检索结果-内蒙古大学图书馆

IEEE Aerospace Conference

作者： Wang, Ning Yang, Chenguang Lyu, Michael R. Li, Zhijun Chinese Univ Hong Kong Dept Comp Sci & Engn Hong Kong Hong Kong Peoples R China Univ Plymouth Sch Comp & Math Plymouth PL4 8AA Devon England S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China

ISBN: (纸本)9781479916221

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： Human impedance time delay Robot Haptic Device Component Communication technology small gain theorem Touch Force control mechanical impedance

来源：评论

学校读者我要写书评

暂无评论

Automatic Obstacle Avoidance using Redundancy for Shared controlled Telerobot Manipulator 5

Automatic Obstacle Avoidance using Redundancy for Shared Con...

引用

IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems (CYBER)

作者： Wang, Xinyu Yang, Chenguang Ma, Hongbin Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Univ Plymouth Sch Comp & Math Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England South China Univ Technol Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou Guangdong Peoples R China South China Univ Technol Coll Automat Sci & Engn Guangzhou Guangdong Peoples R China Beijing Inst Technol State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China

ISBN: (纸本)9781479987306

In this paper, a novel obstacle avoidance method is developed in the framework of shared control for teleoperation robot manipulator, such that the human operator only need to tele-operate the end-effector motion of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end-effector performance by using its joint space redundancy. The obstacle is detected using Kinect (R) sensor, and a novel obstacle avoidance method is used based on the general solution of the inverse kinematic problem. By employment of an artificial parallel system of the teleoperator manipulator, the proposed control method enables the robot restoring back to the commanded pose when the obstacle avoidance task is accomplished. The performance of the proposed methods is demonstrated by simulation studies. The developed techniques are of great advantage to be used in teleoperation which requires safe interaction with environment.

关键词： Teleoperation Shared control Kinematically Redundant Obstacle Avoidance

来源：评论

学校读者我要写书评

暂无评论

Ecological Cooperative Adaptive Cruise control for a Heterogeneous Platoon of Heavy-Duty Vehicles With Time Delays

引用

IEEE ACCESS 2020年 8卷 146208-146219页

作者： Zhai, Chunjie Chen, Xiyan Yan, Chenggang Liu, Yonggui Li, Huajun Hangzhou Dianzi Univ Sch Automat Hangzhou 310018 Peoples R China South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Network Control Minist Educ Guangzhou 510641 Peoples R China

To deal with energy crisis and environmental issues, higher fuel economy standards and more stringent limitations on greenhouse gas emissions for ground vehicles have been made. Ecological cooperative adaptive cruise control (Eco-CACC) has been considered as an effective solution to decrease the fuel consumption and greenhouse gas emissions of a platoon of vehicles, and this article proposes an Eco-CACC strategy for a heterogeneous platoon of heavy-duty vehicles with time delays. The proposed Eco-CACC strategy consists of distributed control protocols for the following vehicles and a new model predictive controller for the leading one. Firstly, after the distributed control protocols are designed based on the neighboring vehicle information, the sufficient conditions that guarantee the internal stability and string stability are derived, and the upper bound of the time delays under controller parameters is also obtained. Secondly, assuming the vehicle platoon as a rigid body with followers staying at desired positions, the new model predictive controller is designed in order to further improve the overall fuel economy of vehicle platoon. Simulations are conducted to validate the sufficient conditions of internal stability and string stability, and to explore the fuel saving performance of the proposed control strategy. The simulation results demonstrate that, compared with the benchmark, the proposed Eco-CACC strategy can significantly improve the fuel economy of heterogeneous platoon.

关键词： Biological system modeling Stability analysis Aerodynamics Fuel economy Delay effects Vehicle dynamics Cooperative control heterogeneous platoon string stability model predictive control fuel economy

来源：评论

学校读者我要写书评

暂无评论

A fast algorithm of the optimal smoothing scheme for transmitting stored video

A fast algorithm of the optimal smoothing scheme for transmi...

