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第二十九届中国控制会议

作者： Philippe POIGNET Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot *** works on control of rigid-link flexible-joint(RLFJ)robot in literature have assumed that the kinematics of the robot is known *** have been few results that can deal with the kinematics uncertainty in RLFJ *** this paper,we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot *** observers are designed to avoid accelerations measurement due to the fourth-order overall system *** stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

关键词： Kinematics Uncertainty,Flexible Joint,Adaptive control,Robot Manipulator,Asymptotic Stability

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Dynamic modeling of electrical characteristics of solid oxide fuel cells using fractional derivatives

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2010年第4期35卷 1749-1758页

作者： Cao, Hongliang Deng, Zhonghua Li, Xi Yang, Jie Qin, Yi Huazhong Univ Sci & Technol Dept Control Sci & Engn Key Lab Educ Minist Image Proc & Intelligent Control Wuhan 430074 Peoples R China Huazhong Univ Sci & Technol Sch Mat Sci & Engn State Key Lab Mat Proc & Die & Mould Technol Wuhan 430074 Peoples R China China Univ Geosci Sch Mech & Elect Informat Wuhan 430074 Peoples R China

An efficient controller is greatly important for the quick load-following response of solid oxide fuel cell (SOFC) power systems, which is vital for the fuel utilization and the life of the stack. To design such a controller, an accurate dynamic model of SOFC electrical characteristics is critical. Here an integer order dynamic model is established by a transient equivalent circuit, and then a fractional order dynamic model is done in the perspective of the fractional derivatives theory. The parameters of the dynamic models then are optimized via genetic algorithms according to electrochemical impedance spectroscopy (EIS) experimental data. Finally, the dynamic response experiments from the models are studied. The results show that the fractional order dynamic model has higher accuracy for representing the dynamics of the SOFC electrical characteristics, which lays a solid foundation for the controller based on the accurate model. (c) 2009 Professor T. Nejat Veziroglu. Published by Elsevier Ltd. All rights reserved.

关键词： Solid oxide fuel cell Transient equivalent circuit Electrochemical impedance spectroscopy Integer order dynamic model Fractional order dynamic model

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A new roadmap constitution method based on dividing grid and level-set

A new roadmap constitution method based on dividing grid and...

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International Symposium on Intelligence Information processing and Trusted Computing

作者： Li, Shidong Ding, Mingyue Cai, Chao Institute for Information Engineering of Hubei University for Nationalities Enshi Hubei China Institute for Pattern Recognition and Artificial Intelligence National Lab. for Multi-spectral Information Processing Technologies HUST Wuhan China College of Life Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China HUST Wuhan China

ISBN: (纸本)9780769541969

Roadmap methods were widely used in route planning fields, both for robots and unmanned aircrafts. Traditional roadmap is constituted by connecting the vertexes of convex obstacle, which is related to the locations of start and goal of route, so the roadmap can not be reused when anyone of start and goal changed. Absence of reusability reduces the efficiency of route planning by using roadmap. A new roadmap constitution method was proposed in this paper, which is build on dividing the 2D configuration space into multi-scale grids and setting nodes of roadmap on grid boundary using Level-Set method, same method was used to construct the map cells of roadmap between any two nodes lays on same grid . The roadmap constituted with new method can be reused when the start or goal was changed;it is efficient for replanning problem. © 2010 IEEE.

关键词： Reusability

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Spiking Neural P Systems with Neuron Division

Spiking Neural P Systems with Neuron Division

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11th International Conference on Membrane Computing

作者： Wang, Jun Hoogeboom, Hendrik Jan Pan, Linqiang Huazhong Univ Sci & Technol Dept Control Sci & Engn Image Proc & Intelligent Control Key Lab Educ Minist Wuhan 430074 Hubei Peoples R China Leiden Univ Leiden Inst Adv Comp Sci Leiden Netherlands

ISBN: (纸本)9783642181221

Spiking neural P systems (SN P systems, for short) are a. class of distributed parallel computing devices inspired from the Way neurons communicate by means of spikes. The features of neuron division and neuron budding are recently introduced into the framework of SN P systems, and it was shown that SN P systems with neuron division and neuron budding can efficiently solve computationally hard problems. In this work, the computation power of SN P systems with neuron division only, without budding, is investigated: it is proved that a uniform family of SN P systems with neuron division can efficiently solve SAT in a deterministic way, not using budding, while additionally limiting the initial size of the system to a. constant number of neurons. Tins answers all open problem formulated by Pan et, al.

关键词： Neurons

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Multistability of Recurrent Neural Networks with Time-varying Delays and the Piecewise Linear Activation Function

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IEEE TRANSACTIONS ON NEURAL NETWORKS 2010年第8期21卷 1371-1377页

作者： Zeng, Zhigang Huang, Tingwen Zheng, Wei Xing Huazhong Univ Sci & Technol Dept Control Sci & Engn Wuhan 430074 Hubei Peoples R China Educ Minist China Image Proc & Intelligent Control Key Lab Wuhan 430074 Hubei Peoples R China Texas A&M Univ Doha 5825 Qatar Univ Western Sydney Sch Comp & Math Sydney NSW 1797 Australia

In this brief, stability of multiple equilibria of recurrent neural networks with time-varying delays and the piecewise linear activation function is studied. A sufficient condition is obtained to ensure that n-neuron recurrent neural networks can have (4k - 1)(n) equilibrium points and (2k)(n) of them are locally exponentially stable. This condition improves and extends the existing stability results in the literature. Simulation results are also discussed in one illustrative example.

