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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and control engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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Neural and Fuzzy Dynamic Programming for Under-actuated systems

Neural and Fuzzy Dynamic Programming for Under-actuated Syst...

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International Joint Conference on Neural Networks

作者： Dongbin Zhao Yuanheng Zhu Haibo He State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Electrical Computer and Biomedical Engineering University of Rhode Island

ISBN: (纸本)9781467314886

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： Adaptive dynamic programming Fuzzy control Neural network Underactutaed system Cart-pole plant Pendubot

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A Quantitative Performance Evaluation Index for Image Fusion: Normalized Perception Mutual Information

A Quantitative Performance Evaluation Index for Image Fusion...

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Chinese control Conference

作者： Liping Yan Yulei Liu Bo Xiao Yuanqing Xia Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781467325813

Information entropy based criteria are analyzed and the Normalized Mutual Information(NMI) that is presented in the field of image registration is revised to Normalized Mutual Information Entropy (NMIE) to meet the need of the evaluation of image fusion algorithms, Then, through analysis to NMIE and some human perception based criteria, and by analyzing the essence of image fusion techniques systematically, a new index, Normalized Perception Mutual Information (NPMI), is defined in view of information transmission as well as edge preservation, and is used to evaluate the performance of image fusion algorithms, The experiments are done to three groups of images, namely, the remote sensing images corrupted by noises, the multifocus images and the medical images obtained by CT and MRI, respectively. Compared with other indices including the root mean square error (RMSE), space frequncy (SF), space visibility (SV), entropy, the collective cross entropy (CCE), information deviation (ID), and the edge information preservation value (EIPV), etc., NPMI is shown to be the only one that is effective in all the eases in the evaluation of the performances of the fused images or the image fusion algorithms, which illustrates the feasibility and effectiveness of the presented algorithm.

关键词： Image fusion Performance evaluation Mutual information Human perception Normalized perception mutual intonation

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Human behavior model and its application on performance management in a chemical plant workshop

Human behavior model and its application on performance mana...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Han, Feng Liu, Xiwei Shang, Xiuqin Cheng, Changjian Li, Bo Fan, Dong Olefine Plant SINOPEC Qilu Petrochemical Co. Ltd. Zibo China School of Chemical Engineering Beijing University of Chemical Technology Beijing China State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China

ISBN: (纸本)9781467324007

To investigate the influences of performance management rules on human behavior in a chemical plant workshop, we construct an artificial workshop. It mainly contains human behavior model, workshop environment model including the definition of work position performance management rules and production events, and their interaction rules. The human behavior model is built based on DISC (Dominance, Influence, Steadiness, Compliance) behavior model and the Agent technology. A platform for workshop human behavior computing is finally created for computational experiments on performance management and decision-making. The platform can be used as a support for refined management in the chemical plant. © 2012 IEEE.

关键词： Chemical plants

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An overview of agent-based evacuation models for building fires

An overview of agent-based evacuation models for building fi...

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IEEE International Conference on Networking, Sensing and control

作者： Yuling Hu Xiwei Liu Feiyue Wang Changjian Cheng Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology. and School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computational experiments point of view is proposed.

关键词： Computational modeling Fires Biological system modeling Buildings Decision making Humans Adaptation models

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A Tighter Reachable Set Bound for Linear systems Subject to both Discrete and Distributed Delays

A Tighter Reachable Set Bound for Linear Systems Subject to ...

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IEEE Annual Conference on Decision and control

作者： Zhiqiang Zuo Youhua Fu Yijing Wang Chanying Li Michael Z. Q. Chen Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Academy of Mathematics and Systems Science Chines Academy of Sciences Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9781467320658

The problem of reachable set bounding for a class of linear systems subject to both discrete and distributed delays is addressed in this paper. First, a new criterion is derived to give an ellipsoid which bounds all the states starting from the origin by inputs with peak-values. The constraint with a special structure that appeared in our previous result is removed by combining the Jensen integral inequality and the reciprocally convex approach. In addition, the obtained condition brings a tighter reachable set estimation with lower computational complexity. We also extend the above result to systems with polytopic uncertainties. Finally, an example is presented to illustrate the merit of our proposed method.

关键词： delay distribution Linear system discrete element Ellipsoid complexity classes Bound Set (Psychology)

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A hierarchical neural network architecture for classification

A hierarchical neural network architecture for classificatio...

