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检索条件"机构=Key Laboratory of Complex Systems and Intelligent Computing"

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Robust Control of Spacecraft Eigenaxis Maneuver via Integral Sliding Mode

Robust Control of Spacecraft Eigenaxis Maneuver via Integral...

引用

第25届中国控制与决策会议

作者： Zhen Chen Binglong Cong Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

The control problem of spacecraft eigenaxis maneuver in the presence of parametric uncertainty and external disturbance is addressed in this paper. Modified Rodrigues parameters （MRPs） are utilized as the attitude parameters for the non-redundancy. An eigenaxis maneuver control law with feedback and feed-forward terms is presented for the nominal system. The transient response of close loop system can be adjusted according to an approximate second order system. To improve the robustness, integral sliding mode （ISM） technique is adopted to reject undesirable effects and track nominal trajectory. The resulting controller can perform the eigenaxis maneuver in the presence of parametric uncertainty and external disturbance while possess good system performance. The effectiveness of the proposed method is demonstrated by simulation results.

关键词： Rigid Spacecraft Attitude Control Eigenaxis Rotation Integral Sliding Mode MRPs

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Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning

Dual adaptive control of bimanual manipulation with online f...

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IEEE International Symposium on intelligent Control (ISIC)

作者： Alex Smith Chenguang Yang Hongbin Ma Phil Culverhouse Angelo Cangelosi Etienne Burdet Center for Robotics and Neural Systems Plymouth University Devon UK Key Laboratory of Autonomous System and Network Control South China University of Technology Guangzhou P. R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China Department of Bioengineering Imperial College London UK

A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affect the control performance and control effort of the controller, which would conventionally be set to a static value based on expert knowledge of the controller; the aim of this being to avoid the use of arbitary values to set these values. A simulated experiment is carried out, where the Baxter robot is required to move an object through a trajectory while subjected to two different disturbance forces in four phases. The controller with fuzzy inferred control gains is compared against the same controller with fixed gains to gauge the effectiveness of the new method. Results show that fuzzy inference of control gains impart an improvement in both tracking error and control effort.

关键词： Trajectory Fuzzy logic Force Dynamics Mathematical model Manipulators

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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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Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM ...

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

作者： Shuangshuang Han Liuqing Yang Xiang Cheng Shichao Chen Fenghua Zhu Zhongdong Yu Haitao Xie Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Electronics Engineering and Computer Science Peking University Guang Zhou Communication Information Construction Investment and Operation Co.Ltd.

Multiple-Input Multiple-Output- Orthogonal Frequency Division Multiplexing(MIMO-OFDM) is adopted to vehicular networks to increase the capacity,reliability and *** this paper,iterative demodulation and decoding algorithms are studied to approach the capacity of MIMOOFDM vehicular *** analysing the drawbacks of the Gaussian approximation on the interference cancellation,NonGaussian approximation is proposed to enhance the performance of interference cancellation based detectors with large *** results demonstrate that the proposed non-Gaussian algorithm can achieve a significant performance gain over existing ones with high order constellations.

关键词： Gaussian Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

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The value-passing calculus

The value-passing calculus

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Theories of Programming and Formal Methods: Essays Dedicated to Jifeng He on the Occasion of His 70th Birthday

作者： Fu, Yuxi BASICS Department of Computer Science Shanghai Jiaotong University China MOE-MS Key Laboratory for Intelligent Computing and Intelligent Systems China

ISBN: (纸本)9783642396977

A value-passing calculus is a process calculus in which the contents of communications are values chosen from some data domain, and the propositions appearing in the conditionals are formulas constructed from a logic. Previous studies treat the domain models, as well as the logic theories, as unspecified oracles. The open-ended approach leaves open some fundamental issues unanswered. The paper provides a more formal account of the value-passing calculi. The new treatment is self-contained in that the logic theory a value-passing calculus refers to is formally defined. A value-passing calculus consists of a complete first order theory with an operational model that makes use of the terms and the boolean expressions of the theory. A systematic investigation into the theory of the value-passing calculi is carried out. A particular value-passing calculus, double-struck Vℂ, is shown to be the least expressive among all Turing complete value-passing calculi. © 2013 Springer-Verlag.

关键词： Computer circuits

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Motion deblurring using super-sparsity

Motion deblurring using super-sparsity

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Zhao, Jingxiong Zhao, Haohua Zhang, Keting Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University China

ISBN: (纸本)9783642420504

Motion blur is caused by the camera shake during the exposure in which the blur kernel describes the trace of shaking. Based on this generating process of the kernel , we observed that the distribution of the kernel obeys super-sparsity, as the natural images. Recent works mostly exploit various kinds of priors in their models, but focus on the the speed or a close-form formulation for convenience of mathematical calculation ignoring the intrinsic feature of the kernels and images. In this paper we propose a new model with super-sparse prior for the deblurring problem from one single image. Since the close-form formulation of this model doesn't exist, we use a look-up table trick to approximate the solution. Qualitative and quantitative evaluation demonstrate that our model with super-sparse prior can produce stable and high-quality results. © Springer-Verlag 2013.

