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第五届国际自动化测试与仪器仪表学术会议

作者： Long Zhongjie Kouki Nagamune Xu Xiaoli Daisuke Araki Yuichi Hoshino Takehiko Matsushita RyosukeKuroda Masahiro Kurosaka Graduate School of Engineering University of Fukui 3-9-1 Bunkyo Key Laboratory of Modern Measurement and Control Technology Ministry of EducationBeijing Information Science and Technology University Graduate School of Medicine Kobe University 7-5-1 Kusunokicho

Endoscopes,especially the structured lighting endoscopy,have been widely used in clinical applications for inspecting the interior of the *** purposse of this study is to provide an approach to reconstruct the 3D articular surface of the knee joint with an endoscopy(diameter Φ = 7 mm) and a line laser through a microfiber(Φ = I mm),facilitating computer-assisted diagnose(CAD) and improving operation quality for some open *** reconstruction of wood model is designed to examine the accuracy of this scanning system and experiment shows that the average accuracy is1.186 ***,a 3D full view of the articular surface of the partial knee joint is presented to show the feasibility and simplicity of our proposed method.

关键词： Endoscopy surface reconstruction microfiber line laser

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Exploiting robustness in Petri net-based closed-loop systems to accommodate control specification changes

Exploiting robustness in Petri net-based closed-loop systems...

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2013 IEEE International Conference on Automation Science and engineering, CASE 2013

作者： Li, Jun Zhou, Mengchu Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering China Ministry of Education Automation School of Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China

ISBN: (纸本)9781479915156

Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. However, the robustness of closed-loop systems in response to some specification changes was not addressed in the prior studies. This paper presents a reconfiguration method based on Petri nets and integer programming for supervisory control of resource allocation systems with changeable resource allocation relationships (control specifications). First, we propose a reconfiguration mechanism. It updates the P-invariant-based supervisor and evolves the state of the closed-loop system. The latter adapts to the certain changes in specifications by the self-regulation of the closed-loop system's state. It utilizes fully the robustness in a closed-loop system and avoids unnecessary modification of a supervisor. Then, a reconfiguration model with robustness analysis is proposed based on integer programming. By using it, a firing sequence of transitions as a serial of reconfiguration actions can be found. The execution of the sequence implements the state evolution of a closed-loop system. There is no need for making additional efforts to analyze state reachability of the system, since the firability condition of transitions is incorporated into the model. Finally, the method is illustrated through an example of a hospital emergency service system. © 2013 IEEE.

关键词： Closed loop systems

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A collision-free motion planning method for a redundant manipulator with a constrained task

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.2期44卷 98-103页

作者： Xu, Longfei Li, Jun Gan, Yahui Dai, Xianzhong Sun, Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

A self-motion planning method for a redundant manipulator subject to the primary task constraint was proposed based on random generation of joint configurations and depth-first search. Exploiting the self-motion property of a redundant manipulator, a random configuration generation algorithm of a manipulator configuration was proposed for solving a set of joint configurations corresponding to a given end-effector pose and a depth-first search strategy was designed to find a collision-free configuration from the configuration set generated at random. By repeating the process for every pose from the initial to the end one in the task, a collision-free joint path can be obtained eventually. Taking a redundant manipulator of MOTOMAN VA1400 as an example, a simulation study was carried out. The result shows that the method presented is effective.

关键词： Redundant manipulators

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Genetic algorithm for solving a new multiple traveling salesman problem with partially overlapped domains

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.1期44卷 69-74页

作者： Sun, Qirui Li, Jun Ding, Jian Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

From the scheduling problem of dual-bridge water-jet cutting system, a new multiple traveling salesman problem called overlapped multiple traveling salesman problem (OMTSP) was extracted and purified, a method was proposed based on a genetic algorithm. The algorithm provides a double chromosomes of city and salesman encoding solution, and designs appropriate crossover and mutation operators. The results show that the algorithm enjoys rapid converge and can achieve a good solution of OMTSP.

关键词： Traveling salesman problem

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Development of Improved Inverse Compensator for Two-Dimensional Sensor

Development of Improved Inverse Compensator for Two-Dimensio...

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第25届中国控制与决策会议

作者： Yuhan Ding Guohai Liu Xianzhong Dai School of Electrical & Information Engineering Jiangsu University Key Laboratory of Measurement and Control of CSE (School of Automation Southeast University) Ministry of Education Key Laboratory of Facility Agriculture Measurement and Control Technology and Equipment of Machinery Industry Jiangsu University

ISBN: (纸本)9781467355339

In this paper, we developed an improved inverse compensator to ameliorate the dynamic performance of the two-dimensional sensor. The main feature of the improved compensator is the use of a special state observer, which is designed on the state-space model the two-dimensional sensor. As the state-space model can fully describe the complex sensor, the obtained compensator will be more effective in compensating the output of the sensor. Besides, the compensator uses an ANN (artificial neural network) to approximate the imprecisely known nonlinear function, which makes it more applicable for compensating real sensors.

