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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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2010 IEEE 5th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2010

作者： Zhang, Zhujin Wang, Shuo Zhang, Xingyi Zhang, Zheng Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China School of Computer and Information Science University of South Australia Adelaide SA 5095 Australia Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei 230039 China

ISBN: (纸本)9781424464388

Randí et al. proposed a significant graphical representation for DNA sequences, which is very compact and avoids loss of information. In this paper, we build a fast algorithm for this graphical representation with time complexity O(n2), and find another important advantage in the representation: no degeneracy. Moreover, we propose a new method to do similarity analysis of DNA sequences based on the representation. The approach adopts four elements of covariance matrix as a descriptor, and is illustrated on the first exon of beta-globin genes from 11 different species. © 2010 IEEE.

关键词： DNA sequences

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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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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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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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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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Study of high-resolution range profile for monostatic MIMO radar based on SIAR

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Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics 2010年第4期32卷 734-739+763页

作者： Zhao, Guang-Hui Chen, Bai-Xiao Gao, Zhao-Zhao Intelligent Perception and Image Understanding Key Lab of Ministry of Education of China Xidian Univ. Xi'an 710071 China National Key Lab for Radar Signal Processing Xidian Univ. Xi'an 710071 China National Information Control Laboratory Chengdu 610036 China

Conventional pulse compression use a periodical echo of single receive antenna, which is modulated by a certain carrier-frequency, in other words, single spectrum is exploited. But for MIMO radar, as the multi-carrier-frequency signals are transmitted simultaneously, if the spectrum of the target echo after channel separation can be combined to form the whole band spectrum echo, the corresponding range resolution can improve several times as compared with the conventional method, and it will be more convenient for follow-up detection and tracking. Considering the difference between the frequency modulation band and the interval between the adjacent frequencies, the spectrum joint after channel separation will be overlapped or spaced. The methods of spectrum moving of each echo and the spectrum extrapolation with Root-MUSIC algorithm are proposed, by which high-resolution range profile of the target is obtained. Simulation results verify the validity of these methods.

关键词： Multiple signal classification

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Symport/antiport P systems with look-ahead mode

Symport/antiport P systems with look-ahead mode

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

作者： Yun Jiang Shuo Wang Jinbang Xu 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 Hubei China

The look-ahead is a forbidding condition formalized by a set of forbidden rules that are checked after all assignment of objects to rules are done. The look-ahead mode can decrease the inherent non-determinism of P systems and helps to the practical implementation of P systems on computers. In this work, the computational power of P systems with symport/antiport rules working in the look-ahead mode are investigated. Communication P systems with 3 membranes and the weight of symport and antiport rules being 2 and 1, respectively, working in the look-ahead mode, can recognize any recursively enumerable languages; a characterization of context-sensitive languages is obtained by communication P systems with 2 membranes working in the look-ahead mode.

关键词： Biomembranes Variable speed drives

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Matrix representation of spiking neural P systems

Matrix representation of spiking neural P systems

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11th International Conference on Membrane Computing, CMC 2010

作者： Zeng, Xiangxiang Adorna, Henry Martínez-Del-Amor, Miguel Ángel Pan, Linqiang Pérez-Jiménez, Mario J. Image Processing and Intelligent Control Key Laboratory of Education Ministry Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China University of the Philippines Diliman 1101 Quezon City Philippines Research Group on Natural Computing Department of Computer Science and Artificial Intelligence University of Sevilla Avda. Reina Mercedes s/n 41012 Sevilla Spain

ISBN: (纸本)3642181228

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. In this work, a discrete structure representation of SN P systems with extended rules and without delay is proposed. Specifically, matrices are used to represent SN P systems. In order to represent the computations of SN P systems by matrices, configuration vectors are defined to monitor the number of spikes in each neuron at any given configuration;transition net gain vectors are also introduced to quantify the total amount of spikes consumed and produced after the chosen rules are applied. Nondeterminism of the systems is assured by a set of spiking transition vectors that could be used at any given time during the computation. With such matrix representation, it is quite convenient to determine the next configuration from a given configuration, since it involves only multiplication and addition of matrices after deciding the spiking transition vector. © 2010 Springer-Verlag.

关键词： Vectors

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Observer-based adaptive tracking control of rigid-link flexible-joint robot manipulators

Observer-based adaptive tracking control of rigid-link flexi...

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Chinese control Conference (CCC)

作者： Chao Liu Xianbo Xiang Philippe Poignet LIRMM French National Center for Scientific Research (CNRS) France Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology P.R. China

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In 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 system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

关键词： Equations Actuators Joints Kinematics Uncertainty Manipulator dynamics

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