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MTS/IEEE Washington, OCEANS 2015

作者： Tian, Yu Li, Wei Zhang, Fumin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Computer and Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States

ISBN: (纸本)9780933957435

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source. © 2015 MTS.

关键词： Autonomous underwater vehicles

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The 5th International Conference on Biomedical engineering and Biotechnology (ICBEB 2016) Abstracts

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BMC MEDICAL IMAGING 2016年第SUPPL 1期16卷 65-65页

作者： [Anonymous] Department of MRI Shandong Medical Imaging Research Institute Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China Department of Interventional Radiology Shandong Provincial Hospital Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China College of Information Science and Technology Engr. Research Center of Digitized Textile & Fashion Tech. for Ministry of Education Donghua University Shanghai 201620 China Intelligent multimedia information processing Lab College of Software Northeastern University Shenyang Liaoning Province 110004 China Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Computer Science and Technology Nanjing Normal University Nanjing China Department of Electrical Engineering The City College of New York CUNY New York USA Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing China School of Electronic Science and Engineering Nanjing University Nanjing Jiangsu 210046 China College of Engineering Nanyang Technological University Singapore 639798 Singapore School of Electronic Information Shanghai Dianji University Shanghai China School of Natural Sciences and Mathematics Shepherd University Shepherdstown WV 25443 USA Davis College of Agriculture Natural Resources and Design West Virginia University Morgantown WV 26505 USA State Key Laboratory of Millimeter Waves Southeast University Nanjing 210096 China Center of Medical Physics and Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China College of Agricultural and Life Sciences University of Florida Gainesville FL 32611 USA Courant Institute of Mathematical Sciences New York University New York NY 10012 USA Translational Imaging Division & MRI Unit Columbia University and New York State Psychiatric Institute New York NY 10032 USA Guangxi Key Laboratory of Manufacturing System & Adv

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On Finite-Horizon Optimal Control of First-Order Plus Time Delay Systems

On Finite-Horizon Optimal Control of First-Order Plus Time D...

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第27届中国控制与决策会议

作者： Dawei Shi Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Alberta

In this work,a finite-horizon optimal control problem for first-order plus time delay(FOPTD) processes is *** show that if the control horizon is greater than three and the prediction horizon is great than the control horizon plus the time delay in discrete time,the optimal controller is not affected by either of the two ***,under these conditions,the controller parameters are explicitly calculated,the closed-loop system is shown to be stable,and the controller is *** problem considered is related to the results on linear quadratic regulation of linear systems with time delays;however,the detailed parameterization of the state-space model introduced by the FOPTD process provides an additional opportunity to investigate the exact controller structure and properties(e.g.,the locations of the closed-loop poles),which are also the major difficulties encountered and overcome in this *** problem is motivated from phenomena experienced in designing industrial model predictive control(MPC) tuning algorithms,and extensive numerical examples indicate that the proposed results speed up the MPC autotuning algorithms by 70%.

关键词： Optimal control First-order plus time delay process Performance visualization MPC tuning

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller

Maintaining constant towing tension between cable ship and b...

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IEEE/RSJ International Conference on intelligent Robots and Systems

作者： Qi Chen Wei Li Xiaohui Wang Yan Li Shuo Li Bin Xian Robotics State Key Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing P. R. China Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical Engineering and Automation Tianjin University Tianjin China

In this paper, we propose a hybrid FUZZY P + ID controller to stabilize the towing cable tension between a cable ship and a burying system. First, we develop the model of a winch system driven by valve-controlled hydraulic motors and evaluate the step responses yielded by the conventional PID and the proposed FUZZY P+ID controllers using simulations. The comparative studies show that the control performance yielded by the FUZZY P+ID controller is superior. We replace the existing PID controller implemented on the towing winch with the FUZZY P + ID controller for burying cable tasks at speed up to 1 knot under sea waves with significant variations (peak-to-peak) from 1.5 to 2.5 meters. The real applications demonstrate that the FUZZY P + ID controller is much more robust than the conventional PID controller.

关键词： Winches Valves automation Mathematical model Marine vehicles Torque

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Distributed Coverage Optimization for Deployment of Directional Sensor Networks

Distributed Coverage Optimization for Deployment of Directio...

