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HCLC integration design and high-precision control of a joint for space manipulator 20

20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

作者： Jiang, Zhihong Li, Hui Dong, Que Zhang, Xiaodong Tang, Zixing Rao, Wei Mo, Yang Ji, Chenjun Huang, Qiang IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9783319070575

A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for space manipulator joint with high-cohesion and low-coupling (HCLC) performance. Moreover, the mechanical and electrical interfaces of designed joint are especially suitable for space manipulator. First, To achieve higher system performance, the joint is designed as a whole for perfect match among components including permanent magnet synchronous motor (PMSM), motor controller and driver, sensors, space environment controller, reducer, routing and other mechanisms, which could eliminate redundant shell packages and mounting surfaces existed in traditional manipulator joint. Second, a new method is presented to design the rotors of two resolvers as joint sensors at the same axis shared with motor rotor, this kind of design has the advantages of redundant and high-precision sensing for the positions of motor rotor and joint, and joint position signal is differential sensing and has high robustness. Then, a kind of high-precision controller is presented for space manipulator based on a new PMSM model with model difference, and this controller is robust to joint nonlinear factors, such as friction and other disturbance torque. Finally, the experimental results showed the designed joint had fine performances with high power density, high controlling precision and high operation stability and so on, and it is suitable for the application of space manipulator. © Springer International Publishing Switzerland 2014.

关键词： controllers

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Finite-time saturated controller design for straight line navigation of an agricultural tractor 33

Finite-time saturated controller design for straight line na...

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Proceedings of the 33rd Chinese control Conference, CCC 2014

作者： Jiang, Yuexia Ding, Shihong Zhao, Dean Ji, Wei School of Electrical and Information Engineering Jiangsu University Zhenjiang212013 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9789881563842

Finite-time control systems usually have better disturbance rejection property and faster convergence performance. For the linearized dynamics of the linear navigation system of an agricultural tractor, a novel control algorithm based on finite-time control technique and saturation method is proposed. Based upon the presented method, the finite-time saturated controller is designed for the linear navigation of an agricultural tractor, and the global stability for the closed loop system is proved. Meanwhile, the selection of parameters in saturated controller just requires some simple mathematical relationships, and the control method has some potential practical applications. Simulation results also verify the effectiveness of the proposed method. © 2014 TCCT, CAA.

关键词： Tractors (agricultural)

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Phototherapy: Metal–Organic‐Framework‐Derived Mesoporous Carbon Nanospheres Containing Porphyrin‐Like Metal Centers for Conformal Phototherapy (Adv. Mater. 38/2016)

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Advanced Materials 2016年第38期28卷

作者： Shunhao Wang Lu Shang Linlin Li Yingjie Yu Chongwei Chi Kun Wang Jie Zhang Run Shi Heyun Shen Geoffrey I. N. Waterhouse Sijin Liu Jie Tian Tierui Zhang Huiyu Liu Beijing Key Laboratory of Bioprocess Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing Laboratory of Biomedical Materials Beijing University of Chemical Technology Beijing 100029 P. R. China Key Laboratory of Photochemical Conversion and Optoelectronic Materials Technical Institute of Physics and Chemistry Chinese Academy of Sciences Beijing 100190 P. R. China State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco‐Environmental Sciences Chinese Academy of Sciences Beijing 100085 P. R. China University of Chinese Academy of Sciences Beijing 100049 P. R. China Beijing Institute of Nanoenergy and Nanosystems National Center for Nanoscience and Technology (NCNST) Chinese Academy of Sciences Beijing 100083 P. R. China Department of Materials Science and Engineering State University of New York at Stony Brook Stony Brook NY 11790 USA Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China School of Chemical Sciences The University of Auckland Auckland 1142 New Zealand

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Decentralized control for power systems components based-on nonlinear differential-algebraic equations subsystem model

Communications in Computer and Information Science

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Communications in Computer and Information Science 2014年 462卷 397-406页

