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检索条件"机构=Key Laboratory of Image Information Processing and Intelligent Control"

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RLS-ESN based PID control for rehabilitation robotic arms driven by PM-TS actuators

RLS-ESN based PID control for rehabilitation robotic arms dr...

引用

International Conference on Modelling, Identification and control (ICMIC)

作者： Jun Wu Jian Huang Yongji Wang Kexin Xing Huazhong University of Science and Technology Wuhan Hubei CN Key Laboratory of Image Processing and Intelligent Control Department of Science and Technology Huazhong University of Science and Technology Wuhan China

To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arranged in appropriate place as agonist and the torsion spring provides opposing torque as antagonist in the proposed actuator. The 1-DOF and 2-DOF rehabilitation robotic arm models are derived considering the PM-TS dynamic model. To realize a high-accurate trajectory tracking control of the robotic arms, an intelligent PID controller based on an Echo State Neural Network (ESN) is proposed, where the ESN state is updated by the online Recursive Least Square (RLS) algorithm. Simulation results demonstrate the validity of PM-TS actuators. The performance of RLS-ESN based PID controller is found more satisfactory than conventional PID controller in our study.

关键词： Recurrent neural networks

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P systems with shuffle operation

P systems with shuffle operation

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

作者： Yunyun Niu Linbang Xu K.G. Subramaniant Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China School of Mathematical Sciences Universiti Sains Islam Malaysia Penang Malaysia

Shuffle operation on trajectories is useful in modeling parallel composition of words and languages. In this work, a new class of P systems with shuffle operation is presented. Such a system has language-objects and shuffle-operation rules in its regions. It can be used as a language generator; specifically it is used to generate languages from sets of languages. Some comparison results are obtained, which show that the power of shuffle operation is enlarged in the framework of P systems.

关键词： Trajectory

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Solving NP-complete problems by spiking neural P systems with budding rules

Solving NP-complete problems by spiking neural P systems wit...

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10th International Workshop on Membrane Computing, WMC 2009

作者： Ishdorj, Tseren-Onolt Leporati, Alberto Pan, Linqiang Wang, Jun Computational Biomodelling Laboratory Åbo Akademi University Department of Information Technologies 20520 Turku Finland Università degli Studi di Milano - Bicocca Dipartimento di Informatica Sistemistica e Comunicazione Viale Sarca 336/14 20126 Milano Italy Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China Research Group on Natural Computing Department of CS and AI University of Sevilla Avda Reina Mercedes s/n 41012 Sevilla Spain

ISBN: (纸本)3642114660

Inspired by the growth of dendritic trees in biological neurons, we introduce spiking neural P systems with budding rules. By applying these rules in a maximally parallel way, a spiking neural P system can exponentially increase the size of its synapse graph in a polynomial number of computation steps. Such a possibility can be exploited to efficiently solve computationally difficult problems in deterministic polynomial time, as it is shown in this paper for the NP-complete decision problem sat. © 2010 Springer-Verlag.

关键词： Computational complexity

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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...

引用

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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ANN based three-value logic SVPWM control in CSR

ANN based three-value logic SVPWM control in CSR

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

作者： Jinbang Xu Anwen Zhizhuo Wu Jun Yang Xuan Yang Department of Control Science & Technology Huazhong University of Science & Technology Wuhan China Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Department of Control Science & Technology Huazhong University of Science & Technology 430074 Wuhan China

To achieve better performance with various load and system parameters in controlling a current-source rectifier (CSR) with less computing cost, a neural-network-based implementation of three-logic space-vector modulation (SVM) is proposed in this research, and the random weight change (RWC)algorithm is employed for on-line parameter tuning. The scheme has been simulated in SABER simulation software and the result is compared with the conventional SVM method. The advantage of the method is explicit with a better performance under a non-rated system load.

关键词： Support vector machines Artificial neural networks Computational modeling

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A statistical shape model using 2D-principal component analysis from few medical samples and its evaluation

A statistical shape model using 2D-principal component analy...

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International Conference on Software Engineering and Data Mining (SEDM)

作者： Tomoko Tateyama Taishi Tanaka Shinya Kohara Amir Hossein Foruzan Akira Furukawa Yen-Wei Chen Intelligent Image Processing Laboratory College of Information Science and Engineering Ritsumeikan University Shiga Japan Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Department of Radiology Shiga University of Medical Science Shiga Japan

ISBN: (纸本)9781424473243;9788988678220;9788988678213

Since the medical training samples are very limited, it is difficult to construct a statistical shape model with good generalization using few samples. In this paper, we propose a novel statistical shape modeling method using 2D PCA. The 3D shape is represented as a matrix by spherical parameterization. The experiments showed that our proposed method can reconstruct statistical shape model with good generalization even using fewer samples.

