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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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Attitude tracking control of a quadrotor based on linear active disturbance rejective control

Attitude tracking control of a quadrotor based on linear act...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Jingdu Gao Yan Zhuang Jizhong Xiao Yiwen Zhao School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical Engineering The City College City University of New York New York USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

A quadrotor is a typical multiple-input multiple-output (MIMO), underactuated, strong coupled nonlinear system with parameter uncertainty and unmodeled disturbance. To track the desired attitude and height, a linear active disturbance rejection control (LADRC) approach is utilized for the quadrotor control. LADRC has the capacity of estimating and compensating the generalized disturbance, and reduce the system to a unit gain double integrator, which is easily implemented and robust to environment disturbances. A simplified dynamic model of quadrotor is established using Newton-Euler equations. The design of LADRC is verified through numerical simulation and compared with PID controller. Simulation results indicate the LADRC can be used to achieve good performance in tracking the desired attitude and height.

关键词： Mathematical model control systems Observers Attitude control Aerodynamics Numerical models Propellers

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Implementing 3-D high maneuvers with a novel biomimetic robotic fish 19

Implementing 3-D high maneuvers with a novel biomimetic robo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Wu, Zhengxing Yu, Junzhi Su, Zongshuai Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9783902823625

This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive principles of the robotic fish, detailed analysis and viable approaches to perform serval high maneuvers involving rotational maneuvers and translational maneuvers are presented. Based on the feedback of turning angles measured by an onboard six-axis gyroscope, the robotic fish achieves various agile and swift motions. Specifically, according to the C-start of Esox lucius, a flexible and wide-range yaw turn up to 360° is attained. Under the propulsive forces and moments from pectoral fins with symmetric or asymmetric pitching and heaving attack angles, the robotic fish can agilely flip in a pitch style and roll a 360° rotation around the swimming direction. Moreover, two types of backward swimming separately employing pectoral fins and body undulation are also accomplished. The experimental results verify the remarkable maneuverability of the developed robotic fish and the effectiveness of approaches presented for the maneuver control. © IFAC.

关键词： robotics

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A production planning model for a steel plate fabrication plant with flexible customization and manufacturing 19

A production planning model for a steel plate fabrication pl...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Lu, Shan Su, Hongye Johnsson, Charlotta Xie, Lei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control ZheJiang University Hangzhou310027 China Department of Automatic Control Lund University Sweden

ISBN: (纸本)9783902823625

With increased market competition and advances in modern manufacturing technologies, requirements on customer orders and manufacturing conditions have become more diversified. This paper addresses a dynamic production planning problem for a steel plate fabrication plant with practical flexibility of both customers and manufacturing, such as steel slab-plate matching rules, plate substitution options, production line assignment. These flexibility factors can provide the decision maker with auxiliary options to satisfy customer requirements through realizable production planning. The steel slab-plate matching rules combined with plate substitution options are visualized by a networked graph and formulated by a set based design. A mixed-integer nonlinear programming (MINLP) model that incorporates various manufacturing constraints and the flexibility is proposed to simultaneously optimize production strategy and provide practical managerial information such as backlogging/inventory level, capacity availability, and also steel slab demand. Linearization methods are used to transform the original MINLP problem into mixed integer linear programming (MILP) model resulting in easier and quicker solutions. A real industrial steel plate fabrication plant is used as a case and illustrates the effectiveness and applicability of the proposed method. © IFAC.

关键词： Flexible manufacturing systems

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The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

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robotics and Biomimetics 2014年第1期1卷 1-20页

作者： Chen, Yixiong Hu, Jin Peng, Long Hou, Zeng-guang State Key Laboratory of Management and Control for Complex Systems Beijing China

To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active compliance of the robot is established, and the patient’s voluntary effort to accomplish the training task is inspired. During the training process, the patient’s related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen in order to induce a desired active torque which is proportional to the voluntary effort extracted from the electromyography signals of the related muscles using back propagation neural networks. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. Simulation conducted using Matlab and the experiment with a spinal cord injury subject and a healthy subject have shown satisfactory results which verify the feasibility of this control strategy.

