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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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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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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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The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

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2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

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Effects of adaptive dynamical linking in networked games

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Physical Review E 2013年第4期88卷 042128-042128页

作者： Zhihu Yang Zhi Li Te Wu Long Wang Center for Complex Systems Department of Automatic Control Engineering Xidian University Xi'an 710071 China Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

The role of dynamical topologies in the evolution of cooperation has received considerable attention, as some studies have demonstrated that dynamical networks are much better than static networks in terms of boosting cooperation. Here we study a dynamical model of evolution of cooperation on stochastic dynamical networks in which there are no permanent partners to each agent. Whenever a new link is created, its duration is randomly assigned without any bias or preference. We allow the agent to adaptively adjust the duration of each link during the evolution in accordance with the feedback from game interactions. By Monte Carlo simulations, we find that cooperation can be remarkably promoted by this adaptive dynamical linking mechanism both for the game of pairwise interactions, such as the Prisoner's Dilemma game (PDG), and for the game of group interactions, illustrated by the public goods game (PGG). And the faster the adjusting rate, the more successful the evolution of cooperation. We also show that in this context weak selection favors cooperation much more than strong selection does. What is particularly meaningful is that the prosperity of cooperation in this study indicates that the rationality and selfishness of a single agent in adjusting social ties can lead to the progress of altruism of the whole population.

关键词： PRISONER'S dilemma game DYNAMICAL systems ELECTRIC network topology FEEDBACK control systems MONTE Carlo method STOCHASTIC models

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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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Spatio-temporal EEG data classification in the NeuCube 3D SNN environment: Methodology and examples

Spatio-temporal EEG data classification in the NeuCube 3D SN...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Kasabov, Nikola Hu, Jin Chen, Yixiong Scott, Nathan Turkova, Yulia Knowledge Engineering and Discovery Research Institute Auckland University of Technology New Zealand State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783642420504

A vast amount of complex spatio-temporal brain data, such as EEG-, have been accumulated. Technological advances in many disciplines rely on the proper analysis, understanding and utilisation of these data. In order to address this great challenge, the paper utilizes the recently introduced by one of the authors 3D spiking neural network environment called NeuCube for spatio-temporal EEG data classification. A methodology is proposed and illustrated on two small-scale examples: classifying EEG data for music- versus noise perception, and person identification based on music perception. Future development and usage of the NeuCube environment can be expected to significantly further the creation of novel brain-computer interfaces, cognitive robotics and medical engineering devices. © Springer-Verlag 2013.

关键词： Neural networks

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NeuCubeRehab: A pilot study for EEG classification in rehabilitation practice based on spiking neural networks

NeuCubeRehab: A pilot study for EEG classification in rehabi...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Chen, Yixiong Hu, Jin Kasabov, Nikola Hou, Zengguang Cheng, Long State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Knowledge Engineering and Discovery Research Institute Auckland University of Technology Auckland New Zealand

ISBN: (纸本)9783642420504

One of the most important issues among active rehabilitation technique is how to extract the voluntary intention of patient through bio-signals, especially EEG signal. This pilot study investigates the feasibility of utilizing a 3D spiking neural networks-based architecture named NeuCube for EEG data classification in the rehabilitation practice. In this paper, the architecture of the NeuCube is designed and a Functional Electrical Stimulation (FES) rehabilitation scenario is introduced which requires accurate classification of EEG signal to achieve active FES control. Three classes of EEG signals corresponding to three imaginary wrist motions are collected and classified. The NeuCube architecture provides promising classification results, which demonstrates our proposed method is capable of extracting the voluntary intention in the rehabilitation practice. © Springer-Verlag 2013.

关键词： Neural networks

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