引用

IITA International Conference on control, Automation and systems Engineering

作者： Zilei Wang Hongsheng Xi Guo Wei Key Lab of network communication system and control Chinese Academy of Sciences University of science and technology of China (USTC) Dept. of electronic engineering and information science USTC

ISBN: (纸本)9781424445530

Minimum changes bandwidth allocation (MCBA) is an optimal video transmission scheme resulting in the minimum number of rate changes with the minimum peak rate, which can reduce renegotiation frequency in statistical multiplexing service. The existing MCBA algorithm with searching frontiers, however, has a high computational complexity, which depressed the applicability of MCBA. In this paper, we design a fast algorithm of MCBA that examines for the bounded point based on the convex envelopes of the overflow and underflow curve. As a result, our algorithm can work out an MCBA scheme in a shorter time because we can find the bounded point with a linear complexity, and calculate each transmission rate within several iterations. The simulation using real video traces confirmed the philosophy and efficiency of our algorithm.

关键词： Smoothing methods Bandwidth Streaming media Optimal control Communication system control control systems Channel allocation Computational complexity Storage automation systems engineering and theory

来源：评论

学校读者我要写书评

暂无评论

R-CHORD: A DISTRIBUTED SIMILARITY RETRIEVAL system WITH RPCID

R-CHORD: A DISTRIBUTED SIMILARITY RETRIEVAL SYSTEM WITH RPCI...

引用

2009 IEEE International Conference on network Infrastructure and Digital Content(2009年IEEE网络基础设施与数字内容国际会议 IEEE IC-NIDC2009)

作者： Wenke Yin Ming Zhu Lan Jiang Joint Laboratory of Network Communication System & Control Key Lab of Anhui Hefei 230027 China Department of Automation University of Science and Technology of China Hefei 230027 China

In order to achieve the access of massive highdimensional data on P2P network efficiently, we present a distributed similarity retrieval system named R-Chord using modified iDistance based on Relative Position Code (RPCID). RPCID calculates the lower bound distance between the query point and the data point using Relative Position Code (RPC). RPC is a data object encoding method based on spatial location information. A RPC area can be discarded when the lower bound distance is greater than the pruning distance. Experimental results show that RPCID can achieve better time performance and resource consumption than iDistance.

关键词： Range search K-Nearest-Neighbor search Relative Position Code

来源：评论

学校读者我要写书评

暂无评论

Cross-heterogeneous Domain Authentication Scheme Based on Blockchain

引用

Journal of Artificial Intelligence and Technology 2021年第2期1卷 92-100页

作者： Jing Liu Yixin Liu Yingxu Lai Rongchen Li Siyu Wu Sami Mian College of Computer Science Faculty of Information TechnologyBeijing University of TechnologyBeijing 100124China Shaanxi Key Laboratory of Network and System Security Xi’an 710071China Science and Technology on Information Assurance Laboratory Beijing 100072China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of EducationBeijing 100124China Fan Gongxiu Honors College Beijing University of TechnologyBeijing 100124China University of Pittsburgh PittsburghPA 15260USA

With the rising popularity of the Internet and the development of big data technology,an increasing number of organizations are opting to cooperate across domains to maximize their *** organizations use public key infrastructure to ensure security in accessing their data and ***,with the continuous development of identity-based encryption(IBE)technology,small-and medium-sized enterprises are increasingly using IBE to deploy internal authentication *** solve the problems that arise when crossing heterogeneous authentication domains and to guarantee the security of the certification process,we propose using blockchain technology to establish a reliable cross-domain authentication *** the distributed and tamper-resistant characteristics of the blockchain,we design a cross-domain authentication model based on blockchain to guarantee the security of the heterogeneous authentication process and present a cross-domain authentication protocol based on *** model does not change the internal trust structure of each authentication domain and is highly ***,on the premise of ensuring security,the process of verifying the signature of the root certificate in the traditional cross-domain authentication protocol is improved to verify the hash value of the root certificate,thereby improving the authentication *** developed prototype exhibits generality and simplicity compared to previous methods.

