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A New Calibration Method for an Inertial and Visual Sensing System

International Journal of Automation and computing 2012年第3期9卷 299-305页

作者： Xu, De Wang, Hua-Wei Li, You-Fu Tan, Min State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China East China Research Institute of Electronic Engineering Hefei 230088 China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.

关键词： Inertial sensor visual sensor calibration motion estimation robot vision.

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Rotation Estimation for Mobile Robot Based on Single-axis Gyroscope and Monocular Camera

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International Journal of Automation and computing 2012年第3期9卷 292-298页

作者： Yang, Ke-Hu Yu, Wen-Sheng Ji, Xiao-Qiang School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing 100083 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai 200062 China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.

关键词： Rotation matrix estimation quaternion extended Kalman filter (EKF) monocular camera gyroscope.

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A self-learning algorithm based on support vector machine for scheduling a job-shop-like knowledgeable manufacturing cell

A self-learning algorithm based on support vector machine fo...

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2011 International Conference on Mechanical engineering, Materials and Energy, ICMEME 2011

作者： Li, Wen-Chao Yan, Hong-Sen Key Laboratory of Measurement and Control of Complex Systems Engineering Southeast University Ministry of Education Nanjing 210096 China Department of Transportation Jiangsu University Zhenjiang 212013 China

ISBN: (纸本)9783037853405

The job-shop-like knowledgeable manufacturing cell scheduling is a NP-complete problem and there has not been a completely valid algorithm for it until now. An algorithm with self -learning ability is proposed through the addition of precedence constraint of operations on the basis of directed graph. A method based on support vector machine is constructed to choose accurately interchangeable operations by small samples earning to obtain the better scheduling. The classification accuracy can be improved by the continuous addition of new instances to the sample library. The results of simulation show that the algorithm performs well for the job-shop-like knowledgeable manufacturing cell. © (2012) Trans Tech Publications, Switzerland.

关键词： Computational complexity

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Absorbance experiments on different pesticide formulations and mixed concentration sensor design

Absorbance experiments on different pesticide formulations a...

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American Society of Agricultural and Biological Engineers Annual International Meeting 2012

作者： Guan, Xianping Qiu, Baijing Zhang, Xiaodong Zuo, Zhiyu Dong, Xiaoya Key Laboratory of Modern Agricultural Equipment and Technology Ministry of Education Jiangsu University Zhenjiang 212013 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China

ISBN: (纸本)9781622762088

This paper carried out the absorbance experiments on different pesticide formulations and mixed pesticide concentration sensor design for online mixing system based on the precision spray requirements. There are many different pesticide formorlations, among which wettable powder (WP) and emulsifiable concentrates (EC) are most widely used ones in China. The optical methods were chosen for quick and precise measurement based on the physical characteristics of commonly used pesticide formulations and generally low spraying concentrations. Firstly we carried out monochromatic light absorbance experiments to study the optical properties of different pesticide formulations. We prepared the solutions with different possible spraying concentrations of WP and EC of several commonly used pesticdes and used UV-Vis spectrophotometer to measur the absorbance of the prepared solutions. The experiment results show that: in the UV-visible wavelength range, the absorbances of the suspension or emulsion of WP or EC generally decrease with increasing optical wavelength, but the solution concentration and the absorbance value is not proportional. In the 600-800nm range the absorbances have good differentiation. In order to select the appropriate absorbance range of wavelengths and considering the available of laser diode, the monochromatic light with wavelength of 650nm was chosen as the source light. Then we carried out the preliminary design of mixed pesticide concentration sensor. The sensor is composed of monochromatic light source module, the light detection circuit and signal processing module. The structure of the sensor was also preliminarily designed.

关键词： Absorbance

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An overview of agent-based evacuation models for building fires

An overview of agent-based evacuation models for building fi...

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2012 9th IEEE International Conference on Networking, Sensing and control, ICNSC 2012

作者： Hu, Yuling Liu, Xiwei Wang, Feiyue Cheng, Changjian Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology China School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781467303880

Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computaional experiments point of view is proposed. © 2012 IEEE.

