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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Dejun Guo Woosoon Yim Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Dept. of Mechanical Engineering University of Utah Salt Lake City 84112 United States Intelligent Structures & Control Laboratory Dept. of Mech. Engineering Univ. of Nevada - Las Vegas 89154 United States

ISBN: (纸本)9781509037636

This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame (image frame). Due to the circulatory motion of the HFV, the resulting motion trajectory of the LFV in the image frame is periodic in time, thus an adaptive repetitive control system is exploited to improve the tracking precision from one operating period to the next. Not only is the adaptive control law able to deal with uncertainties in the camera's intrinsic and extrinsic parameters, but it can also tolerate uncertainties in the localization of the LFV. The design and stability analysis of the closed-loop control system is presented, where the Lyapunov approach is used to show stability. Simulations and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter vehicle. Results show good tracking performance for three simulated test cases, where the average maximum tracking error is reduced by approximately 75% compared to the performance of a standard adaptive visual-servo controller.

关键词： low frequency vibration vehicle Cameras tracking accuracy Repetitive Servo control Closed loop control systems Self tuning control systems visual tracking drone honey bees Unmanned Aerial Vehicle Frame

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Probabilistic Punishment on Free Riders in Threshold Public Goods Games

Probabilistic Punishment on Free Riders in Threshold Public ...

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第三十四届中国控制会议

作者： ZHANG Chunyan LIU Zhongxin SUN Qinglin CHEN Zengqiang Department of Automation Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University

ISBN: (纸本)9781467374439

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails,can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism.

关键词： Cooperation,Evolutionary Game Theory,Public Goods Game

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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Probabilistic punishment on free riders in threshold public goods games 34

Probabilistic punishment on free riders in threshold public ...

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34th Chinese control Conference, CCC 2015

作者： Chunyan, Zhang Zhongxin, Liu Qinglin, Sun Zengqiang, Chen Department of Automation Computer and Control Engineering Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin China

ISBN: (纸本)9789881563897

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails, can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism. © 2015 Technical Committee on control Theory, Chinese Association of automation.

关键词： Cooperation Evolutionary Game Theory Public Goods Game

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A continuous second-order sliding mode guidance against highly maneuverable targets 54

A continuous second-order sliding mode guidance against high...

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54th Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2015

作者： Yongkun, Wang Zhongxin, Liu Mingwei, Sun Zengqiang, Chen Department of Automation Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer (ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target. © 2015 The Society of Instrument and control Engineers-SICE.

关键词： Lyapunov methods

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Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements

Pose estimation of a rigid body and its supporting moving pl...

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2016 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Yizhai Zhang Kehao Song Jingang Yi Zhansheng Duan Quan Pan Panfeng Huang Research Center of Intelligent Robotics Northwestern Polytechnical University Xi'an Shaanxi China Department of Control and Information Key Laboratory of Information Fusion Technology (LIFT) Xi'an Shaanxi China Department of Mechanical and Aerospace Engineering Rutgers University Piscataway NJ USA Department of Automation Xi'an Jiaotong University Xi'an Shaanxi China

We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.

关键词： Pose estimation Kinematics Gyroscopes Magnetic sensors Mathematical model

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Kinematic analysis and simulation of a new-type robot with special structure

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Advances in Manufacturing 2014年第4期2卷 295-302页

作者： Shuai Guo Hua-Wei Li Jian-Cheng Ji Zhi-Fa Ming Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and AutomationShanghai University

Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics （a tool box of MATLAB） with these equation solutions. It is necessary to design a graphical user interface （GUI） for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

关键词： Mixed hinge structure Homogeneoustransformation Kinematic analysis Kinematic simulation

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Toward intelligent manufacturing: label characters marking and recognition method for steel products with machine vision

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Advances in Manufacturing 2014年第1期2卷 3-12页

作者： Qi-Jie Zhao Peng Cao Da-Wei Tu School of Mechatronics Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and RoboticsShanghai university

Correctly coding materials and identifying characters marked on materials are very important for steel manufacturing industry to realize informatization management and intelligent manufacturing. However, the steel products manufacturing is often in a high temperature environment, and there are a lot of material storage and retrieval processes, workers are not easily close to the environment and complete tasks, so it is a great challenge to automatically mark and identify characters on the steel products. This paper presents a framework of label characters marking and management for steel materials, furthermore, a kind of marked characters online detection and tracking method has been provided based on machine vision. In addition, some experiments have been done in BaoSteel to mark characters on hot billets and recognize them in multi situations, and the results show that the proposed method is practical, and has provided a helpful exploration in obtaining accurate fundamental data for the intelligent manufacturing system in steelworks.

关键词： intelligent manufacturing Enterprisesinformatization Label character marking Machinevision Marked character recognition

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An improving analytically model with high accuracy for a micro manipulator

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Journal of Information Hiding and Multimedia Signal Processing 2015年第6期6卷 1242-1249页

作者： Ni, Yuan Deng, Zong-Quan Li, Jun-Bao Wu, Xiang Li, Long Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology China Shanghai Key Laboratory of Mechanical Automation and Robotics SSchool of Mechatronic Engineering and Automation Shanghai University China

A proposed mathematical model is established for modal analysis of a micro manipulator. According to the geometric characteristics of the manipulator, the model is built by using finite element method with multipoint constraint equations, and the corresponding displacement coordinate matrix is obtained after that. Considering that the regular flexure hinge plays a key role, in this analysis process, the hinge is treated as a varied cross-section Euler-Bernoulli beam element and the finite element model is established by a new procedure which followed the element internal equilibrium principle consequently. The stiffness matrix, the mass matrix and the exact shape functions of the non-prismatic beam element can be obtained respectively. Furthermore, the influences of geometric parameters on the fundamental frequency can also be discussed. © 2015 Ubiquitous International. All rights reserved.

关键词： Natural frequencies

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Designing of 3-Dimensional Underwater Fish Observation System and Experimental Research

Designing of 3-Dimensional Underwater Fish Observation Syste...

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International Conference on Information Sciences,Machinery,Materials and Energy（ICISMME 2015）

作者： Minhui Zheng Junyi Yang Dinghao Feng Dongqin Cheng Xi Zhang Faculty of Resource China University of GeosciencesWuhan Second Institute of Oceanography SOA School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics

Underwater imaging is an important method to discover and study deep sea ***,the information obtained from the 2-dimensional imaging materials acquired by the current technological method is too limited to meet the requirements of scientific *** this article,a package of underwater lighting and stereo vision measurement hardware system is designed that could be carried by underwater *** feasibility and accuracy of the proposed methods is proved by the pool principle *** system could provide technological support for the deep sea biology study and the exploitation of deep sea biological resources,and also be used for the 3D reconstruction and measurement of underwater micro topography and targets.

关键词： deep sea 3D vision calibration refraction

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