关键词： Attractive set multistability piecewise linear time-varying delays

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control reconfiguration of new strap-on boosted launch vehicle [PRC] with deadlocked swing engines

Control reconfiguration of new strap-on boosted launch vehic...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Lei Liu Biao Yin Yongji Wang Zhixiang Deng Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

To enhance the reliability of launch vehicle attitude control systems and prevent the control invalidation caused by swing engine deadlock, a control reconfiguration of fault-tolerant control is proposed. Firstly, the coupling identity between the channels is discussed based on the dynamic model of the vehicle. Then, under the assumption of no rolling motion, we study the swing angles reconfiguration method based on the moment balance principle, and then deduce the relationship between the swing angle of the deadlocked engines and the engines still operate well. From the rationality analysis, the safe bound of the deadlocked engine and reconfiguration conditions are proposed under several assumptions. Finally, the numerical simulation of rocket attitude control based on the discussed reconfiguration strategy is given to demonstrate that the variance of the control affect by the deadlocked engine could be rectified by other booster-engines effectively.

关键词： Engines Power capacitors Variable speed drives System recovery

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control of a rehabilitation robotic exoskeleton based on intentional reaching direction

Control of a rehabilitation robotic exoskeleton based on int...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Weiguang Huo Jian Huang Yongji Wang Jun Wu Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China

An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force sensing system made of multiple force sensing resisters (FSRs) is embedded in the robotic exoskeleton. A static force model of the upper limb in a relaxed state is obtained when the user wears the exoskeleton. A hybrid model is proposed to describe the behavior modes of human upper limb motion. Filtering technology is designed to infer the intended moving direction of upper limb based on the measured force information and the static force model. The motion intention of user's upper limb can be online estimated using the filter and a mode transition detector. Guided by the inferred intention, an admittance control strategy is assumed to control the motors of each DOF. The effectiveness of proposed robotic system and control approaches is evaluated by experiments.

关键词： Exoskeletons Joints Robot sensing systems

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The research in a plantar pressure measuring system connected with EEG

The research in a plantar pressure measuring system connecte...

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International Conference on Signal processing Proceedings (ICSP)

作者： Li Wei Qiu Hong Huang Yue Chen Xi Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science and Engineering Huazhong University of Science and Technology China

The paper presents a foot pressure measuring system connected with EEG It can quantify the relationship between human gait cycle and EEG signals. Understanding the relationship will help in the prevention of potential motor dysfunction disease and the development of rehabilitation tools. The whole system is composed of three parts: EEG signal acquisition, foot landing signal acquisition and the synchronization of these two signals. EEG signal can be acquired by Neuroscan EEG system. The plantar pressure measuring system (PPMS) is designed in details. With PVDF piezoelectric film sensor insole, PPMS could measure the plantar pressure precisely, and send a TTL signal as a mark to EEG system synchronously with EEG signal when the foot contacts the ground at beginning of each gait cycle. The experiment results shows that EEG signals are in line with human gait cycle on dynamic response. From that, some potential diseases can be predict, such as dyskinesia, peripheral neuropathy, neurological disorder, musculoskeletal disease and so on. It can also be used to monitor improvements in rehabilitation.

关键词： Electroencephalography Humans Foot Pressure measurement Low pass filters Diseases Piezoelectric films

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Small universal asynchronous spiking neural P systems

Small universal asynchronous spiking neural P systems

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Linqiang Pan Xiangxiang Zeng Xinyi Zhang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

Looking for small universal computing devices is a natural and well investigated topic in computer science. Recently, this topic started to be considered also in the framework of (synchronized) spiking neural P systems. In this work, it is focused on small universal spiking neural P systems working in a non-synchronized manner. Specifically, it is proved that there is an asynchronous spiking neural P system with 76 neurons that is equivalent to a universal register machine for computing functions. As generator of sets of numbers, a universal asynchronous spiking neural P system with 75 neurons is constructed.

关键词： Variable speed drives Neurons

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An improved optimal guidance law with impact angle constraints based on genetic algorithms

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International Journal of Modelling, Identification and control 2010年第1-2期10卷 94-100页

作者： Zheng, Zongzhun Wang, Yongji Wu, Hao Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan Hubei Province 430074 China

In this paper, an improved formulation of optimal guidance law (OGL) based on genetic algorithms (GAs) is proposed. Linear quadratic optimal control theory is derived to consider terminal velocity maximisation, also GAs are employed to search weight coefficient matrix of the linear quadratic performance index optimum process problem. In the GAs, a combination of the roulette wheel and elitism methods is adopted, and penalty function is added to performance index. Consequently, terminal position accuracy and impact angle constraints are satisfied. Numerical simulation results illustrate that the proposed OGL based on GAs shows better performance compared with conventional method and is rather robust. Copyright © 2010 Inderscience Enterprises Ltd.

关键词： Genetic algorithms

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