关键词： Convolution

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A frequency boosting method for motor imagery EEG classification in BCI-FES rehabilitation training system

A frequency boosting method for motor imagery EEG classifica...

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10th International Symposium on Neural Networks, ISNN 2013

作者： Liang, Jianyi Zhang, Hao Liu, Ye Wang, Hang Li, Junhua Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642390678

Common Spatial Pattern (CSP) and Support Vector Machine (SVM) are usually adopted for feature extraction and classification of two-class motor imagery. However, in a motor imagery based BCI-FES rehabilitation system, stroke patients usually are not able to conduct correct motor imagery like healthy people due to the injury of motor cortex. Therefore, motor imagery EEG of stroke patients lacks of specific discriminant features as appearances of healthy people, which significantly blocks CSP to seek the optimal projection subspace. In this paper, a method, which filters EEG into a variety of bands and improves performance through boosting principle based on a set of weak CSP-SVM classifiers, was proposed to solve the problem mentioned above and was evaluated on the EEG datasets of three stroke subjects. The proposed method outperformed the traditional CSP-SVM method in terms of classification accuracy. From data analysis, we observed that optimal spectral band for classification had been changing along with rehabilitation training, which may reveal mechanisms that dominant frequency band may be changed along with rehabilitation training and spectral power distribution may be changed in different stages of rehabilitation. In addition, this work also demonstrated the feasibility of our SJTU-BCMI BCI-FES rehabilitation training system. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Support vector machines

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Optimal calculation of tensor learning approaches

Optimal calculation of tensor learning approaches

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10th International Symposium on Neural Networks, ISNN 2013

作者： Huang, Kai Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642390647

Most algorithms have been extended to the tensor space to create algorithm versions with direct tensor inputs. However, very unfortunately basically all objective functions of algorithms in the tensor space are non-convex. However, sub-problems constructed by fixing all the modes but one are often convex and very easy to solve. However, this method may lead to difficulty converging;iterative algorithms sometimes get stuck in a local minimum and have difficulty converging to the global solution. Here, we propose a computational framework for constrained and unconstrained tensor methods. Using our methods, the algorithm convergence situation can be improved to some extent and better solutions obtained. We applied our technique to Uncorrelated Multilinear Principal Component Analysis (UMPCA), Tensor Rank one Discriminant Analysis (TR1DA) and Support Tensor Machines (STM);Experiment results show the effectiveness of our method. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Tensors

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Causal neurofeedback based BCI-FES rehabilitation for post-stroke patients

Causal neurofeedback based BCI-FES rehabilitation for post-s...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Wang, Hang Liu, Ye Zhang, Hao Li, Junhua Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642420535

BCI-FES therapy has been proved to be an effective way to help post-stroke patients restore motor function of paralyzed limbs. In the existing BCI-FES system, patients can only asynchronously receive feedback in the form of FES or robot-assisted arm movements, and such a system does not provide a positive feedback corresponding to patient's motor imagery. In this work, we propose a causal related BCI-FES rehabilitation training platform, consisting top-down and bottom-up causal chains to achieve a better rehabilitation performance. We compare our system with a popular BCI-FES system on EEG data recorded from ten patients divided in two groups. The results show that almost all patients have achieved improvements in the motor function recovery after our training. © Springer-Verlag 2013.

关键词： Patient treatment

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UMPCA based feature extraction for ECG

UMPCA based feature extraction for ECG

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10th International Symposium on Neural Networks, ISNN 2013

作者： Li, Dong Huang, Kai Zhang, Hanlin Zhang, Liqing MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642390647

In this paper, we propose an algorithm for 12-leads ECG signals feature extraction by Uncorrelated Multilinear Principal Component Analysis(UMPCA). However, traditional algorithms usually base on 2-leads ECG signals and do not efficiently work out for 12-leads signals. Our algorithm aims at the natural 12-leads ECG signals. We firstly do the Short Time Fourier Transformation(STFT) on the raw ECG data and obtain 3rd-order tensors in the spatial-spectral- temporal domain, then take UMPCA to find a Tensor-to-Vector Projection(TVP) for feature extraction. Finally the Support Vector Machine(SVM) classifier is applied to achieve a high accuracy with these features. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Tensors

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