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第三十八届中国控制会议

作者： Xin Wang Baokui Li Hongbin Ma Man Luo School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

With the rapid development of machine vision, many technologies have been applied to the robots for improving the efficiency in the industrial field. This paper concerns the industrial sorting and counting technology problems in a workpieces counting and sorting system, and puts forward a solution using monocular vision. The main process consists of three parts. The rough positioning is accomplished first by using the pixel intensity comparison-based object detection(PICO). Then, image preprocessing and extracting geometric features are established, composing of binarization, morphological operation, optimizing the foreground,finding inner as well as outer contours, and calculating areas. Finally, the center coordinates and categories of workpieces are obtained. We choose nuts and gears as experimental objects, and complete the fast detection. The results of counting nuts and locating gears illustrate that the proposal solution not only has high speed, but also can ensure a high accuracy.

关键词： Monocular Vision the PICO Detector Workpieces Counting Fast Positioning

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Road detection using lidar data based on plane assumption and graph model

Road detection using lidar data based on plane assumption an...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Min Yan Junzheng Wang Jing Li Ke Zhang Zimu Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P. R. China

ISBN: (数字)9781728124858

ISBN: (纸本)9781728124865

Detection of traversable road area is one of the key tasks for unmanned platforms to achieve autonomous navigation. We propose a road detection method using lidar data based on plane assumption and graph model in this paper. Two detection algorithms for different speeds are provided to ensure the detection accuracy and to meet the real-time requirements, respectively. First, the point cloud is projected into a real image or an imaginary image for triangulation. The road points are then extended outward from the near platform according to the plane assumption. Then the dual Voronoi diagram of the triangulation is filled according to the attribute of the central element node, and the upper part of the horizon is removed. Finally, image post-processing yields the final detection results. This method perfectly combines the classification of points and the determination of road areas and uses the mature image algorithms in the processing of point cloud data. Experimental tests have been carried out on the public KITTI-Road benchmark, obtaining positive results.

关键词： Roads Laser radar Cameras Three-dimensional displays Real-time systems Data models Task analysis

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An Adaptive Disturbance Rejection controller for Artificial Pancreas

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IFAC-PapersOnLine 2020年第2期53卷 16372-16379页

作者： Deheng Cai Wei Liu Eyal Dassau Francis J. Doyle Iii Xiaoling Cai Junzheng Wang Linong Ji Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China Department of Endocrine and Metabolism Peking University People’s Hospital Beijing China. Harvard John A. Paulson School of Engineering and Applied Sciences Harvard University Cambridge MA 02138 USA.

Artificial pancreas (AP) systems are designed to automate glucose management for patients with type 1 diabetes. In this work, we propose an adaptive disturbance rejection control approach for AP systems to achieve safe and effective glucose regulation. The controller is built within the framework of active disturbance rejection control, but incorporates safety operation constraints, and glucose- and velocity-dependent parameter adaptation modules for the key control parameters. In silico performance comparison between the proposed controller and an adaptive zone model predictive controller (MPC) (Shi, Dassau, and Doyle III, 2019a) is conducted on the 10-adult cohort of the FDA-accepted UVA/Padova T1DM simulator. For both announced and unannounced meals, the controller achieves comparable glucose regulation performance in terms of mean glucose (134.9 mg/dL vs. 135.4 mg/dL, p < 0.001; 149.7 mg/dL vs. 151.7 mg/dL, p < 0.001, respectively) and percentage time in [70, 180] mg/dL (93.8% vs. 92.4%, p < 0.001; 76.0% vs. 72.4%, p < 0.001, respectively) without increasing the risk of hypoglycemia. The results indicate the feasibility of achieving comparable glucose regulation performance through a non-optimization control law for AP systems.

关键词： Artificial pancreas Active disturbance rejection control Adaptive control Glucose regulation

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Multi-UAV Cooperative Target Tracking Strategy Based on Formation control

Multi-UAV Cooperative Target Tracking Strategy Based on Form...