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9th International Symposium on Neural Networks, ISNN 2012

作者： Wang, Jing He, Haibo Cao, Yuan Xu, Jin Zhao, Dongbin Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston RI 02881 United States MathWorks Inc. Natick MA 01760 United States Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ 07030 United States State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642313455

In this paper, a hierarchical neural network with cascading architecture is proposed and its application to classification is analyzed. This cascading architecture consists of multiple levels of neural network structure, in which the outputs of the hidden neurons in the higher hierarchical level are treated as an equivalent input data to the input neurons at the lower hierarchical level. The final predictive result is obtained through a modified weighted majority vote scheme. In this way, it is hoped that new patterns could be learned from hidden layers at each level and thus the combination result could significantly improve the learning performance of the whole system. In simulation, a comparison experiment is carried out among our approach and two popular ensemble learning approaches, bagging and AdaBoost. Various simulation results based on synthetic data and real data demonstrate this approach can improve the classification performance. © 2012 Springer-Verlag.

关键词： Adaptive boosting

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A design of artificial high-rise building evacuation systems under fires

A design of artificial high-rise building evacuation systems...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Hu, Yu-Ling Liu, Xi-Wei School of Automation Beijing Institute of Technology Beijing 100081 China School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture Beijing 100044 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China

ISBN: (纸本)9781467324007

Because the structure and function of a high-rise building is complex and the density of occupants is high, and the rescue from outside is very difficult, safe and timely evacuation is an important issue under high-rise building fires. Worsely, it is impossible to do experiments for economic, moral, or even legal reasons. In this paper, based on an ACP (artificial systems, computational experiments, parallel excution) approach, a design of an artificial evacuation system for computational experiments research on societies evacuation strategies is proposed. Based on the buildingEXODUS platform, the agent technology is used to build the high-rise building architectures and occupant individuals who have autonomous activities. By using CFAST software, numerical calculation technology is used to build several kinds of fire scenarios. By interactions and influences, an artificial evacuation system can be built. © 2012 IEEE.

关键词： Fires

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Design and implementation of a wireless video sensor network

Design and implementation of a wireless video sensor network

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IEEE International Conference on Networking, Sensing and control

作者： Bin Tian Xue-Liang Zhao Qing-Ming Yao Lei Zha State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Jiangsu China Sciences Intelligent Engineering Company Limited Suzhou China

As a new research field in wireless sensor network (WSN), wireless video sensor network (WVSN) makes surveillance multifunctional and intelligent, with rich and intuitive sensing information. It attracts more and more researchers' attention. We design and implement a wireless video sensor network prototype system, using WIFI as the wireless communication solution and CMOS video camera as the front-end sensor. The wireless video node adopts ARM11 based embedded platform. As back-end processing algorithm, the node realizes moving object detection. Finally, we verify the sensor network system. WIFI network can transmit video sequences smoothly. The moving object detection algorithm performs well.

关键词： Wireless communication Wireless sensor networks IEEE 802.11 Standards Object detection Program processors CMOS integrated circuits Cameras

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Observer-Based Containment control of Multi-Agent System with Linear Dynamics

Observer-Based Containment Control of Multi-Agent System wit...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Zonggang Li Guangming Xie Pu Gao School of Mechatronic Engineering Lanzhou Jiaotong University Lanzhou 730070 China Center for Sy Center for Systems and Control State Key Laboratory of Turbulance and Complex Systems College of E School of Mechatronic Engineering Lanzhou Jiaotong University Lanzhou 730070 China

This paper considers the containment control of linear multi-agent system with weakly connected information topology. By defining the node-induced strongly connected subgraph as strong component, the agents contained in strong components with zero in-degree are called leaders and the others are called followers. Then, a sufficient and necessary condition is proposed for all agents to achieve containment by employing an observer-based protocol, where all followers finally converge to the convex hull formed by leaders and each strong component of leaders asymptotically achieve consensus. Since the number of leader agents in each strong component are always larger than one, the proposed scheme is more robust for the malfunction of leaders. Further, two LMIs are given to design the observer-based protocol. Numerical examples are included to illustrate the validity of the proposed results.

关键词： Multi-agent system Observer-based Containment control Consensus.

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