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11th World Congress on Intelligent control and Automation

作者： Ye, Weiquan Wang, Dehong Zhai, Dihua Li, Zhijun Xia, Yuanqing South China Univ Tech Key Lab Autonomous Syst & Network Control Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China Beijing Inst Tech Dept Automat Beijing Peoples R China

ISBN: (纸本)9781479958252

In this paper the problem of bilateral teleoperation of flexible joint manipulators is investigated. Different from the previous works on bilateral teleoperation systems, we investigate the underactuated robotic manipulators instead of the fully actuated one. Specifically, the master and slave robots exhibit joint flexibility. Given that the time-varying delay, the master/slave robots are coupled using the PD type control strategy, the nonlinear master-slave teleoperation system is shown to be asymptotic stable. Simulations results are finally presented to verify the proposed results.

关键词： PD type controller underactuated flexible joint time-varying delays motion synchronization

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Adaptive Fuzzy control for Multilateral Cooperative Teleoperation of Multiple Robotic Manipulators Under Random network-Induced Delays

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IEEE TRANSACTIONS ON FUZZY systemS 2014年第2期22卷 437-450页

作者： Li, Zhijun Xia, Yuanqing Sun, Fuchun S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Tsinghua Univ Dept Comp Sci & Technol Beijing 100084 Peoples R China

In this paper, an adaptive fuzzy control is investigated for multilateral teleoperation of two cooperating robotic manipulators that manipulate an object with constrained trajectory/force in the presence of dynamics uncertainties and random network-induced delays. First, the interconnected dynamics that consist of two master robots and cooperating slave robots are formulated. To consider multiple stochastic delays in communication channels, Markov processes are used to model these random network-induced delays. The interconnected dynamics of the teleoperation are divided into a local master/slave position/force subsystem and a stochastic-delayed motion synchronization subsystem. Then, an adaptive fuzzy control strategy, which is based on linear matrix inequalities (LMIs) that combine adaptive update techniques, is proposed to suppress the dynamics uncertainties, the external disturbances, and the multiple stochastic delays in communication channels. The control approach ensures that the defined synchronization errors converge to zero. The stochastic stability in mean square of the closed-loop system is proved using LMIs based on Lyapunov-Krasovskii functional synthesis. The proposed controls are validated using extensive simulation studies.

关键词： Cooperation fuzzy control multilateral teleoperation robotic manipulators

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Stabilization of Nonholonomic Chained systems via Model Predictive control

Stabilization of Nonholonomic Chained Systems via Model Pred...

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International Conference on Multisensor Fusion and Information Integration for Intelligent systems (MFI)

作者： Xiao, Hanzhen Li, Zhijun Su, Chun-Yi S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst Network Control Guangzhou Guangdong Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ Canada

ISBN: (纸本)9781479967315

This paper proposes a design mainly using of model predictive control for the chained non-holonomic systems. Reorganising the chained system into two subsystem, combine a exponential decaying term to deal with the uncontrollable which carry by the vanishing of u(1). After state scaling transformation, a model predictive control (MPC) method is developed for the chained systems. The MPC method iteratively solve a formulated quadratic programming (QP) problem by using a recurrent neural network(RNN) called general projection network(GPN) over a finite receding horizon to get the input vector for the system control. At the end of the paper, simulation results are provided to demonstrate the effectiveness of the proposed approach.

关键词： model predictive control(MPC) chained non-holonomic systems scaling transformation recurrent neural network(RNN)

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Mind guided Motion control of Robot Manipulator using EEG signals 5

Mind guided Motion Control of Robot Manipulator using EEG si...