关键词： Biomedical imaging Shape control Biomedical engineering Principal component analysis Liver information analysis Educational institutions Azimuth Covariance matrix image analysis

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Multi-channel Hammerstein identification

Multi-channel Hammerstein identification

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作者： Wei, Yue Zhang, Hai-Tao Chen, Michael ZhiQiang Zhou, Tao State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Department of Automation Nanjing University of Science and Technology Nanjing 210094 China Department of Modern Physics University of Science and Technology of China Hefei 230026 China Department of Physics University of Fribourg Chemin du Muse CH-1700 Fribourg Switzerland

ISBN: (纸本)9787894631046

The Hammerstein systems, consisting of a zero-memory nonlinearity followed by a linear dynamic function, exists universally in industrial, chemical, physical and biological systems. Thus an effective modelling method for Hammerstein systems is critical for both relevant scientific research and engineering applications. We propose a novel Hammerstein identification approach, in which a multi-channel mechanism is used to separate the coefficients of the linear and nonlinear blocks more completely. Compared with traditional single-channel identification algorithms, the present identification method can enhance the approximation accuracy remarkably under the weak condition on the persistent excitation (PE) condition of the inputs.

关键词： Singular value decomposition

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Fast Marine Route Planning for UAV Using Improved Sparse A* Algorithm

Fast Marine Route Planning for UAV Using Improved Sparse A* ...

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International Conference on Genetic and Evolutionary Computing (ICGEC)

作者： Xin Yang Ming-yue Ding Cheng-ping Zhou Institute for Pattern Recognition and Artificial Intelligence (IPRAI) Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan Hubei China School of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan Hubei China Institute for Pattern Recognition and Artificial Intelligence (IPRAI) State Key Laboratory for Multispectral Information Processing Technologies Huazhong University of Science and Technology Wuhan Hubei China

This paper focuses on route planning, especially for unmanned aircrafts in marine environment. Firstly, new heuristic information is adopted such as threat-zone, turn maneuver and forbid-zone based on voyage heuristic information. Then, the cost function is normalized to obtain more flexible and reasonable routes. Finally, an improved sparse A* search algorithm is employed to enhance the planning efficiency and reduce the planning time. Experiment results showed that the improved algorithm for aircraft in maritime environment could find a combinational optimum route quickly, which detoured threat-zones, with fewer turn maneuver, totally avoiding forbid-zones, and shorter voyage.

关键词： Unmanned aerial vehicles Planning Synthetic aperture sonar Cost function Algorithm design and analysis Heuristic algorithms Leg

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The method of image restoration in the environments of dust

The method of image restoration in the environments of dust

引用

IEEE International Conference on Mechatronics and Automation

作者： Yuanyu Wang Yuanzong Li Tianxu Zhang Department of Computer Fundamental Education TaiYuan University of Technology TaiYuan China College of Mechanical Engineering TaiYuan University of Technology TaiYuan China Institute for Pattern Recognition and A.I State Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology WuHan China

In order to solve the problem of image degradation caused by dust environments, an image degradation model considering multiple scattering factors caused by dust was first established using the first-order multiple scattering method. Then, a dark channel prior principle was applied to present an image restoration algorithm based on the image degradation model. Finally, a particle swarm optimization algorithm was applied to optimize the atmospheric light and the exposure parameters. This optimization algorithm was established according to the criterion of the image evaluation based on kirsch operator with dual threshold. By using the method an optimistic result of image restoration was obtained. The experimental results have shown that the method not only enhanced luminance and contrast, but also discovered more detail edges information. The method provided a foundation for target recognition in the dust environments.

关键词： image edge detection image restoration Degradation Atmospheric modeling Optical scattering Optical imaging

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Study on the Method of image Restoration in the Environment of Dust

Study on the Method of Image Restoration in the Environment ...

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International Conference on Wireless Communications, Networking and Mobile Computing (WiCom)

作者： Yuanyu Wang Yuanzong Li Tianxu Zhang Department of Computer Fundamental Education Taiyuan University Of Technology Taiyuan China College of Mechanical Engineering Taiyuan University Of Technology Taiyuan China Institute of Pattern Recognition and A.I State Key Laboratory of Image Processing and Intelligent Control HuaZhong University of Science and Technology Wuhan China

In order to solve the problem of image degradation caused by dust environments, an image degradation model considering multiple scattering factors caused by dust was first established using the first-order multiple scattering method. Then, a dark channel prior principle was applied to present an image restoration algorithm based on the image degradation model. Finally, GA optimization algorithm was applied to optimize the atmospheric light and the exposure parameters. This optimization algorithm was established according to the criterion of the image evaluation based on kirsch operator with automatic threshold. By using the method an optimistic result of image restoration was obtained. The experimental results have shown that the method not only enhanced luminance and contrast, but also discovered more detail edges information. The method provided a foundation for target recognition in the dust environments.

关键词： image edge detection image restoration Scattering Degradation Gallium Atmospheric modeling Genetic algorithms

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