作者： Zang, Qiang Zhou, Ying Mei, Ping Zheng, Baichao Zhang, Kaifeng School of Information and Control Engineering Nanjing University of Information Science & Technology Nanjing210044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China College of Automation Nanjing University of Posts and Telecommunications Nanjing210003 China

ISBN: (纸本)9783662452608

Components of power systems essentially belong to a special class of nonlinear differential-algebraic equations subsystem, whose index is one and interconnection is locally measurable. In this paper, the decentralized control problem is discussed using inverse systems method for such class of power systems components. Firstly, the definition of α -order integral right inverse system is presented. Secondly, a recursive algorithm is proposed to judge whether the controlled component is invertible. Then a physically feasible α -order integral right inverse system is constructed with which the controlled component is made linearization and decoupled, so that linear control theory and methods can be applied. Finally, a decentralized excitation controller is designed for one synchronous generator within multi-machine power systems based on the proposed method in this *** simulation results demonstrate the effectiveness of the proposed control scheme. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Decentralized control

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Mars entry trajectory tracking via constrained multi-model predictive control

Mars entry trajectory tracking via constrained multi-model p...

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Chinese control Conference (CCC)

作者： Chao Wu Shihua Li Jun Yang Lei Guo Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing Jiangsu CN School of Automation Science and Electrical Engineering Beihang University & Institute of Instrument Science and Opto-Electronics Engineering Beijing CN

Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problems. Facing these challenges, the Mars entry trajectory tracking scheme via constrained multi-model predictive control (CMPC) is employed. The CMPC is made up of some constrained predictive control (CPC) in different time domain during the Mars entry mission. Each constrained predictive controller consists of a linearized prediction model (obtained by linearizing at different operating point), feedback correction for active model mismatch rejection caused by the complex uncertainties, and constrained rolling optimization for a smooth control input under a saturation constraint. Monte Carlo simulations demonstrate the effectiveness and excellence of the proposed method under the saturation constraint of input and uncertainties of initial state and aerodynamic parameters such as atmospheric density, ballistic coefficient and lift-to-drag ratio.

关键词： Mars Aerodynamics Uncertainty Trajectory Predictive models Vehicles Predictive control

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A contour detection approach for mobile robot

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8918卷 265-272页

作者： Ai, Kun Cao, Zhiqiang Liu, Xilong Zhou, Chao Yang, Yuequan The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Information Engineering Yangzhou University Yangzhou China

Safe moving is a basic ability for a mobile robot, and it is beneficial for the robot to avoid the collisions with the environment if it knows the boundaries between the obstacles and free space. In this paper, a contour detection approach is presented. The input image is firstly processed by a Gaussian filter and Sobel edge detector. After it is processed by connectivity based boundaries extraction, the result is finalized, aided by Canny edge map. The experiments demonstrate the effectiveness of our approach. © Springer International Publishing Switzerland 2014.

关键词： Mobile robots

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Computational Experiments Based on Competitive Influence Diffusion Model

Computational Experiments Based on Competitive Influence Dif...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Kainan Cui Xiaolong Zheng The School of Electronic and Information Engineering Xi'an Jiaotong University The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

Understanding the strategies to optimize/suppress information spreads under intense competition could provide important insights in a broad range of settings including viral marketing,emergency response and information system ***,most of existing studies about competitive influence diffusion mainly focus on two-information competition *** date,the competitive influence maximization problem considering the mechanism of multi-information competition is still not well *** this paper,we conducted computational experiments to study the competitive influence maximization with multi-information competition *** applying an information diffusion model called limited attention model(LAM),we carried on two computational experiments to validate the model and investigate the relation between seed selection methods and the properties of information *** experimental results show that 1)the LAM model could reproduce the features of empirical distribution in Chinese social media;2)the eigenvector centrality-based heuristic is a reasonable seed selection method for competitive influence maximization *** results of this paper can provide significant potential implications for information system design and management.

关键词： computational experiments information diffusion competitive influence maximization social media

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An object recognition approach based on structural feature for cluttered indoor scene

An object recognition approach based on structural feature f...

