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第36届中国控制会议

作者： Dongchen Liu Junzheng Wang Renjian Hao Dawei Shi Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.

关键词： Zero Moment Point Gait planning Integrated simulation platform Virtual prototyping

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Construction of Multilayer Porous Scaffold Based on Magnetically Guided Assembly of Microfiber

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Journal of systems Science & complexity 2018年第3期31卷 581-595页

作者： LI Xingfu WANG Huaping SHI Qing SUN Tao HUANG Qiang FUKUDA Toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing 100816 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible and biodegradable alginate solution with homogeneous magnetic nanopar- ticles, which are continuously spun from a microfluidic device by precise pressure control of the syringe pump. Magnetic nanoparticles enable the control of magnetic field on microfibers. Meanwhile, mag- netized device combining with a round permanent magnet are utilized to guide the distribution of spouted microfibers. The device is composed by pure iron wire arrays and wax, which stimulates pow- erful magnetic flux density and magnetic field gradients for the capture and assembly of microfibers. Thus, magnetic microfibers are spun on desired places of the magnetized device by motion control of the micromanipulation robot, and precise locations are adjusted by magnetic force couple with the assist of glass micropipette. Afterwards, microfibers are spatially organized by periodic magnetic force and crossed layer-by-layer to form micro-pore structure with both length and width of 650μm. Finally, the authors construct a multilayer microfiber-based scaffold with high porosity to provide a satisfactory environment for long-term cell culture. The experimental results demonstrate the effectiveness of the proposed method.

关键词： Magnetically guided assembly magnetic microfiber magnetized device periodic magneticforce multilayer porous scaffold.

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Incipient fault diagnosis method for silicon single crystal growth assisted by deep learning

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CrystEngComm 2025年

作者： Liu, Yu-Yu Liu, Ding Ren, Jun Chao Wu, Shi Hai School of Automation and Information Engineering Xi'an University of Technology Xi'an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China

In this study, an accurate diagnostic classification algorithm based on a deep belief network and entropy value (C-DBN-E) incorporating signal decomposition, entropy theory and deep belief network (DBN) network is proposed to address the problem of tiny faults that may occur during the growth of silicon single crystals (SSC). The study is divided into three stages: feature selection, fault feature extraction and fault pattern classification. In the feature selection stage, the recursive feature elimination (RFE) method based on support vector machine (SVM) is employed to rank features according to their importance and eliminate redundant features. In the subsequent feature extraction stage, the adaptive decomposition theory is introduced to select components that contain a greater number of fault features for signal reconstruction. The deep features of the reconstructed signal are then mined in depth using a DBN and supplemented with energy entropy and multi-scale arrangement entropy as supplementary features to further refine the capture of tiny fault information. Finally, all the features are integrated and inputted into the SVM classifier to enable accurate classification of micro-fault modes in SSC growth. The effectiveness of the method in distinguishing micro-faults in the SSC growth process is verified by simulation results. This study is of great significance in solving the problem of fault diagnosis in the SSC growth system, which is expected to contribute to the improvement of work performance and the reduction of accident risk and economic loss. © 2025 The Royal Society of Chemistry.

关键词： Image reconstruction

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A Dual-Motor Joint Model for Humanoid Robots

A Dual-Motor Joint Model for Humanoid Robots

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第25届中国控制与决策会议

作者： Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang IRI School of Mechatronic Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System

ISBN: (纸本)9781467355339

To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.

关键词： Humanoid robot, dual motor, control model

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Multiple moving objects detection based on level set and shadow information

Multiple moving objects detection based on level set and sha...

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International Conference on Measuring Technology and Mechatronics Automation

作者： Li, Jing Wang, Junzheng Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9780769542966

In multiple moving object detection, the connection between objects and shadow always leads to the failure of object detection. To solve this problem, a new object extraction algorithm using level set is proposed and applied to detect moving vehicle in intelligent monitoring of motorway. Moving information is extracted via symmetrical difference and used in the velocity function of level set. After the first segmentation, information of object location is found. According to difference between object and shadow, velocity function is modified. After the second segmentation multiple objects and their shadow are separate. Experimental results show that the proposed algorithm is able to extract accurate contour of object effectively. Its processing speed is 24 fps and accuracy rate of shadow elimination reaches 98.6%. © 2011 IEEE.

