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2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011

作者： Kun, Gong Fang, Deng Tao, Ma Beijing 100083 China School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9781612842509

In order to improve the precision of the azimuth measured by mobile robot's electronic compass, this paper proposes a new calibration method based on Fourier Neural Network trained by Modified Particle Swarm Optimization (MPSO-FNN). This method makes use of Fourier Neural Network (FNN) to establish the error compensation model of electronic compass's azimuth, and introduces Modified Particle Swarm Optimization (MPSO) algorithm to optimize the weights of neural network. Thus the comparatively accurate error model of azimuth is obtained to compensate the output of electronic compass. This method not only has strong nonlinear approximation capability, but also overcomes the neural networks' shortcomings which are too slow convergence speed, oscillation, and easy to fall into local optimum and sensitive to the initial values. Experimental results demonstrate that after calibrated by this method, the range of azimuth error reduces to -0.35°-0.70deg;from -3.4°-25.2°, and the average value of absolute error is only 0.30°. © 2011 IEEE.

关键词： Error compensation

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Medical image segmentation using mean shift algorithm and general edge detection

Medical image segmentation using mean shift algorithm and ge...

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作者： Lu, Jinghua Chen, Jie Zhang, Juan Zou, Lihui School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9783902661937

The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat some structures and artifacts as general edge features, and introduce the edge information into the mean shift segmentation algorithm in both clustering and the fusion steps. Considering the medical images as two dimensional signals, the general edge can be detected and described with its local spatial frequency properties. The segmentation results show the improvement in preserving the completeness of details while sketching the overall structures. © 2011 IFAC.

关键词： Image segmentation

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Online path planning for UAV using an improved differential evolution algorithm

Online path planning for UAV using an improved differential ...

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作者： Zhang, Xing Chen, Jie Xin, Bin Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9783902661937

This paper presents a 3D online path planning algorithm for unmanned aerial vehicle (UAV) flying in partially known hostile environment. In order to provide a smooth fight route for UAV, the algorithm adopts B-Spline curve to describe UAV's path whose control points are optimized by an improved differential evolution algorithm. The planner gradually produces a smooth path for UAV from starting location to its target. Regarding path planning performance, the proposed improved diferential evolution based planner is compared with its three competitors which are based on classical differential evolution, genetic algorithm and particle swarm optimization, respectively. Numerical simulation demonstrates that the proposed UAV path planner not only produces high-quality feasible flight routes for UAV, but also obviously outperforms its competitors. © 2011 IFAC.

关键词： Motion planning

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Study on displacement control of the pneumatic muscle actuator basing on model-free adaptive control with nonlinear feedback

Study on displacement control of the pneumatic muscle actuat...

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3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011

作者： Yu, Liu Tao, Wang Tong, Zhao Wei, Fan Hao, Liu School of Automation Complicated System of Intelligent Control and Decision Key Lab of Education Ministry Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9780769542966

Since the Pneumatic Muscle Actuator PMA has the characteristic of strong nonlinear and time lags, it is difficult to establish a precise mathematical mode. Model-Free Adaptive control (MFAC) is an advanced control algorithm that does not require building an off-line mathematical model. This paper is basing on the feature of the PMA and presents a model-free adaptive control algorithm with the nonlinear feedback. Finally, experimental results show the strong robustness, fast response, and high precision of this control algorithm on the displacement control of the PMA. © 2011 IEEE.

关键词： Muscle

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3D multi-constraint route planning for UAV low-altitude penetration based on multi-agent genetic algorithm

3D multi-constraint route planning for UAV low-altitude pene...

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作者： Wu, Jin-Ping Peng, Zhi-Hong Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education China

ISBN: (纸本)9783902661937

Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method. © 2011 IFAC.

关键词： Military applications

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The new field power device based on super capacitor and it's application

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Binggong Xuebao/Acta Armamentarii 2012年第SUPPL2期33卷 417-422页

作者： Bai, Yong-Qiang Jin, Tian-Xu Wang, Hai-Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China Harbin Jurong New Power Co. Ltd. Harbin 150078 Heilongjiang China

Based on special demand of field power for artillery electric drive system and analysis of the existing power system, a new design of hybrid power device with super capacitor is proposed to replace the traditional battery, which is more suitable to the field requirements, and has more energy efficiency, greater power ratio, and energy ratio. The design criteria and formula are presented. Test results show that the hybrid device, compared with the traditional power device, has the advantages of high efficiency, high energy volume ratio, high weight ratio, strong environmental adaptability, and good lower temperature performances, and can meet the demand of power device in the field condition.