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第三十八届中国控制会议

作者： Duo Wang Zhihong Peng Xiaojie Ju Tao Yu Xue Wang China Academy of Launch Vehicle Technology School of Automation Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

In this paper we mainly studies the cooperative tracking issue of multi-UAV based on formation control. The theory and method of formation control are introduced in the paper to ensure the continuous and effective ground target tracking results. The tracking targets are regarded as the leader or the structural center of the formation. The multi-UAVs are considered as followers to form an unstable formation system. The formation stability can be maintained by constructing control law to ensure the continuous and effective tracking of intelligent targets by the multi-UAV. The formation control method based on the leader-follower system and the potential function are adopted to ensure the stability of formation consists of UAVs and the target, so that UAVs can keep tracking of the target. We prove the tracking strategy and the formation control results by MATLAB simulation.

关键词： Cooperative target tracking formation control leader-follower system potential function

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Adaptive Neural Network control for a Lower-Limb Exoskeleton using Variable Stiffness Transferring

Adaptive Neural Network Control for a Lower-Limb Exoskeleton...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Longbin Zhang Yingbai Hu Hang Su Jiehao Li Salih Ertug Ovur KTH MoveAbility Lab and KTH BioMEx Center KTH Royal Institute of Technology Stockholm Sweden Technical University of Munich Munich Germany Politecnico di Milano Milano Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Lower-limb exoskeletons are increasingly used in gait assistance applications to assist patients with locomotive disorders in rehabilitation and daily life. To provide assistance based on the user's variable joint stiffness with human-like characteristics is a growing and challenging field. This paper proposed an adaptive controller for a lower-limb exoskeleton with time-varying delay using variable stiffness transferring strategy. Neural network compensation was applied to estimate the nonlinearity caused by the time-varying delay and the model uncertainties in the lower-limb exoskeleton systems. To compensate for the delay, an integral Lyapunov function was introduced and an adaptive Lyapunov-based control structure was constructed. In the controller design, a variable stiffness transferring strategy was integrated and the stiffness was transferred from an able-bodied individual estimated with muscle forces and musclotendinous stiffness. By utilizing the proposed adaptive neural network control strategy and adaptive Lyapunov-based control structure, the global stability of lower-limb exoskeleton system was guaranteed and the tracking errors converged to the zero. The proposed control strategy was validated on 2-DOFs knee and ankle lower limb exoskeleton in simulation, demonstrating effective results in trajectories tracking, and thus is crucial for determining strategies for exoskeleton control.

关键词： Exoskeletons Robots Muscles Adaptive systems Force Mathematical model Mechatronics

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Graph Optimization Based Long-distance GPS/IMU Integrated Navigation

Graph Optimization Based Long-distance GPS/IMU Integrated Na...

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第三十八届中国控制会议

作者： Xiaojie Gu Fengdi Zhang Jian Xu Qing Yuan Hongwei Ma Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing

The accurate position estimation plays an critical role in the autonomous navigation for Micro Aerial Vehicles(MAV).Global positioning System(GPS) and inertial measurement unit(IMU) are two common sensors for navigation widely used on MAVs in the urban environment. Both of them have its distinct disadvantages that the GPS is susceptible to environmental interference and the IMU has accumulative errors. To overcome these problems, a GPS/IMU integrated system based on the factor graph optimization is developed in this paper. Unlike the conventional extended Kalman filter(EKF)-based method, the graph optimization method takes the whole trajectory into consideration so that it can achieve enough accuracy even after a long distance. Furthermore, the IMU preintegration method is used to avoid the repeated computation of high-rate IMU *** with the EKF method, the experimental results on the Zurich urban micro aerial vehicle dataset show the superior accuracy of the proposed factor graph optimization algorithm.

关键词： Global positioning System(GPS) inertial measurement unit(IMU) IMU preintegration graph optimization integrated navigation

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Hybrid protocol for distributed non-differentiable extended monotropic optimization

Hybrid protocol for distributed non-differentiable extended ...

