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FDTD model of photonic crystal laser with four-energy-level gain media

Jisuan Wuli/Chinese Journal of Computational Physics 2007年第4期24卷 452-456页

作者： Wang, Hong Ouyang, Zhengbiao Han, Yanling Meng, Qingsheng Center of THz Technology Shenzhen University Shenzhen 518060 China College of Engineering and Technology Shenzhen University Shenzhen 518060 China School of Physical Electronics University of Electronic Science and Technology of China Chengdu 610054 China Mathematics and Physics Department China University of Geosciences Wuhan 430074 China State Education Commission Laboratory for Image Processing and Intelligent Control Institute of Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

A model of one-dimensional photonic crystal laser with four-energy-level gain media is presented. The model consists of Maxwell-Bloch equations coupled with rate equations of electronic population in a photonic crystal laser system. The discretization of coupled equations is accomplished with finite different time domain (FDTD). Spectra, lasing mode, lasing threshold and dynamics of the photonic crystal laser are obtained. The simulation shows good agreement with theoretical predictions.

关键词： Photonic crystals

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EHM based neural model for hysteresis

EHM based neural model for hysteresis

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2006 IEEE International Conference on Networking, Sensing and control, ICNSC'06

作者： Lianwei, Ma Yonghong, Tan Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China Department of Automation Shanghai Jiaotong University Shanghai 200030 China

ISBN: (纸本)1424400651

This paper proposes a neural model for hysteresis. A method of continuous transformation is used to construct an elementary hysteresis model (EHM), which implements a one-to-one mapping between the input space and the output space of the hysteresis. The output of the EHM is used as one of the input signals of the neural network (NN) to approximate the behavior of hysteresis. A parabolic factor is introduced to improve the modeling performance for the major and minor loops of the hysteresis. © 2006 IEEE.

关键词： Neural networks

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Nonlinear internal model control for hysteresis systems

Nonlinear internal model control for hysteresis systems

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2006 IEEE International Conference on Networking, Sensing and control, ICNSC'06

作者： Yonghong, Tan Miyong, Su Laboratory of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China Xidian University China Department of Computer Science Guilin University of Electronic Technology Guilin 541004 China

ISBN: (纸本)1424400651

A hybrid model used to approximate hysteresis and creep nonlinear system is proposed. This model is constructed by a weighted superposition of both backlash operators and creep operators. Then, the corresponding inverse models for both hysteresis and creep are developed. Based on the obtained models, a nonlinear internal model control strategy is applied to the control of system with hysteresis and creep nonlinearities. © 2006 IEEE.

关键词： Nonlinear control systems

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Sonar grid map building of mobile robots based on DSmT

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Information Technology Journal 2006年第2期5卷 267-272页

作者： Li, Xinde Huang, Xinhan Wang, Min Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

The research of self-location and map building among some entirely unknown environments is an important and popular subject of intelligent mobile robots. Someone compared it to the problem of chicken and egg. But the application of Sonar sensors with some advantages such as cheapness, simple-operation and convenient-disposal resulted in uncertain and imprecise knowledge acquired. Aimed to this, a new method of information fusion recently developed from Bayesian theory and Dempster-Shafer theory was applied and on the base of experiment, according to sonar's metrical characteristic, the general basic belief assignment functions were constructed for modeling of static environment. Finally, grid map of 3D building on-line for mobile robot was used to compare from the real environment by the experiment. By analyzing the result of comparison, the validity of this method was fully verified. © 2006 Asian Network for Scientific Information.

关键词： Mobile robots

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A Comparison of the Effect of Sonar Grid Map Building Based on DSmT and DST

A Comparison of the Effect of Sonar Grid Map Building Based ...

