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Modeling and simulation of tentative non-contact 6 DOF micro-movement measuring system

Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2013年第6 SUPPL.期34卷 342-346页

作者： Sun, Peng Lv, Naiguang Beijing Key Laboratory on Measurement Control of Mechanical and Electrical System Beijing 100192 China

A tentative ideal for measuring 6 degree of freedom (DOF) movement is introduced in this paper. Model of this design consisting of four laser rays and four illuminated Charge Coupled Devices (CCD) is built. 6 DOF movement including three angles and three translations are derived from coordinate variation of four laser spot. The simulation of the system is carried out to show feasibility and precision of this coordinate transformation method. The proposed method shows potential portability, high precision and non contact in future micro motion measurement.

关键词： Charge coupled devices

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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NNDOB-based Composite control for Binary Distillation Column Under Disturbances

NNDOB-based Composite Control for Binary Distillation Column...

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第三十二届中国控制会议

作者： LI Juan CHEN Xisong LI Shihua YANG Jun ZHOU Jiancheng School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationP.R.China School of Chemistry and Chemical Engineering Southeast University

ISBN: (纸本)9781479900305

This paper presents a composite disturbance rejection control strategy for high purity binary distillation column with complex characteristics,such as couplings,non-minimum phase,model mismatches and external *** goal of the controller is to get the desired top and bottom compositions in presence of both model mismatches and external *** composite controller includes neural network inverse controller(NNIC) and neural network disturbance observer(NNDOB) both using radial basis fimction network(RBFN).The inverse model of the system is identified by RBFN,whose stability is proved via the Lyapunov fimction *** a rigorous analysis is also given to show why the NNDOB can effectively suppress the *** of the proposed scheme is compared with PID and NNIC schemes in two *** feasibility, effectiveness and disturbance rejection property of the proposed method are demonstrated by the simulation studies.

关键词： Composite controller Disturbance Rejection Neural Network Disturbance Observer Binary Distillation Column.

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Study on GIS's application in driving in the unstructured environment for UGV

Study on GIS's application in driving in the unstructured en...

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2013 International Conference on Geo-Informatics in Resource Management and Sustainable Ecosystem, GRMSE 2013

作者： Yang, Qiangrong Wang, Meiling School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing 100081 China

ISBN: (纸本)9783642419072

For UGV, driving in the unstructured environment safely and quickly without human intervention becomes increasingly important. While many scholars have conducted researches in driving in this case, the results seem quite unsatisfied. In this paper, how to use GIS in aiding the UGV to drive in the unstructured environment is studied. First, GIS is used to process the raw data received from the 3D laser scanner to get the high-resolution gradient and elevation grid, which is used to determine the traversability of the environment. Then the relatively low-resolution gradient grid is used as the cost field in the path planning algorithm to generate the optimal path from the start point to the goal point. At last, an algorithm is introduced to get the reference speed limit from the given optimal path according to the geometry features of the path and the gradient grid. Simulation and experiment results are given to show the effectiveness of the algorithms. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Motion planning

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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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Multi-target Passive Location Based on the Algorithm of TDOA-Camberra

Multi-target Passive Location Based on the Algorithm of TDOA...

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第25届中国控制与决策会议

作者： Xin Xu Wenjie Chen Mingjun Jiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education China North Vehicle Research Institute

ISBN: (纸本)9781467355339

An algorithm namely the TDOA-Camberra is proposed for the multi-target passive location in this paper. The algorithm uses the Camberra distance to associate the target data and do the optimal search, then uses the time difference of arrival (TDOA) to locate multiple targets passively once data from the same target is determined. At the same time, as the computing time of associating data using Camberra distance is long, the improved sequential similarity detection algorithm (SSDA) is added to the calculation in order to shorten the time of the data association, thus to increase the speed of the multi-target passive location. The theoretical analysis and simulation experiment proves that the multi-target passive location can be implemented by the proposed algorithm accurately and quickly.

关键词： passive location, data association, Camberra distance, SSDA

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Hand-eye servo and flexible control of an anthropomorphic arm

Hand-eye servo and flexible control of an anthropomorphic ar...

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2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

作者： Ma, Gan Huang, Qiang Yu, Zhangguo Chen, Xuechao Meng, Libo Sultan, Malik Saad Zhang, Wen Liu, Yan IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479927449

One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control objective of the controller is to lock all the feature points at fixed points on the image plane. Then, impedance control law is implemented to keep the flexible of the arm. Finally, the effectiveness of the proposed methods are verified by experiments on our humanoid robotic arm platform. © 2013 IEEE.

关键词： Anthropomorphic robots

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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Pyramid histogram of oriented gradient and particles swarm optimization based SVM for vehicle detection

Pyramid histogram of oriented gradient and particles swarm o...

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2013 7th International Conference on Image and Graphics, ICIG 2013

作者： Wang, Hailuo Bo, Wang Sun, Li College of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9780769550503

Vehicle Detection is an important part in intelligent transportation system (ITS) and driver assistance system. Considering vehicles have strong edges and lines in different orientation and scales, in this paper, we presents a method for detecting vehicles based on a feature named Pyramid Histogram of Oriented Gradient. This feature provides spatial distribution information of edges which was often ignored by other features. Specifically, we extract PHOG features from a traffic image and a vector is obtained as representation of this image. In order to speed up the process of calculation, Principle Component Analysis (PCA) algorithm is applied to these vectors to reduce their dimensionality. Tests show the efficiency improved significantly. Theses representative vectors are then used to train SVM classifier. To ensure the final classification accuracy, we adopt Particles Swarm Optimization (PSO) method to gain the parameters used in SVM classification. Optimal parameters correspond with optimal result. Experiments demonstrate the superiority of the proposed approach which has achieved an average accuracy of 95% on test images. © 2013 IEEE.

关键词： Vehicles

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