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5th International Conference on Information Science and Technology (ICIST)

作者： Malki, Antoni Yang, Chenguang Wang, Ning Li, Zhijun Univ Plymouth Ctr Robot & Neural Syst Plymouth Devon England South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou Guangdong Peoples R China

ISBN: (纸本)9781479974894

Most of current brain computer interfaces (BCI) designed for environment control or navigation are usually made using motor imagery and expensive data acquisition equipment. This study presents an alternative way of utilizing Electroencephalogram (EEG) signals acquired through a low-cost headset to steer a virtual object. In this paper, a preliminary framework of controlling the end effector of a 7 degree of freedom (DoF) virtual robot manipulator by EEG signals and the P300 speller BCI are built. The EEG signals emitted by the user brain are collected by the Emotiv EPOC neuro-headset, which is connected to the OpenViBE platform, where a BCI is designed to retrieve and process the EEG recording in real time. P300 is an observed peak evoked 250 to 500 ms after a visual stimulus in an EEG signal. The P300 speller BCI is an OpenViBE scenario that allows the user to spell letters using P300 signals. The main idea is to associate a letter with a command to control the virtual robot, where the six letters are corresponding to 6 robot movements in the Cartesian space: +X, -X, +Y, -V, +Z, -Z. Letters are sent via a VRPN server on Open Vi be platform and transmitted via a C++ client (designed on Microsoft Visual Studio 2010) to V-REP, a software for creating and testing virtual robot. V-REP remote API is used on the C++ client to control directly the end effector. Online experiments have been performed to test the system performance and the functionality.

关键词： Electroencephalography Robot Manipulator Motor control letter end effectors signals Environmental controls Virtual target system performance visual stimulation Correspondence Robot

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Towards Load Balance and Maintenance in Structured P2P network for Locality Sensitive Hashing

Towards Load Balance and Maintenance in Structured P2P Netwo...

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2011 4th IEEE International Conference on Computer Science and Information Technology(ICCSIT 2011)

作者： Dawei Liu Ming Zhu The Key Lab of Network Communication System ＆ Control The Chinese Academay of Sciences The Key Lab of Network Communication System ＆ ControlAnhui Department of AutomationUniversity of Science and Technology of China

ISBN: (纸本)9781612848334

In this paper,we consider load balancing and maintenance of distributed similarity search system using locality sensitive hashing（LSH） in DHT-based structured P2P *** has been proven efficient in K-Nearest Neighbor（KNN） search in high ***,a number of schemes have been proposed to implement LSH over DHTbased peer-to-peer system to process distributed similarity *** provide an efficient structure using virtual nodes to manage the multi-dimensional LSH bucket space in DHT peers and maintenance algorithm,which improves load balancing in comparison with the state-of-the-art *** effectiveness of the proposed method is proved by experiments.

关键词： load balance DHT LSH virtual node distributed similarity search

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AN EFFICIENT VIDEO SIMILARITY SEARCH STRATEGY FOR VIDEO-ON-DEMAND systemS

AN EFFICIENT VIDEO SIMILARITY SEARCH STRATEGY FOR VIDEO-ON-D...

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2009 2nd IEEE International Conference on Broadband network & Multimedia Technology(2009年宽带网络与多媒体国际会议 IEEE IC-BNMT2009)

作者： Cao Zheng Zhu Ming The Key Lab of Network Communication System & Control The Chinese Academy of Sciences The Key Lab of Network Communication System & Control Anhui Department of Automation University of Science and Technology of China

The video-on-demand systems and video share web are more and more popular in recent years. Video similarity search for content-based video retrieval is important in web service and research field. There is still no satisfying search method for scalable fast similarity search in large video database. In order to solve two challenging problems: video similarity measure and fast search method in large database, a novel efficient video similarity search strategy for video-on-demand systems is proposed in this paper. A compact video signature was computed according to image histogram and spatial-temporal features of video. The video similarity is measured by the computation of the distance of video signature. For the scalable computing requirement, a new search method based on Clustering Index Table was presented by index clustering. The experimental results from the query tests in large database show this method is highly efficient and effective for similar video search.