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World Congress on intelligent control and Automation (WCICA)

作者： Xinde Li Xinhan Huang Min Wang Gang Peng Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

Information acquired in map building presents characteristics of uncertainty, imprecision and even high conflict, especially in the course of building grid map using sonar. Here a new method of information fusion - DSmT (Dezert-Smarandache theory) recently developed from DST and Bayesian theory was introduced to apply to managing and dealing with this uncertainty. Aiming to static environment, classic DSm mathematic modal was established by constructing the general basic belief assignment function, so that the global evidence grid map is built by applying the classic DSm rule. Pioneer II virtual mobile robot served as an experiment platform. By comparing the numbers of acquiring-information spot, the quality of grid map building and the time in need of finishing the global map building, better fusion results than that with DST are gotten. Especially when dealing with high conflictive information from sonar grid map building, DSmT was more effective and successful than DST. In short, this study not only found a new method for building map under static environment, but also supplied with a theory foundation for us to further apply hybrid DSmT to dynamic unknown environment and multi-robots' building map together

关键词： Sonar Uncertainty intelligent robots Mobile robots Buildings Bayesian methods intelligent control Laboratories Mathematics Finishing

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Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

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2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

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Selection of sources as a prerequesite for information fusion with application to SLAM

Selection of sources as a prerequesite for information fusio...

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International Conference on Information Fusion

作者： Xinde Li Jean Dezert Xinhan Huang Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China ONERA Chatillon France

ISBN: (纸本)1424409535

We consider in this work evidential sources of information and propose a very general evidence supporting measure of similarity (ESMS) for selecting the most coherent subset of sources to combine among all sources available at each instant. The methodology proposed here coupled with a DSmT-based fusion machine is tested in robotics for the automatic estimation of an unknown simulated environment with obstacles where an autonomous mobile Pioneer II robot with sonar sensors evolves. Our simulation results are based on the fusion of similar and equireliable sensors but same approach can also be used with dissimilar sources as well by using a discounting method taking into account the reliability of each sensor. Our results show clearly the benefit of the selection of the sources as prerequisite for improvement of information fusion

关键词： Simultaneous localization and mapping Information resources Sensor fusion Mobile robots Robot sensing systems robotics and automation intelligent control intelligent robots Laboratories Automatic testing

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

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IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation intelligent robots Signal design Mechatronics Process control intelligent control

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controlled Anti-phase Synchronization of Passive Gait

Controlled Anti-phase Synchronization of Passive Gait

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IEEE International Conference on robotics and Biomimetics

作者： Zhenze Liu Yantao Tian Changjiu Zhou Department of Communication Engineering Jilin University Changchun China Advanced Robotics and Intelligent Control Center School ofElectrical and Electronic Engineering Singapore polytechnics Singapore

Symmetry property of healthy gait in human walking has been applied to the analysis and design of the compass-like biped robot, as to explicitly explain the efficiency and control of human locomotion. A new control strategy of "anti-phase synchronization" has been presented here. The controller of anti-phase synchronization is able to solve the synchronization problem in such a way that the robot reaches a desired level of mechanical energy and its two legs move synchronously in opposite directions. With new presumption of the collision model, this control strategy can reduce the complexity of the hybrid dynamic system such as nonlinearity and strong coupling between dynamics of two legs. In addition to the discussion of the construction of a new Lyapunov function, simulation results have just proved the validity of the strategy. The method stated in the paper is helpful to practical application of the design of the robot's gait. To the best of our knowledge, it is the first time to introduce the concept of synchronization to explain and control the motion of passive biped theoretically.

关键词： Legged locomotion Humans Leg Nonlinear dynamical systems Mechanical energy Nonlinear control systems Couplings Lyapunov method Robots Motion control

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Real-time path planning of mobile robots in dynamic uncertain environment

Real-time path planning of mobile robots in dynamic uncertai...

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6th World Congress on intelligent control and Automation, WCICA 2006

作者： Zhuang, Hui-Zhong Li, Han Du, Shu-Xin Mechanical Electronical Engineering Department Vocational Technical College Shanghai University of Engineering Science Shanghai 200437 China Electronic Information Department Physics and Electronic Information College Wenzhou University Wenzhou 325000 Zhejiang Province China Institute of Intelligent Systems and Decision Making National Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 Zhejiang Province China

ISBN: (纸本)1424403324

A new path planning method for mobile robots in globally unknown environment with moving obstacles is presented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position treated as instantaneously static, a motion path of the mobile robot is planned by means of a real-time path planning technique based on polar coordinates space in which the desirable direction angle is taken into consideration as an index of path optimization. Its effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples. © 2006 IEEE.

关键词： Mobile robots

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