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IEEE International Conference on Networking, Sensing and control

作者： Wenbo Yuan Zhiqiang Cao Peng Zhao Min Tan Yuequan Yang State Key Laboratory of Management and Control for Complex Systems Institute of Automation CAS Beijing China College of Information Engineering Yangzhou University Yangzhou China

In this paper, aiming at the indoor scene under monitoring by visual sensor network (VSN), an object recognition approach based on structural feature is presented. Firstly, we regard the output of existing line segment detector LSD with proper parameters as the preliminary extraction result and it still will be further restored and split. Then, we give an inference model based on structural features of object including line segment ontology characteristics and relative relationship between the line segments. Finally, the objects are recognized with position information through inference. The effectiveness of the approach is verified, and the results show that our approach does not rely on segmentation and has robustness on partial defect and structural deformation to some extent.

关键词： Image segmentation Robot sensing systems Monitoring Image recognition

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Research on mud pulse signal extraction and recognition algorithm in MWD

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Energy Education Science and Technology Part A: Energy Science and Research 2014年第3期32卷 1889-1902页

作者： Tu, Bing Zhang, Xiaofei Zhan, Tengxi Zhang, Wei Hunan Institute of Science and Technology School of Information and Communication Engineering Yueyang 414006 China College of Hunan Province Key Laboratory of Optimization and Control for Complex Systems Yueyang 414006 China

Mud pulse signal extracting in Wireless measure while drilling (MWD) was a core technology in the process of oil drilling development. Whether the resolution of detected mud pulse signal start point location is accurate or not in ground decoding system would directly affect the accurate level of decoding. For the resolution problems of mud pulse signal start time position, this paper analyzed the transmission format of Manchester coded down-hole datum and transmission characteristics of mud pulse signal, using a wavelet multi-scale and related de-noising algorithm to extract mud pulse signal. According to the characteristics of the Manchester coded underground synchronization signal, It proposed an algorithm based on the combination of equal segmentations within a signal period and waveform correlation to accurately define the mud pulse signal starting time. After extracting the start time position, establishing the pulse signal recognition model within two cycles and using a pattern recognition algorithm to recognize mud pulse signal. The field tests show that the algorithm can accurately define the mud pulse signal starting time and can effectively improve the decoding accuracy and meet the requirements of engineering applications. © Sila Science. All rights reserved.

关键词： Pattern recognition

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Thermal instability of a nonhomogeneous power-law nanofluid in a porous layer with horizontal throughflow

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Journal of Non-Newtonian Fluid Mechanics 2014年 213卷 50-56页

作者： Jianhong Kang Fubao Zhou Wenchang Tan Tongqiang Xia Key Laboratory of Gas and Fire Control for Coal Mines School of Safety Engineering China University of Mining and Technology Xuzhou 221116 China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China State Key Laboratory for Geomechanics and Deep Underground Engineering China University of Mining and Technology Xuzhou 221116 China

Despite the experimental observation of shear-thinning rheological behavior depending on the nanoparticle volume fraction, nanofluids were treated as either Newtonian or viscoelastic fluids in previous studies on thermal convection. In this work, taking into account the shear-thinning rheology, Brownian diffusion and thermophoresis of nanofluids, the onset of thermal convection in a nonhomogeneous nanofluid-saturated porous layer with throughflow is investigated. The power-law model is adopted to describe the shear-thinning behavior of nanofluids. The combined effects of Lewis number, Péclet number and power-law index on the thermal instability are analyzed. It is found that the most unstable perturbations are transverse rolls, and both traveling-wave and oscillatory modes may occur. The critical Rayleigh number can be significantly reduced or increased with the increasing power-law index, mainly depending on the value of Péclet number. Furthermore, the decrease of Lewis number can promote or suppress the onset of thermal convection, depending on whether the nanoparticle distribution at the basic state is bottom-heavy or top-heavy.

关键词： Nanofluid Shear thinning Power-law model Thermal instability

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