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Approximate Stiffness Element Method for Complex Section Beam Modeling

Journal of Physics: Conference Series 2020年第1期1605卷

作者： Xinshen Huang Hao Li Zhenkun Zhang Jianguo Zheng Hailong Pei Guangzhou Customs Technology Center Guangzhou China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou China

In this paper, a finite element method of simulating complex section beam element with approximate stiffness element is presented. By establishing an approximate stiffness element, the basic mechanical properties of the element are equivalent to the original complex section beam element's. The approximate stiffness element has several sub-section beam elements, which intersect with other beam elements in space. The problem that missing of intersection points among complex section beam and other beams, which is caused by using conventional beam element, is solved. The error between the approximate stiffness element and the original complex section beam element is analyzed by theoretical deduction, and the feasibility and accuracy of the approximate stiffness element method are verified by the physical test of a bus body.

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Dynamic Surface control of Shape Memory Alloy Actuating systems with Inverse Duhem Hysteresis Compensation

Dynamic Surface Control of Shape Memory Alloy Actuating Syst...

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IEEE International Conference on Mechatronics and Automation

作者： Rui Li Ying Feng Zedong Hu School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

Shape Memory Alloys actuators are a class of smart materials-based actuators, and show a good output performance with high force to mass ratio, biocompatibility and small size. However, the internal hysteresis nonlinearities between the input temperature and output displacement adversely affect the output accuracy and they cannot be mitigated directly because of the strong non-smooth feature of SMA materials. To improve the actuating ability of SMA system, an estimated hysteresis inverse is employed based on Duhem model as the compensation of SMA actuator in this paper. Considering the dynamics of the SMA actuating system and the compensation error, a dynamic surface controller (DSC) is designed. The simulation results validate the effectiveness of the proposed approach.

关键词： Hysteresis Actuators Wires Couplers Mathematical model Pulse width modulation Force

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A Fast Calculation Method for Bus Body Based on Equivalent Stiffness Element Method

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Journal of Physics: Conference Series 2020年第1期1626卷

In view of complex modeling and inefficient calculation at existing stage finite element analysis method in bus body skeleton analysis. This paper presents a method on simulating complex large section beams by equivalent stiffness element. Equivalent stiffness element model is analyzed theoretically. Experiments are carried out to verify that the equivalent stiffness element method can be used in rapid analysis and calculation for girder, body frame and body optimization. It not only reduces modeling complexity, but also improves calculation efficiency. To a certain extent, it can provide a better analysis method for large-scale vehicle modeling and simulation.

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Omnidirectional Mobile Robot control based on Mixed Reality and sEMG Signals

Omnidirectional Mobile Robot Control based on Mixed Reality ...

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Chinese Automation Congress

作者： Mulun Wu Yanbin Xu Chenguang Yang Ying Feng Key Laboratory of Autonomous Systems and Networked Control college of Automation Scienceand Engineering South China University of Technology Guangzhou China

Robots are an important part of social production now, and their control methods have become an important research topic. There is a greater need for remote control and richer ways of interacting. In this paper, virtual reality and the surface electromyography (sEMG) signals are combined with the control of the omnidirectional mobile robot (OMR), and the programs of two devices, the HoloLens and the MYO armband, are respectively programmed and developed, so that they can work together to control the OMR. The basic control method is that HoloLens wearer controls the movement direction of the OMR through gesture or gaze. MYO armband wearer generate different sEMG signals through different gesture to control the velocity of the OMR. When two devices are used together, they can control all the motion of the OMR.

关键词： Omnidirectional mobile robot Virtual reality Surface electromyography Teleoperation

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ROUGH PERIOD ESTIMATION AND PEAK PREDICTION OF STOCK MARKET BASED ON MULTIPLE SINE FUNCTIONS EXTRACTION 17

ROUGH PERIOD ESTIMATION AND PEAK PREDICTION OF STOCK MARKET ...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Zhang, Yunong Xue, Zhongxian Jing, Tao Ling, Yingbiao Ye, Chengxu SYSU Sch Informat Sci & Technol Guangzhou 510006 Peoples R China Qinghai Normal Univ Sch Comp Sci Xining 810008 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Minist Educ Key Lab Machine Intelligence & Adv Comp Guangzhou 510006 Peoples R China

ISBN: (纸本)9781538652145

With the development of economy, the stock market of China is booming rapidly. In recent years, a method called multiple sine functions extraction (MSFE) has been proposed, e.g., to predict the potential stock market. In this paper, we use the MSFE to roughly forecast the peak-point of Chinese stock market, in which the inputs are stock data of Shanghai Security Exchange (SSE) Composite Index from 1992 to 2015, and the outputs are potential peak-points of the stock market in the next ten years. Eventually, even though the stock market has cyclical fluctuations, it is corresponding to the rising economy development in China. In addition, we make the conclusion that the peak-point of the Chinese stock market in the next ten years may be around 11/10/2024 in the form of Month/Day/Year.

关键词： MSFE (multiple sine functions extraction) Stock market Prediction Peak-point

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Robust model predictive control synthesis for state-delayed systems with randomly occurring input saturation nonlinearities

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2018年第1期40卷 179-190页

作者： Zhang, Langwen Xie, Wei Zhong, Zhaozhun Wang, Jingcheng South China Univ Technol Coll Automat Sci & Technol Guangzhou 510641 Guangdong Peoples R China South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Soochow Univ Sch Iron & Steel Suzhou Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai Peoples R China

In this paper, a model predictive control algorithm is presented for linear parameter varying systems with both state delays and randomly occurring input saturation. The input saturation is assumed to be occurred randomly with Bernoulli-distributed white sequences. A constant sate feedback law is designed at each time instant to ensure the robust stability of the closed-loop system with respect to polytopic uncertainties. The optimization of model predictive controller is cast into solving a linear matrix inequalities optimization problem. Then, the results are extended to gain-scheduled approach in which a set of state feedback laws are designed for each vertex of the system model. The state feedback law is scheduled by the time varying model parameters to achieve less conservatism in controller design. Finally, two examples are employed to show the effectiveness of the proposed algorithms.