关键词： Video similarity search Video signature Spatial-temporal distribution Clustering indez table

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Modeling and Solving the Allocation Problem of Spatiotemporal Crowdsourced Logistics Tasks in Social Manufacturing

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IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systemS 2024年第6期11卷 7967-7975页

作者： Liu, Dianting Shang, Lei Dai, Xuanjun Zhang, Zuqiong Guilin Univ Technol Coll Mech & Control Engn Guilin 541006 Peoples R China Educ Dept Guangxi Zhuang Autonomous Reg Key Lab Adv Mfg & Automat Technol Guilin 541006 Peoples R China Guilin Univ Technol Network & Informat Ctr Guilin 541006 Peoples R China

Aiming at the allocation problem of crowdsourced logistics tasks in social manufacturing, a bipartite graph is constructed from the location of crowdsourced workers, and the temporal and spatial attributes of the tasks to represent the crowdsourced task allocation model according to its characteristics of spatiotemporal discretization and subject to full allocation. Considering workers' acceptable distance, transportation cost, and tasks balance, a crowdsourced task allocation model with the overall maximum benefit to workers as the optimization objective is established. First, the dynamic allocation problem is converted to a stationary one using a dynamic programming algorithm to determine the acceptable distance of the workers under the optimal allocation quality, and then the improved beluga whale optimization (IBWO) algorithm is utilized to solve the problem. The Sobol sequence initialization method is used to improve the population diversity and initial solution quality, and the cyclone foraging strategy is used in the development phase to enhance the global search capability and convergence performance of the algorithm. Experiments were conducted on the dataset downloaded from the website (http://***). The results show that the overall benefits of the workers improved by 150.12, 181.96, and 260.64, which validates the rationality of the model and the feasibility and practicality of the method.

关键词： Beluga whale optimization (BWO) algorithm crowdsourced logistics dynamic programming social manufacturing task allocation

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Cooperative Power Split Optimization for a Group of Intelligent Electric Vehicles Travelling on a Highway With Varying Slopes

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systemS 2022年第6期23卷 4993-5005页

作者： Zhai, Chunjie Luo, Fei Liu, Yonggui Hangzhou Dianzi Univ Sch Automat Hangzhou 310018 Peoples R China South China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Peoples R China South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China

This paper proposes a cooperative optimal power split (COPS) method for a group of intelligent electric vehicles with battery/supercapacitor hybrid energy storage systems (HESSs). To achieve good performance, the proposed COPS method is made up of the upper and lower layers: the upper layer aims at obtaining the optimal power demand sequence and sending it to the lower layer;the lower layer attempts to optimize the power split for HESS. Firstly, to ensure the performance of the proposed method in practice, the resistance of the battery and supercapacitor packs as well as the DC/DC converter efficiency are not assumed to be constants, but modeled well in the paper. Secondly, to achieve the optimal power demand sequence, an upper power demand sequence optimization problem is formulated based on distributed model predictive control (DMPC), in which energy demand is incorporated into the cost function. Thirdly, after receiving the optimal power demand sequence, a hybrid power split optimization strategy is presented to obtain the optimal power split, in which the lower HESS power split optimization problem is formulated based on DMPC to decrease battery aging process and energy consumption. Finally, an improved particle swarm optimization algorithm with multiple dynamic populations is used to solve the formulated upper and lower optimization problems. Simulation results demonstrate that, compared with the benchmark, the proposed COPS method can significantly extend battery lifespan and slightly decrease energy consumption.

关键词： Batteries Power demand Torque Resistance Optimization Topology Energy consumption Intelligent electric vehicles hybrid energy storage system nonlinear model predictive control energy efficiency particle swarm optimization

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Task-space hybrid motion/force control of bilateral teleoperation with unsymmetrical time-varying delays

Task-space hybrid motion/force control of bilateral teleoper...

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Chinese control Conference (CCC)

作者： Dehong Wang Zhijun Li Chun-Yi Su The Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou Guangdong CN

The control of bilateral teleoperators is challenging due to the complexity of their nonlinear dynamics, the time delays in the communications as well as the wide range of practical real applications. In this paper, operational space adaptive control of hybrid motion/force synchronization is proposed for bilateral networked teleoperation system with asymmetric time-varying delays in communication channels. The adaptive control with parameter update mechanism is developed to deal with the different kinematics, dynamics uncertainties and external disturbances for the master robot and the slave robot. The system stability is rigorously proved using Lyapunov stability synthesis. The proposed adaptive control is robust against relative motion disturbances, parametric uncertainties and time delay, which is validated by extensive simulation studies.

关键词： Force Delay effects Synchronization Manipulator dynamics Delays

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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