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International Conference on control and Automation (ICCA)

作者： Xia Jiang Xianlin Zeng Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China Beijing Advanced Innovation Center for Intelligent Robots and Systems (Beijing Institute of Technology) Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China School of Electronic and Information Engineering Tongji University Shanghai China

ISBN: (数字)9781728190938

ISBN: (纸本)9781728190945

This paper presents a hybrid protocol design for distributed non-differentiable extended monotropic optimization problems, which have various applications in large-scale optimization and evolutionary computation. The considered objective function is the sum of local non-differentiable objective functions, which are assigned to different agents in multi-agent networks, with local set constraints and affine equality constraints. Each agent can only access to its local non-differentiable objective function, local set constraint and equality constraint, and exchange information with its neighbors to obtain the global optimal solution. For this type of optimization problems, we propose a distributed state-dependent hybrid method over multi-agent networks. In addition, we properly design the jump map and jump set to improve the transient performance and accelerate the consensus process of existing distributed continuous-time methods. With invariance principle of hybrid dynamical systems, we prove that the proposed hybrid protocol converges to the global optimal solution. We verify that the proposed hybrid method has a good convergence property and transient performance through numerical experiments.

关键词： Optimization Protocols Linear programming Dynamical systems Heuristic algorithms Convergence Transient analysis

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Non-fragile finite-time dissipative piecewise control for time-varying system with time-varying delay

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IET control Theory & Applications 2019年第3期13卷 321-332页

作者： Menghua Chen Jian Sun School of Automation Beijing Institute of Technology Beijing 100081 People's Republic of China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 People's Republic of China

This study is concerned with the problem of non-fragile finite-time dissipative (FTD) control for time-varying system with delay. The delay is time varying and belongs to a given interval. Finite-time bounded (FTB) and FTD concepts are introduced to time-varying system with delay. First, new FTB conditions are derived for time-varying system with delay by using a piecewise Lyapunov functional combined with reciprocally convex approach. Second, FTD conditions are obtained to guarantee that the time-varying system with delay is not only FTB but also satisfies a dissipative performance index. Moreover, based on the FTD conditions, the non-fragile piecewise feedback controllers are designed in terms of linear matrix inequalities (LMIs). In addition, an LMI-based iterative algorithm is given to obtain the piecewise feedback non-fragile controller gains. Finally, numerical examples demonstrate the effectiveness of the proposed method.

关键词： linear matrix inequalities delays feedback iterative methods control system synthesis Lyapunov methods time-varying systems performance index finite-time dissipative control time-varying system nonfragile piecewise feedback controllers piecewise feedback nonfragile controller gains time-varying delay nonfragile finite-time dissipative piecewise control finite-time bounded piecewise Lyapunov functional reciprocally convex approach dissipative performance index linear matrix inequalities LMI-based iterative algorithm

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key technologies of GNSS/INS/VO deep integration for UGV navigation in urban canyon 11

Key technologies of GNSS/INS/VO deep integration for UGV nav...

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2017 11th Asian control Conference, ASCC 2017

作者： Meiling, Wang Yafeng, Li Guoqiang, Feng Yi, Yang Tong, Liu Xiao, Xuan School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509015733

As a new emerging integrated navigation technology, the GNSS/INS/VO deep integration system can fully leverage the synergistic and complementary characteristics of the three involved subsystems to achieve cost reduction while improving navigation accuracy, availability, and robustness, by mutual aiding between subsystems. In this paper, firstly, based on a brief review of the technical background and research status of the GNSS/INS/VO deep integration technology, the processing flows of this deep integration mode in both signal and information domains are analyzed, and its performance advantages are summarized. Then, the top-level technology roadmap of the GNSS/INS/VO deep integration for UGV navigation in the urban canyon is presented, and several key technical issues from scheme demonstration to engineering implementation are explored. At last, the short and medium term development prospects of the GNSS/INS/VO deep integration are envisaged. The proposed research ideas and system design concept for GNSS/INS/VO deep integration could be used as a reference for relevant technicians in navigation field. © 2017 IEEE.

关键词： Navigation

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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