEE International Conference on Automation science and engineering (CASE)

作者： Yung-Chou Kao Yu-Chuan Lin Haw-Ching Yang Department of Mechanical Engineering National Chung Cheng University Chiayi Taiwan R.O.C. Institute of Manufacturing Information and Systems National Cheng Kung University Tainan Taiwan R.O.C. Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan R.O.C.

ISBN: (纸本)9781509024100

This paper describes the development of a Cloud-based solid cutting simulation service system for 3D toolpath verification before it is to be uploaded to a CNC machine tool for machining operation. A user can access the system through common WWW browsers such as Internet Explorer and/or Google Chrome in either a PC running Microsoft Windows, a smart phone running Android, or an iPad running iOS. The system can perform real time solid cutting simulation based on the toolpath (NC program). The system provides user with standard views such as “ISO View”, “Front View”, “Right View”, and “Top View”; dynamic customized 3D view could be controlled through the mouse operation on the client side to ease the visibility during the simulation. The proposed system has been successfully implemented on a public cloud system Microsoft Azure with expected performance and is expected to assist a user in verifying the correctness of the toolpath and to enhance the efficiency in a geographically dispersed networked environment.

关键词： Solid modeling Three-dimensional displays Servers Browsers Solids Cascading style sheets Cloud computing

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Robust fault tolerant manoeuvring and rudder control of marine vehicles with state saturation

Robust fault tolerant manoeuvring and rudder control of mari...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Xiaozheng Jin Qiuhong Liu Yu Kang Jiahu Qin School of Electrical Engineering and Automation HeFei University of Technology HeFei AnHui China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Technology in Geo-Spatial Information Processing and Application System Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467380768

In this paper, the problem of rudder-roll damping control for a class of cruise keeping ships subject to both actuator fault and state saturation is investigated. A manoeuvring and rudder control model of marine vessels is firstly reviewed based on the existing literature. Actuator faults which including partial loss of rudder effectiveness and actuator-bias faults are considered in the model. Then a switching control strategy is developed to compensate for the actuator faults and to guarantee the stability of the rudder-roll damping control system. Moreover, some relationship regarding state saturation bounds, actuator fault limits and control parameters are analyzed in this paper. Finally, simulation results are given to illustrate the proposed procedures and their effectiveness.

关键词： Actuators Vehicles Damping Mathematical model Marine vehicles Vehicle dynamics

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Features of event-related potentials used to recognize clusters of facial expressions 8

Features of event-related potentials used to recognize clust...

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8th International Conference on Bio-Inspired systems and Signal Processing, BIOSIGNALS 2015

作者： Yasuda, Masahiro Dou, Zhang Nakayama, Minoru Mechanical and Control Engineering Tokyo Institute of Technology O-okayama Meguro-ku Tokyo152-8552 Japan Human System Science Tokyo Institute of Technology O-okayama Meguro-ku Tokyo152-8552 Japan

ISBN: (纸本)9789897580697

To assess human emotion using electroencephalograms (EEGs), the relationship between emotional impressions of images of facial expressions and features of Event Related Potentials (ERPs) recorded using three electrodes was analyzed. First, two clusters of emotional impressions were extracted using two-dimensional responses of the Affect Grid scale. Second, features of ERPs in response to the two clusters were examined. Time slots where amplitude differences in ERP appeared were measured, and differences in the frequency power of ERP were also extracted for each electrode. To evaluate these features, prediction performance for the two clusters was examined using discriminant analysis of the features. Also, the dependency of some band pass filters was measured.

关键词： Electroencephalography

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Obstacle Avoidance for Kinematically Redundant Robot

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IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators system stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

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Global Iterative Closet Point Using Nested Annealing for Initialization

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Procedia Computer science 2015年 60卷 381-390页

作者： Tao Ngoc Linh Hasegawa Hiroshi Deparment of Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Saitama 337-8570 Japan. Department of Machinery and Control System College of Systems Engineering and Science Shibaura Institute of Technology Saitama 337-8570 Japan.

In computer vision, Iterative Closest Point (ICP) has been a key tool for registration algorithms, a fundamental task in computer vision. However, ICP based registration algorithms always face with local minima problem and pre-aligned pointsets are the must to guarantee correct convergence. Pre-alignment used to be carried out by our human in some mesh processing softwares. This paper provides a solution for initialization problem for registering two 3D surfaces under L 2 error using ICP algorithm. Our algorithm uses a combination between Nested Annealing (NA) and ICP in which NA is used as global optimization search engine to find the global minima with a novel approach of using point based boundary searching. The algorithm uses ICP to derive local minima as well as local minima error. The integration between ICP and NA is successfully implemented and coded into a program which inputs two range image and outputs the transformation matrix between them at high accuracy and success rate.

关键词： 3D registration ICP Nested Annealing Global registration Hybrid algorithm.

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Application Constraints of the Three-Axis Stabilization Magnetic control Method Based on LQR

Application Constraints of the Three-Axis Stabilization Magn...

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2016 Sixth International Conference on Instrumentation and Measurement,Computer,Communication and control (IMCCC2016)(第六届仪器测量、计算机通信与控制国际会议)

作者： Qin Yuan Yanbo Ji Chun Li Yimin Kou Yingchun Zhang Department of Overall System Design Shenzhen Aerospace Dongfanghong Development Satellite Co. Ltd.S Control Science and Engineering Department Harbin Institute of Technology Harbin Heilongjiang Provi

ISBN: (纸本)9781509011964

Taking KT-1A satellite in practical flight as the research object,this paper adopts LOR infinite horizon periodic controller to perform the three-axis stabilized attitude control,and the magnetorquer is taken as the only *** specially studies the application constraints produced by different assumptions in the mathematical model which may not be met in actual projects,including that the inertia matrix is diagonal,orbit eccentricity is zero,magnetic field varies periodically,the orbit inclination is near 90°,*** analysis and simulations,the critical conditions that may cause serious consequences are identified.