关键词： Energy efficiency

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Adaptive control of 6-DOF parallel manipulator

Adaptive control of 6-DOF parallel manipulator

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作者： Jin, Qinglong Chen, Wenjie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

This paper presents an adaptive controller equipped with disturbance rejection capability for a 6 degrees of freedom (6-DOF) parallel manipulator. The control scheme is proposed given that the 6-DOF parallel manipulator system's parameters are all subject to uncertainties, and only the positions and the velocities of links are measurable. In this paper, the dynamics of the 6-DOF parallel manipulator is denoted in the Lagrange method, and, as well as an appropriate storage function, some important properties of the dynamics are derived to develop an adaptive controller which, by the penalty signal chosen, can drive the motion tracking error to zero asymptotically. Lyapunov theory is used to guarantee the stability of the system. Simulation results show that the 6-DOF adaptive control system has a good tracking performance in both normal and extreme limited working conditions. © 2011 Chinese Assoc of Automati.

关键词： Adaptive control systems

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Virtual realization of dynamic path planning in target-creator based on Vega/HLA

Virtual realization of dynamic path planning in target-creat...

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作者： Zhu, Wenbin Zhang, Juan Yu, Haixin Peng, Zhihong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

ISBN: (纸本)9789881725592

The importance of testing for multi-targets detecting and tracking algorithms accelerates the current technologies of target-creator system which provides multiple and various targets. Traditional target-creator systems are mostly based on the physical devices or video stream. Based on the need of building virtual environment and realizing system integration, VR technology and HLA technology are applied to improve the efficiency. With VR technology, three-dimensional models and visual scenes are built effectively and method of dynamic path planning is put forward. Through HLA technology, targets position information will be interacted real time, so algorithm evaluation is available by comparing real positions and detection results. In this paper, a virtual target-creator system based on Vega/HLA is designed which cuts down the outlay and time of the experiment. © 2011 Chinese Assoc of Automati.

关键词： Motion planning

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Adaptive control of air delivery system for PEM fuel cell using backstepping

Adaptive control of air delivery system for PEM fuel cell us...

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作者： Li, Peng Chen, Jie Cai, Tao Zhang, Bo School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The proton exchange membrane (PEM) fuel cells have attracted significant attention due to high efficiency and low pollution. The performance and lifetime of the fuel cell power system depend on the heat and water management, gas flow control and pressure regulation. This paper focuses on the oxygen excess ratio regulation for the fuel cell system to improve the performance and extend the lifetime. Firstly, a third-order model of the air delivery subsystem is introduced based on suitable assumption and simplification. Secondly, the third-order model is transformed to the non-affine nonlinear form, and the oxygen excess ratio regulation is reconsidered as load current tracking problem. Using the backstepping technique and neural network, an adaptive controller is proposed for the tracking problem and guarantees the system's stability in presence of modeling errors, external disturbances and uncertainties. Finally, the simulation illustrates the effectiveness of the adaptive controller. © 2011 Asian control Association.

关键词： Backstepping

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Multi-group consensus via pinning control with non-linear heterogeneous agents

Multi-group consensus via pinning control with non-linear he...

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作者： Sun, Wei Bai, Yongqiang Jia, Rui Xiong, Rui Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Ministry of Education Beijing 100081 China

ISBN: (纸本)9788995605646

The agents connected by networks are capable to reach a prescribed state if only a small fraction of them are controlled with feedback information. The present work tries to stabilize groups of non-linear agents in a directed network onto a stable state with several equilibriums. The agent dynamics can be identical or heterogeneous. But the agents in the same group share a same non-linear model. The conditions to reach multiple consensus states are provided under both non-switching and switching topologies. The maximum number of heterogeneous equilibriums is discussed. It is proved theoretically and by simulations that under certain conditions, pinning control can lead a multi-group network to reach a multi-valued consensus state. © 2011 Asian control Association.

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