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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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Vehicle License Plate Recognition Based on Class-specific ERs and Sa E-ELM

Vehicle License Plate Recognition Based on Class-specific ER...

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Chao Gou Kunfeng Wang Bo Li Fei-yue Wang Qingdao Academy of Intelligent Industries the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some computations including morphological operations,various filters,different contours and validations are sequentially performed to extract some image regions as candidate license ***,accurate character segmentation is achieved through a proper selection of *** the character recognition step,the HOG(histogram of oriented gradients) feature vector in each character region is extracted,and then the characters are recognized using an offline trained pattern classifier of Sa *** results show that our approach works quite well in complex traffic environments.

关键词： image Vehicle License Plate Recognition Based on Class-specific ERs and Sa E-ELM License

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Visual Vehicle Tracking Based on Conditional Random Fields

Visual Vehicle Tracking Based on Conditional Random Fields

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Yuqiang Liu Kunfeng Wang Fei-Yue Wang Qingdao Academy of Intelligent Industries The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a uniform probabilistic framework by using the CRF *** this work,the CRF model integrates spatial and temporal contextual information of vehicle motion,and the appearance information of the *** approximate inference algorithm,loopy belief propagation,is used to recursively estimate the vehicle region from the history of observed ***,the background model is updated adaptively to cope with non-stationary background *** results show that the proposed approach is able to accurately track moving vehicles in monocular image ***,region-level tracking realizes precise localization of vehicles.

关键词： Vehicle tracking,conditional random fields,region-level tracking

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A Mobility Based Clustering Algorithm in MANETs Utilizing Learning Automata

A Mobility Based Clustering Algorithm in MANETs Utilizing Le...

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第三十二届中国控制会议

作者： GAO Xun School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479900305

There being ample research in cluster-based Media Access control(MAC) protocols for Mobile Ad Hoc Networks (MANETs) recently makes it necessary having a stable clustering algorithm developed for *** in MANETs often have highly mobility and sometimes present the characteristic of group *** the innovation perspective,we proposed a clustering algorithm by employing Learning Automata(LA) in a distributed manner considering nodes distance and nodes mobility to produce stable *** utilizing LA nodes can make intelligent and adaptive decisions based on the local information collected in the past *** to another mobility based clustering algorithm,simulation results present us the superior performance of the proposed algorithm.

关键词： Ad Hoc clustering mobility Learning Automata

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The design and optimization method of near space intelligent target generator

The design and optimization method of near space intelligent...

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Chinese control Conference (CCC)

作者： Xiaolong Han Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Intelligent Control and complex decision-making Ministry of Education. Systems Beijing School of Automation Beijing Institute of Technology Beijing

This paper presents the design and optimization method of near space intelligent target generator to simulate the physical characteristics of the near space vehicle. Combined with High Level Architecture distributed simulation technology, a common, repeatable and verified platform for the near space vehicle has been provided. This method used 3D modeling software Creator and 3D visual rendering software Vega, two-dimensional map and three-dimensional vision were constructed to form a simulation environment, which enhanced the authenticity of the simulation. Based on particle swarm optimization, the intelligent path planning study of near space vehicle was conducted in this environment to make up for the inadequate intelligence of traditional target generators.

关键词： Solid modeling Generators Space vehicles Load modeling Path planning Radar

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Gait Planning and Compliance control of a Biped Robot on Stairs with Desired ZMP

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IFAC Proceedings Volumes 2014年第3期47卷 2165-2170页

作者： Guangrong Chen Junzheng Wang Lipeng Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081 P.R.China Beijing Institute of Technology Beijing CO 100081 P.R.China

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples.

关键词： Biped robot Gait planning Desired ZMP Compliance control

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Distributed stereoscopic rotating formation control of networks of second-order agents

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Journal of systems Engineering and Electronics 2013年第3期24卷 480-487页

作者： Li Song Qinghe Wu Di Yu Yinqiu Wang Key Laboratory of Complex System Intelligent Control and Decision(Ministry of Education) School of AutomationBeijing Institute of Technology School of Automation Beijing Institute of Technology

Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.

关键词： multi-agent system collective motion stereoscopic rotating formation control.

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Unsupervised robust recursive least-squares algorithm for impulsive noise filtering

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Science China(Information Sciences) 2013年第4期56卷 203-212页

作者： CHEN Jie MA Tao CHEN WenJie PENG ZhiHong School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision(Beijing Institute of Technology) Ministry of Education

A robust recursive least-squares(RLS) adaptive filter against impulsive noise is proposed for the situation of an unknown desired *** minimizing a saturable nonlinear constrained unsupervised cost function instead of the conventional least-squares function,a possible impulse-corrupted signal is prevented from entering the filter’s weight updating ***,a multi-step adaptive filter is devised to reconstruct the observed "impulse-free" noisy sequence,and whenever impulsive noise is detected,the impulse contaminated samples are replaced by predictive *** on simulation and experimental results,the proposed unsupervised robust recursive least-square adaptive filter performs as well as conventional RLS filters in "impulse-free" circumstances,and is effective in restricting large disturbances such as impulsive noise when the RLS and the more recent unsupervised adaptive filter fails.

关键词： unsupervised adaptive filtering impulsive noise suppression recursive least-squares algorithm

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Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

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第三十二届中国控制会议

作者： HAO Renjian WANG Junzheng ZHAO Jiangbo Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563835

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process.A torque decoupling approach for electric linear actuator is proposed to achieve respective *** improve the speed of time varying parameters estimating,a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust *** adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric *** modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded *** co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Adaptive robust control Electric linear actuator LuGre model Fast estimation

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New method of sparse visual saliency feature extraction and application in unmanned vehicle environment sensing

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Information Technology Journal 2013年第20期12卷 5914-5921页

作者： Du, Ming-Fang Wang, Jun-Zheng Li, Jing Cao, Hai-Qing Key Laboratory of Complex System Intelligent Control Decision Beijing Institute of Technology Ministry of Education 100081 Beijing China

A new method based on Hessian matrix threshold of finding local low-level saliency features is proposed in this study after the standard local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is analyzed. In this method, the number of saliency feature points can change with the change of Hessian threshold. The saliency feature points will become sparser when Hessian threshold becomes larger. When a certain extreme threshold which is defined as Hessian Threshold Node is reached, the retained discriminative feature points are remarkable stability characteristics, also make up the best sparse saliency features set. This method is applied in the unmanned vehicle environment sensing system to help extract the before going vehicle's saliency feature and realize object tracking and obstacle detection. Experiment results show that this is an quick and robust method to determine saliency feature points quantitatively and is very suitable for the occasion which has strong demand on real-time. © 2013 Asian Network for Scientific Information.

关键词： Object detection

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