关键词： microsatellite magnetic control LQR application constraints

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Constructing numerical solutions to a nonlinear heat conduction equation with boundary conditions degenerating at the initial moment of time

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AIP Conference Proceedings 2016年第1期1785卷

作者： L. F. Spevak A. L. Kazakov 1Institute of Engineering Science UB RAS Ekaterinburg Russia 2Institute for System Dynamics and Control Theory SB RAS Irkutsk Russia

This paper deals with one-dimensional boundary value problems for a non-linear heat conduction equation with a power dependence of the heat conductivity coefficient on temperature. New solution algorithms are constructed for the instances of boundary conditions degenerating at the initial time moment. A comparison of the obtained solutions with known exact solutions shows the effectiveness of the proposed algorithms.

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Tracking filter for nonballistic targets based on MVSIMM algorithm in the near space

Tracking filter for nonballistic targets based on MVSIMM alg...

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International Conference on Information and Automation (ICIA)

作者： Lei Qin Junlong Li Di Zhou Beijing Institute of Electronic System Engineering Beijing China Department of Control Science and Engineering Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467391054

As the representative of hypersonic vehicles in the near space,X-51A and HTV-2 with characteristics of high speed and irregular acceleration often adopt the way of nonballistic maneuver flight, which cannnot make an accurate estimation of state of motion. This paper focuses on four typical nonballistic maneuver models of near space targets, proposes a kind of new Modified Variable Structure Interacting Multiple Model(MVSIMM)algorithm. The effect of MVSIMM algorithm is better than Fixed Structure Interacting Multiple Model(FSIMM) filter algorithm towards four nonballistic maneuver models with Matlab simulation results above.

关键词： Mathematical model Acceleration Target tracking Atmospheric modeling Algorithm design and analysis Filtering algorithms

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Stabilization of Collective Motion in Synchronized, Balanced and Splay Phase Arrangements on a Desired Circle

Stabilization of Collective Motion in Synchronized, Balanced...

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American control Conference

作者： Anoop Jain Debasish Ghose Guidance Control and Decision System Laboratory (GCDSL) in the Department of Aerospace Engineering Indian Institute of Science Bangalore India

ISBN: (纸本)9781479917730

This paper proposes a design methodology to stabilize collective circular motion of a group of N-identical agents moving at unit speed around individual circles of different radii and different centers. The collective circular motion studied in this paper is characterized by the clockwise rotation of all agents around a common circle of desired radius as well as center, which is fixed. Our interest is to achieve those collective circular motions in which the phases of the agents are arranged either in synchronized, in balanced or in splay formation. In synchronized formation, the agents and their centroid move in a common direction while in balanced formation, the movement of the agents ensures a fixed location of the centroid. The splay state is a special case of balanced formation, in which the phases are separated by multiples of 2π/N. We derive the feedback controls and prove the asymptotic stability of the desired collective circular motion by using Lyapunov theory and the LaSalle's Invariance principle.

关键词： Multiagent system synchronization balancing splay state desired common circle

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A Novel Set of Driving Style Risk Evaluation Index system for UBI-Based Differentiated Commercial Vehicle Insurance in China 15

A Novel Set of Driving Style Risk Evaluation Index System fo...

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15th COTA International Conference of Transportation Professionals: Efficient, Safe, and Green Multimodal Transportation, CICTP 2015

作者： Zheng, Wenyi Nai, Wei Zhang, Fangqi Qin, Weiyang Dong, Decun Key Laboratory of Road and Traffic Engineering Ministry of Education Tongji University Shanghai201804 China School of Computer Science and Communication Engineering Jiangsu University Zhenjiang Jiangsu China Postdoctoral Research Station of Control Science and Engineering Tongji University Shanghai201804 China Cooperative Center for Maglev and Rail Transit Operation Control System Tongji University Shanghai201804 China Shanghai R and D Institute China Telecom Shanghai200122 China

ISBN: (数字)9780784479292

ISBN: (纸本)9780784479292

Usage based insurance (UBI) for vehicles, or sometimes pay-how-you-drive (PHYD) as it is usually called, which fuses information and telecommunication technologies, can not only enhance the accuracy of underwriting, solve the severe homogeneity problem in vehicle insurance products for insurance companies, but can eliminate the cross-subsidies from vehicles of low risk to those of higher risk, as well. However, till now, researches of driving style evaluation method are mainly for fuel consumption control or to analyze road traffic conditions. It is hard to find reports on dedicated methods for UBI premium actuary purposes. Consider that China is a country which has a huge territory with different city landforms and traffic situations. There is an urgent requirement to establish a theory structure based on UBI implementations, and to establish a theory system for autonomous driving style evaluation methods. In this paper, a novel set of risk evaluation index systems of driving style for the UBI based differentiated commercial vehicle insurance for cities on the plains in China has been proposed. d via a real vehicle driving example analysis, the objectiveness and effectiveness the proposed dynamic driving evaluation index system has been proved. © ASCE.

关键词： Commercial vehicles

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