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IEEE Annual Conference on Decision and Control

作者： Xuebo Zhang Xiang Chen Xiao Liang Yongchun Fang Institute of Robotics and Automatic Information System and also Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China Department of Electrical and Computer Engineering University of Windsor Ontario Canada N9B 3P4

ISBN: (纸本)9781479978878

We propose a new sensor-to-point 'coverage distance' to address the anisotropic sensing property of directional sensors. This new coverage distance is then employed to design a distributed coverage optimization algorithm for deployment of directional sensor networks. Different from existing approaches, the newly proposed coverage distance takes advantage of homeomorphism, which could reflect the relationship between the isotropic and the anisotropic spaces. Based on the interpretation of physical sensing models, a homeomorphism is first constructed so that the original anisotropic sensing space is mapped into an isotropic sensing space, in which the sensor-to-point 'coverage distance' can be defined through the Euclidean distance. Then, the coverage distance is used to generate an appropriate scene partition, called 'Directional Voronoi Partition' (DVP), which warrants the design and implementation of a distributed coverage optimization algorithm for deployment of directional sensor networks. The developed method is tested with an circular sector sensor. Simulation results are provided to verify the effectiveness of the proposed approach.

关键词： Robot sensing systems Optimization Euclidean distance Algorithm design and analysis Silicon

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Bio-syncretic Tweezer: 3D Manipulator Actuated by Microorganisms

Bio-syncretic Tweezer: 3D Manipulator Actuated by Microorgan...

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IEEE International Conference on robotics and Biomimetics

作者： Chuang Zhang Shuangxi Xie Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China and University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 10016 China Department of Electrical and Computer Engineering Michigan State University East Lansing Michigan 48824 USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781467396769

Advancement in micro/nano-technology has improved the development of bio-syncretic micro-manipulators. But there are still some challenges including the efficiency, precision and flexibility that constrain the application of micro-manipulators. In this work, a bio-tweezer system is proposed that could flexibly manipulate micro objects in three dimensions with opto-induced bio-actuation by high-density microorganisms. Based on the Langevin equation, a mathematical model considering the hydrodynamics and similar Brownian motion principle was proposed to analyze the performance of manipulation, and, was verified by implementing the experiments to move micro particles in the two-dimension plane and to rotate asymmetrical objects around one axis. This work is helpful for quantitative understanding of micro/nano-manipulation actuated by microorganisms.

关键词： constrain application micro-manipulators

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SIMO detection schemes for underwater optical wireless communication under turbulence

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Photonics Research 2015年第3期3卷 48-53页

作者： Weihao Liu Zhengyuan Xu Liuqing Yang School of Information Science and Technology University of Science and Technology of ChinaHefeiChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Key Laboratory of Wireless-Optical Communications Chinese Academy of SciencesHefeiChina Department of Electrical and Computer Engineering Colorado State UniversityFort CollinsColorado 80521USA

In underwater optical wireless communication(UOWC),a channel is characterized by abundant scattering/absorption effects and optical *** previous studies on UOWC have been limited to scattering/absorption ***,experiments in the literature indicate that underwater optical turbulence(UOT)can cause severe degradation of UOWC *** this paper,we characterize an UOWC channel with both scattering/absorption and UOT taken into consideration,and a spatial diversity receiver scheme,say a singleinput–multiple-output(SIMO) scheme,based on a light-emitting-diode(LED) source and multiple detectors is proposed to mitigate deep *** Monte Carlo based statistical simulation method is introduced to evaluate the bit-error-rate performance of the *** is shown that spatial diversity can effectively reduce channel fading and remarkably extend communication range.

关键词： SIMO detection schemes for underwater optical wireless communication under turbulence than

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Distributed Cooperative Voltage Equalization for Series-Connected Super-Capacitors

Distributed Cooperative Voltage Equalization for Series-Conn...

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American Control Conference

作者： Jiangang Liu Zhiwu Huang Jun Peng Jing Wang School of Information Science and Engineering in Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410075 China Department of Electrical and Computer Engineering Bradley University 1501 West Bradley Ave Peoria IL 61625 USA

ISBN: (纸本)9781479917730

In this paper, we propose a distributed cooperative voltage equalization strategy in order to balance the voltages of the series-connected super-capacitors, which is the power supply of energy storage light rail vehicles. Taking each super-capacitor cell as an agent in multi-agent systems, the voltage equalization problem can be formulated as a cooperative tracking problem. The sparse communication network among the super-capacitors in the cyber layer can be modeled by a digraph. As the voltage changes within a limited range, a general saturation function is put forward to guarantee the boundedness of the control input. Based on the nearest neighborhood rule, a bounded voltage equalization controller with tunable control gains is designed accordingly. The proposed voltage equalization methodology is distributed and not using a central controller. Each super-capacitor cell only need its voltage information and its neighbors, the desired control objective can be accomplished by local interaction in a cooperative way. Under the assumption that the digraph has a spanning tree, the asymptotically stability of the overall close-loop system is rigorously proved with the aid of a novel Lyapunov function integrating Lasalle invariant principle. The voltage equalization has been achieved by the proposed cooperative control approach, which is verified by the simulations. under different initial conditions, cooperative objectives and different network sizes.

关键词： Supercapacitors directed graphs control input Electric Power Source Induction loop systems networks(communications) Liapunov function Distribute

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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