关键词： public key infrastructure identity-based encryption cross-domain authentication blockchain

来源：评论

学校读者我要写书评

暂无评论

H_∼ performance controller parameterisation of linear switching plants under uncontrolled switching

引用

INTERNATIONAL JOURNAL OF control 2016年第5期89卷 871-878页

作者： Xie, Wei S China Univ Technol Coll Automat Sci & Technol Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China

This paper addresses the problem of H-similar to performance controller parameterisation for a plant switching amongst a finite family of given configurations. It is assumed that switching is uncontrolled, namely governed by some arbitrary switching rule, and that the controller has the information of the current configuration. Based on Riccati inequalities, there exists a set of controller parameterisation which ensures that the closed-loop switching linear system under uncontrolled switching achieves certain H-similar to controlled performance.

关键词： Switching control H-similar to performance controller parameterisation

来源：评论

学校读者我要写书评

暂无评论

Teleoperated Robot Writing using EMG Signals

Teleoperated Robot Writing using EMG Signals

引用

IEEE International Conference on Information and Automation 2015

作者： Yang, Chenguang Chang, Sai Liang, Peidong Li, Zhijun Su, Chun-Yi Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510640 Guangdong Peoples R China Harbin Inst Technol State Key Lab Robot Syst Harbin 150001 Peoples R China Concordia Univ Dept Mech & Ind Engn Montreal PQ H3G 1M8 Canada

ISBN: (纸本)9781467391047

In this paper, we have developed a method to tele-control a robot arm to imitate human writing skills using electromyography (EMG) signals. The control method is implemented on the Baxter (R) robot with a brush attached on the endpoint of its arm to imitate human writing skills, and a MYO sensor is used to measure the surface electromyographic (sEMG) signals generated by contractions of human muscles involved in writing tasks. A haptic device Sensable (R) Omni is used to control the motion of the Baxter (R) robot arm, and V-Rep (R) is employed to simulate the movement of the arm and to calculate the inverse kinematic of Baxter (R) robot arm. All the communications for Baxter (R) robot, V-Rep simulator, Omni device and MYO are integrated in MATlab (R)/Simulink (R). The main test is to make the Baxter (R) arm following the movement of a human subject when writing with Omni stylus, and the EMG signals are processed using low pass filter and moving average technique to extract the smoothed envelope which is utilised to control the variation of position instead of variation of force along the vertical Z axis, so when the operator writes with force variations, the Baxter (R) can draw lines with variable thickness. This imitation system is successfully tested to make the Baxter (R) arm to follow the writing movement of the operator's hand and would have potential applications in more complicated human robot teleoperation tasks such as tele-rehabilitation and tele-surgery.

关键词： Teleoperation sEMG V-Rep Baxter (R) robot

来源：评论

学校读者我要写书评

暂无评论

sEMG-Based Joint Force control for an Upper-Limb Power-Assist Exoskeleton Robot

引用

IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS 2014年第3期18卷 1043-1050页

作者： Li, Zhijun Wang, Baocheng Sun, Fuchun Yang, Chenguang Xie, Qing Zhang, Weidong S China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Network Control Guangzhou 510006 Guangdong Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200030 Peoples R China Tsinghua Univ Dept Comp Sci & Technol Beijing 100084 Peoples R China Univ Plymouth Sch Comp & Math Plymouth PL4 8AA Devon England Shanghai Jiao Tong Univ Ruijin Hosp Dept Rehabil Med Shanghai 200030 Peoples R China

This paper investigates two surface electromyogram (sEMG)-based control strategies developed for a power-assist exoskeleton arm. Different from most of the existing position control approaches, this paper develops force control methods to make the exoskeleton robot behave like humans in order to provide better assistance. The exoskeleton robot is directly attached to a user's body and activated by the sEMG signals of the user's muscles, which reflect the user's motion intention. In the first proposed control method, the forces of agonist and antagonist muscles pair are estimated, and their difference is used to produce the torque of the corresponding joints. In the second method, linear discriminant analysis-based classifiers are introduced as the indicator of the motion type of the joints. Then, the classifier's outputs together with the estimated force of corresponding active muscle determine the torque control signals. Different from the conventional approaches, one classifier is assigned to each joint, which decreases the training time and largely simplifies the recognition process. Finally, the extensive experiments are conducted to illustrate the effectiveness of the proposed approaches.

关键词： Exoskeleton force estimation linear discriminant analysis (LDA) surface electromyogram (sEMG)

来源：评论

学校读者我要写书评

暂无评论

Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

引用

IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：