关键词： Decision making

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Automatic construction and optimization of knowledge mesh for self-reconfiguration of knowledgeable manufacturing system

Automatic construction and optimization of knowledge mesh fo...

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作者： Yan, Hong-Sen Xue, Chao-Gai Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education 210096 Nanjing Jiangsu China Department of Management Engineering Zhengzhou University 450001 Zhengzhou Henan China

This paper deals with an approach to the automatic construction and optimization of the knowledge mesh (KM) based on the user's function requirements. Once a KM multiple set operation expression is obtained, a new KM can be inferred from the expression by the developed KM-based inference engine and transformed into its corresponding KMS (knowledgeable manufacturing system) software automatically by the developed automatic program construction software so as to realize the self-reconfiguration of the KMS. Thus, the automatic construction and optimization of a KM multiple set operation expression is equivalent to the automatic construction and optimization of its corresponding KM and KMS software. To explore the automatic construction and optimization of the new KM by the user's function requirements, an automatic construction procedure of a KM aiming at the user's maximum function-satisfaction is proposed. Firstly, the fuzzy function-satisfaction degree relationships of the users' requirements for the KM functions are defined, and so are the multiple fuzzy function-satisfaction degrees of the relationships. Secondly, operations (union, intersection and minus) on both fuzzy and multiple fuzzy function-satisfaction degrees are proposed and clarified, along with the proof that there exists a one-to-one mapping between the KM multiple set operation expression and the KM-function-satisfaction degree expression. Then, the optimization model of the KM multiple set operation expression is constructed and proved to be very NP-hard. And finally, the KM multiple set operation expression is optimized by the hybrid genetic-tabu algorithm, with the steps of the KM's automatic construction presented in detail as well. Based upon the above, the KM's automatic construction and optimization are illustrated by an actual KM example which corresponds to the management information system (MIS) software used in a vehicle body plant. The proposed approach proves to be very effective. © 2011

关键词： Optimization

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control system for maxillofacial surgery robot: Master-slave, motion control and safety design

Control system for maxillofacial surgery robot: Master-slave...

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6th International Conference on complex Medical engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

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Chinese Science Bulletin 2012年第10期57卷 1209-1216页

作者： WANG Ming YU JunZhi TAN Min ZHANG JianWei School oflnformation and Electrical Engineering Shandong Jianzhu University Jinan 250101 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department oflnformatics University of Hamburg Hamburg D-22527 Germany

The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot *** paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor *** particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are *** the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully *** latest results obtained demonstrate the effectiveness of the proposed *** is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method.

关键词：网络控制多式联运机器鱼中央游泳胸鳍人民政府神经机制

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Fitting a functional structural plant model based on global sensitivity analysis

Fitting a functional structural plant model based on global ...

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2012 IEEE International Conference on Automation Science and engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Lin, Yubin Kang, Mengzhen Hua, Jing National Key Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing 100190 China State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781467304283

Calibration of a functional structural plant model is a challenging task because of the complexity of model structure. Parameter estimation through gradient-based optimization technique was highly dependent on initial parameter values. This motivated the use of global sensitivity analysis technique to choose parameter subset in fitting the data sequence. Global sensitivity indices were computed using the source sink ratio as the output of interest, which regulates all organ growth. By fitting on chrysanthemum data from nine sampling dates, it is shown that sensitivity analysis method helps to identify the influential parameters for a given sampling date. As a result, fitting process is less dependent on the initial parameter values. Current work provides a new method of calibrating a plant growth model with multiple outputs. © 2012 IEEE.

关键词： Sensitivity analysis

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Correction to "Attitude coordination control for a group of spacecraft without velocity measurements" [Sep 12 1146-1159]

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IEEE Transactions on control systems Technology 2013年第3期21卷 1044-1044页

作者： An-Min Zou Krishna Dev Kumar Zeng-Guang Hou Department of Aerospace Engineering Ryerson University Toronto ON Canada Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Management of Complex Systems Beijing China

Some errors in the above titled paper (ibid., vol. 20, no. 5, Sep. 2012, pp. 1146-1159) are corrected here.

关键词： Attitude control Space vehicles Observers Neural networks Adaptive control Aerospace engineering

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