关键词： Object detection

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Unsupervised robust adaptive filtering against impulsive noise

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Journal of systems Engineering and Electronics 2012年第1期23卷 32-39页

作者： Tao Ma Jie Chen Wenjie Chen Zhihong Peng School of Automation Beijing Institute of Technology Beijing 100081 R R. China Key Laboratory of Complex System Intelligent Control and Decision （Ministry of Education） Beijing Institute of Technology Beijing 100081 P. R. China

An implementation of adaptive filtering, composed of an unsupervised adaptive filter （UAF）, a multi-step forward linear predictor （FLP）, and an unsupervised multi-step adaptive predictor （UMAP）, is built for suppressing impulsive noise in unknown circumstances. This filtering scheme, called unsupervised robust adaptive filter （URAF）, possesses a switching structure, which ensures the robustness against impulsive noise. The FLP is used to detect the possible impulsive noise added to the signal, if the signal is ＂impulse-free＂, the filter UAF can estimate the clean sig- nal. If there exists impulsive noise, the impulse corrupted samples are replaced by predicted ones from the FLP, and then the UMAP estimates the clean signal. Both the simulation and experimental results show that the URAF has a better rate of convergence than the most recent universal filter, and is effective to restrict large disturbance like impulsive noise when the universal filter fails.

关键词： adaptive filtering unsupervised form impulse insen- sitive switching structure.

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Statistical learning makes the hybridization of particle swarm and differential evolution more efficient-A novel hybrid optimizer

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Science in China(Series F) 2009年第7期52卷 1278-1282页

作者： CHEN Jie1,2,XIN Bin1,2,PENG ZhiHong1,2 & PAN Feng1,2 1 School of Automatic control,Beijing Institute of Technology,Beijing 100081,China 2 key laboratory of complex system intelligent control and decision,Ministry of Education,Beijing 100081,China 1. School of Automatic Control Beijing Institute of Technology Beijing 100081 China 2. Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China

This brief paper reports a hybrid algorithm we developed recently to solve the global optimization problems of multimodal functions, by combining the advantages of two powerful population-based metaheuristics differential evolution （DE） and particle swarm optimization （PSO）. In the hybrid denoted by DEPSO, each individual in one generation chooses its evolution method, DE or PSO, in a statistical learning way. The choice depends on the relative success ratio of the two methods in a previous learning period. The proposed DEPSO is compared with its PSO and DE parents, two advanced DE variants one of which is suggested by the originators of DE, two advanced PSO variants one of which is acknowledged as a recent standard by PSO community, and also a previous DEPSO. Benchmark tests demonstrate that the DEPSO is more competent for the global optimization of multimodal functions due to its high optimization quality.

关键词： global optimization statistical learning differential evolution particle swarm optimization hybridization multimodal functions

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Distributed motion coordination for multi-agent systems with connectivity maintenance using backbone-based networks

Distributed motion coordination for multi-agent systems with...

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作者： Mao, Yutian Dou, Lihua Fang, Hao Liu, Huagang Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9783902661937

This paper addresses the problem of distributed connectivity constrained motion coordination of multiple autonomous mobile agents. Different from traditional flat network structure which lacks flexibility and scalability when performing complex spatially distributed tasks, a novel distributed framework for construction of backbone-based hierarchical communication networks is proposed. Firstly, the proposed method periodically extracts a subset of agents which can form the communication backbone from the original network using only local information, thus partitions the system into backbone agents and non-backbone agents. Furthermore, the global network connectivity of the system is maintained at two levels: connectivity-preserving potential functions are used to maintain existing links in the backbone;connectivity between backbone and non-backbone agents is achieved via a leaderfollower formation control scheme with backbone agents as the leaders. Finally, nontrivial numerical simulations are worked out to verify the theoretical results. © 2011 IFAC.

关键词： Multi agent systems

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An improved adaptive exponential time-varying sliding-mode control for FDRPMSM 7

An improved adaptive exponential time-varying sliding-mode c...

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7th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2016

作者： Dong, Ning Xie, Wei Chen, Zhen Zhao, Jing Liu, Xiangdong Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Haidian District Beijing100081 China

ISBN: (纸本)9784990534349

In this paper, an improved adaptive time-varying sliding mode controller (SMC) is designed for five-phase dual-rotor permanent magnet synchronous motor (FDRPMSM). It focuses on three objectives: 1) maintaining the high tracking performance to the reference speed;2) keeping robustness when load torque varies;3) chattering suppression performance *** FDRPMSM is adopted hysteresis-current controlled PWM, thus, the proposed controller is designed for speed controller. This controller is proposed to solve the problem that suppressing the chattering when system state is near the sliding-mode hyper *** order to weaken influence of load torque varying, the load torque observer is introduced in the control system. Simulation results show that the proposed speed controller have better performances and robustness characteristics comparing with PI controller and conventional exponential time-varying SMC. © 2016, Fuji Technology Press. All rights reserved.

关键词： controllers

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Combined complete coverage path planning for autonomous mobile robot in indoor environment

Combined complete coverage path planning for autonomous mobi...

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2009 7th Asian control Conference, ASCC 2009

作者： Yutian, Mao Lihua, Dou Jie, Chen Hao, Fang Haiqiang, Zhang Hu, Cao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9788995605691

Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method. ©2009 ACA.

关键词： DC motors

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