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

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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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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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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Asymptotic backsteppinging stabilization of SISO nonlinear DAE subsystems using artificial neural networks

Asymptotic backsteppinging stabilization of SISO nonlinear D...

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2013 2nd International Conference on Manufacturing engineering and Process, ICMEP 2013

作者： Qiang, Zang Ying, Zhou School of Information and Control Engineering Nanjing University of Information Science and Technology Nanjing 210044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China College of Automation Nanjing University of Posts and Telecommunications Nanjing 210003 China

ISBN: (纸本)9783037857076

The problem of robust stabilization for a class of SISO uncertain nonlinear Differential-Algebraic Eqyatuion subsystems is considered in this paper. The robust stabilization controller is proposed based on backstepping approach using two-layer Artificial Neural Networks (ANN) whose weights are updated on-line. A new adaptive algorithm is proposed to update the weights of ANN such that all signals in the closed-loop systems are bounded and the states are convergent asymptotically to the equilibrium through the proposed controller. © (2013) Trans Tech Publications, Switzerland.

关键词： Backstepping

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

Global output feedback stabilization for a class of nonlinea...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Wang, Xiangyu Qian, Chunjiang Li, Shihua School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9783902823458

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme. Copyright © 2013 IFAC.

关键词： Growth rate

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Adaptive Wavelet Packet Filter-Bank Based Acoustic Feature for Speech Emotion Recognition

Adaptive Wavelet Packet Filter-Bank Based Acoustic Feature f...

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2013年中国智能自动化学术会议

作者： Yue Li Guobao Zhang Yongming Huang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

In this paper,a wavelet packet based adaptive filter-bank construction method is proposed,with additive Fisher ratio used as wavelet packet tree pruning criterion.A novel acoustic feature named discriminative band wavelet packet power coefficients(db-WPPC) is proposed and on this basis,a speech emotion recognition system is *** results show that the proposed feature improves emotion recognition performance over the conventional MFCC feature.

关键词： Speech emotion recognition Wavelet packets Filter-bank design Speech signal processing

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Finite-time consensus algorithms for multiple AUVs

Finite-time consensus algorithms for multiple AUVs

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第三十二届中国控制会议

作者： Shihua Li Xiangyu Wang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

ISBN: (纸本)9781479900305

In this paper,finite-time consensus problem is investigated for multi-AUV(autonomous underwater vehicle) systems. Based on homogeneous control method,finite-time consensus algorithms are proposed for both leaderless and leader-follower multi-AUV ***,in the leader-follower case,a novel distributed finite-time observer is developed for the followers to estimate the leader's *** demonstrate the effectiveness of the proposed control algorithms.

关键词： Finite-time consensus AUVs leaderless leader-follower

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A target group tracking algorithm for wireless sensor networks using azimuthal angle of arrival information

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Chinese Physics B 2012年第12期21卷 1-10页

作者：张淳费树岷周杏鹏 School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

In this paper, we explore the technology of tracking a group of targets with correlated motions in a wireless sensor network. Since a group of targets moves collectively and is restricted within a limited region, it is not worth consuming scarce resources of sensors in computing the trajectory of each single target. Hence, in this paper, the problem is modeled as tracking a geographical continuous region covered by all targets. A tracking algorithm is proposed to estimate the region covered by the target group in each sampling period. Based on the locations of sensors and the azimuthal angle of arrival （AOA） information, the estimated region covering all the group members is obtained. Algorithm analysis provides the fundamental limits to the accuracy of localizing a target group. Simulation results show that the proposed algorithm is superior to the existing hull algorithm due to the reduction in estimation error, which is between 10% and 40% of the hull algorithm, with a similar density of sensors. And when the density of sensors increases, the localization accuracy of the proposed algorithm improves dramatically.

关键词： wireless sensor network target group tracking azimuthal angle estimation error

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

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IFAC Proceedings Volumes 2013年第20期46卷 683-688页

作者： Xiangyu Wang Chunjiang Qian Shihua Li School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering The University of Texas at San Antonio San Antonio TX 78249 USA

关键词： Output feedback stabilization Nonlinear planar systems Output-dependent growth rates Dual observer Nonlinear gains

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