关键词： Robust model predictive control uncertain systems randomly occurring input saturation state delays

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A DMPs-Based Framework for Robot Learning and Generalization of Humanlike Variable Impedance Skills

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2018年第3期23卷 1193-1203页

作者： Yang, Chenguang Zeng, Chao Fang, Cheng He, Wei Li, Zhijun South China Univ Technol Key Lab Autonomous Syst & Networked Control Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China Ist Italiano Tecnol Humanoids & Human Ctr Mechatron Lab I-16163 Genoa Italy Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol China Dept Automat Hefei 230026 Anhui Peoples R China

One promising approach for robots efficiently learning skills is to learn manipulation skills from human tutors by demonstration and then generalize these learned skills to complete new tasks. Traditional learning and generalization methods, however, have not well considered human impedance features, which makes the skills less humanlike and restricted in physical human-robot interaction scenarios. In particular, stiffness generalization has not been well considered. This paper develops a framework that enables the robot to learn both movement and stiffness features from the human tutor. To this end, the upper limb muscle activities of the human tutor aremonitored to extract variable stiffness in real time, and the estimated human arm endpoint stiffness is properly mapped into the robot impedance controller. Then, a dynamic movement primitives model is extended and employed to simultaneously encode the movement trajectories and the stiffness profiles. In this way, both position trajectory and stiffness profile are considered for robot motion control in this paper to realize a more complete skill transfer process. More importantly, stiffness generalization and movement generalization can be efficiently realized by the proposed framework. Experimental tests have been performed on a dual-arm Baxter robot to verify the effectiveness of the proposed method.

关键词： Dynamic movement primitives (DMPs) human-robot interaction stiffness generalization variable impedance skill transfer

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IMU Preintegration for Visual-Inertial Odometry Pose Estimation

IMU Preintegration for Visual-Inertial Odometry Pose Estimat...

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第37届中国控制会议

作者： Fuchun Liu Xuan Su Yun He Fei Luo Huanli Gao College of Automation Science and Engineering The Key Laboratory of Autonomous Systems and Networked Control（ASNC） Ministry of Education South China University of Technology

In this paper,based on Inertial Measurement Unit（IMU） preintegration,a pose estimation algorithm for Visual-Inertial Odometry（VIO） system has been ***,we developed the kinematic equation of acceleration and angular velocity of *** avoid the re-integration caused by the change of the system states,the IMU measurements are preintegrated on the Riemannian manifold of ***,we studied the propagation characteristic of noise and derived the state transition equation of the *** the influence of noise on pose estimation can be dramatically *** with the famous Okvis algorithm,experimental results on two public datasets of EuRoC show that the proposed IMU preintegration algorithm achieves good estimation median of translation error with 0.14 m,which is better than Okvis with 0.24 m,

关键词： IMU Preintegration Manifold Kinematic Equation VIO Noise Propagation

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An Incremental Learning Framework for Skeletal-based Hand Gesture Recognition with Leap Motion

An Incremental Learning Framework for Skeletal-based Hand Ge...

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

作者： Jie Li Junpei Zhong Fei Chen Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China School of Science and Technology Nottingham Trent University Nottingham UK Istituto Italiano di Tecnologia via Morego 30 Genova Italy Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Hand gesture recognition has become the focus of researchers lately because of its manifold applications in various fields. Leap Motion (LM) is a device to obtain useful and accurate information of the hand action, which is suitable for collecting the three-dimensional (3D) human hand gesture. In this paper, a novel framework which consists of an incremental learning (IL) algorithm without deep structure is proposed and applied to hand gestures classification that explicitly aimed to the LM data. The same datasets are used to train the proposed framework and the conventional Long Short Term Memory Recurrent Neural Network (LSTM-RNN). Due to the structural advantage of the proposed model, the recognition performance is improved distinctly in robustness and training time than the LSTM network. Moreover, convincing experiment results are given to illustrate that the solution is more efficient in static gesture classification.

关键词： Logic gates Computer architecture Gesture recognition Training Feature extraction Microprocessors Three-dimensional displays

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Active Disturbance Rejection Based Iterative Learning control for Variable Air Volume Central Air-Conditioning System

Active Disturbance Rejection Based Iterative Learning Contro...

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Data Driven control and Learning systems (DDCLS)

作者： Shiying Lu Wei Ai Xiangyang Li Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781538626191

The Variable Air Volume (VAV) Central Air-Conditioning system is a complicated system with non-linearity, large-time delay and strong inertia, thus it is difficult to design an effective controller. Iterative Learning control (ILC) takes good effect in controlled process with repeatability and periodicity, but it cannot cope with uncertain disturbance explicitly. A creative algorithm, Active Disturbance Rejection based Iterative Learning control (ADR-Based ILC), is proposed to improve ILC's performance in VAV control system. ADR-Based ILC compensates the disturbance explicitly caused by ambient temperature, heat from people and machines, and makes it higher control precision and higher energy-efficiency. An accurate model of VAV system is built in TRNSYS platform, and ADR-Based ILC is proved to be more effective than fuzzy PID and ILC.

关键词： Uncertainty Iterative learning control Buildings Cooling Heating systems Time-domain analysis

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