关键词： Inverse Compensator, State Space Equation, Two-Dimensional Sensor

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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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Brief paper : New approach to second-order sliding mode control design

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IET control Theory and Applications 2013年第18期7卷 2188-2196页

作者： Ding, Shihong Li, Shihua Zheng, Wei Xing School of Electrical and Information Engineering Jiangsu University Zhenjiang Jiangsu 212013 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing Jiangsu 210096 China School of Computing Engineering and Mathematics University of Western Sydney Penrith NSW 2751 Australia

The second-order sliding mode control generates important properties for closed-loop systems, such as robustness, disturbance rejection and finite-time convergence. In this study, it is shown that the adding a power technique plus the nested saturation method will bring in a new second-order sliding mode control scheme for non-linear systems with relative degree two. Based on this, a second-order sliding mode controller is constructed by imposing a natural assumption on the sliding mode dynamics, that is, the uncertainty of the sliding mode dynamics can be bounded by a known function instead of a constant. Under the proposed sliding mode controller, it is proved that the closed-loop system is not only globally convergent, but also locally finite-time stable, which implies the global finite-time stability. Finally, the effectiveness of the proposed method is verified by a numerical example. © The Institution of engineering and Technology 2013.

关键词： Sliding mode control

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Distributed vision localization system for mobile robot

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.2期44卷 40-45页

作者： Wang, Huan Ma, Xudong Qian, Kun Fang, Fang Cao, Juan Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education School of Automation Southeast University Nanjing 210096 China

A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual target perception caused by senor, clustering background and lighting condition changes, a projection based color target recognization method is employed. A new localization algorithm combining Tsai's calibration and polynomial fitting is proposed, as well as a multi-camera collaborative strategy. This improves the accuracy and reliability of the global visual localization in a complex environment. Hardware and software structure of smart sensing nodes based on embedded DSP TMS320DM642 is developed. key functions of real-time visual information acquisition, processing and network interface are integrated in the smart nodes. Application and experiments with the mobile robot navigation control platform verifies the localization accuracy as well as other favorable performances.

关键词： Mobile robots

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Application of Noise Reduction Method Based on Birgé-Massart Threshold

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仪器仪表学报 2013年第S1期34卷 134-137页

作者： Xu Xiaoli Jiang Zhanglei Zuo Yunbo Wu Guoxin School of Mechanical and Vehicle Engineering Beijing Institute of Technology Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University

Flue gas generator set is a kind of large high-speed rotating machinery in petrochemical *** research focuses on noise reduction algorithms basis ontheBirgé-*** the threshold through Penalization Strategy Provided by Birgé-Massart;constructed different modulus maximum vertex neighborhood on different wavelet transform decomposition scales to influence the search process of modulus maximum point;obtained the appropriate modulus maximum points sequence on various wavelet decomposition scales;highlighted state feature information;finally usedMallat staggered projection to reconstruct *** order to validate the effectiveness of the algorithm,it was compared with four kinds of threshold noise suppression methods namely Rigrsure,Sqtwolog,Heursure,*** results show that this algorithm has a better signal to noise ratio and mean-square error.

关键词： feature extraction modulus maximum punishment strategies

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Finite-time control for soft landing on an asteroid based on homogeneous system technique

Finite-time control for soft landing on an asteroid based on...

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第三十二届中国控制会议

作者： LAN Qixun LI Shihua YANG Jun GUO Lei School of Automation Southeast UniversityNanjingKey Laboratory of Measurement and Control of CSEMinistry of Education Institute of Instrument Science and Opto-Electronics Engineering Beihang University

ISBN: (纸本)9781479900305

Finite-time control(FTC) for soft landing on an asteroid problem is considered in this ***,based on the design philosophy of cascaded system,the landing error dynamics of asteroid probe are divided into two subsystems,including a position error subsystem(PES) and a line-of-sight angle error subsystem(LOSAES).Secondly,homogeneous system technique is employed to design the controller for LOSAES such that the states of LOSAES will be stabilized to the origin in finite time. Then,a finite-time controller is designed for the reduced PES subsystem such that the rest states will converge to zero in finite *** analysis shows that the whole system satisfies the finite time *** effectiveness of the proposed method is illustrated by simulation results.

关键词： Finite-time control(FTC) Soft landing Asteroid probe Homogeneity

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