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Erratum to: Robust adaptive synchronization of general dynamical networks with multiple delays and uncertainties

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Pramana 2016年第6期86卷 1413-1413页

作者： LU, YIMING HE, PING MA, SHU-HUA LI, GUO-ZHI MOBAYBEN, SALEH Laboratory of Train Network Department of Train Control Tech. Research Center of Product & Tech. CRRC TANGSHAN CO. LTD Tangshan People’s Republic of China School of Information Science and Engineering Northeastern University Shenyang People’s Republic of China School of Automation and Electronic Information Sichuan University of Science and Engineering Zigong People’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin People’s Republic of China

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control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic Engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Semi-tensor product approach to networked evolutionary games

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control Theory and Technology 2014年第2期12卷 198-214页

作者： Daizhan CHENG Hongsheng QI Fehuang HE Tingting XU Hairong DONG Ins titu te of Systems Science Chinese Academy of Sciences Beijing 100190 China Institute of Astronautics Harbin Institute of Technology Harbin Heilongjiang 150080 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China

In this paper a comprehensive introduction for modeling and control of networked evolutionary games （NEGs） via semi-tensor product （STP） approach is presented. First, we review the mathematical model of an NEG, which consists of three ingredients： network graph, fundamental network game, and strategy updating rule. Three kinds of network graphs are considered, which are i） undirected graph for symmetric games; ii） directed graph for asymmetric games, and iii） d-directed graph for symmetric games with partial neighborhood information. Three kinds of fundamental evolutionary games （FEGs） are discussed, which are i） two strategies and symmetric （S-2）; ii） two strategies and asymmetric （A-2）; and iii） three strategies and symmetric （S-3）. Three strategy updating rules （SUR） are introduced, which are i） Unconditional Imitation （UI）; ii） Fermi Rule（FR）; iii） Myopic Best Response Adjustment Rule （MBRA）. First, we review the fundamental evolutionary equation （FEE） and use it to construct network profile dynamics （NPD）of NEGs. To show how the dynamics of an NEG can be modeled as a discrete time dynamics within an algebraic state space, the fundamental evolutionary equation （FEE） of each player is discussed. Using FEEs, the network strategy profile dynamics （NSPD） is built by providing efficient algorithms. Finally, we consider three more complicated NEGs： i） NEG with different length historical information, ii） NEG with multi-species, and iii） NEG with time-varying payoffs. In all the cases, formulas are provided to construct the corresponding NSPDs. Using these NSPDs, certain properties are explored. Examples are presented to demonstrate the model constructing method, analysis and control design technique, and to reveal certain dynamic behaviors of NEGs.

关键词： networked evolutionary game Fundamental evolutionary equation Strategy profile dynamics Homogeneous/heterogeneous NEG Semi-tensor product of matrices

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Unbiased minimum-variance filtering for systems with randomly multi-step sensor delays

Unbiased minimum-variance filtering for systems with randoml...

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作者： Zhang, Yilian Yang, Fuwen Han, Qing-Long Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Centre for Intelligent and Networked Systems Central Queensland University RockhamptonQLD4702 Australia

ISBN: (纸本)9781479940325

In this paper, a linear unbiased minimum-variance filtering problem is considered for a class of systems with randomly multi-step sensor delays. A new mathematical model is established for the multi-step sensor delays. Different from the augmented method for dealing with delayed systems, a linear unbiased minimum-variance filter design method is proposed without augmenting the state vector, which effectively reduces the filter dimensions. A recursive algorithm for calculating the filter gain matrix is developed. The simulation results illustrate the effectiveness of the proposed method. © 2014 IEEE.

关键词： networked control systems

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一种两自由度的压电-电磁复合能量收集器(英文)

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2014年第9期15卷 711-722页

作者： Hong-yan WANG Li-hua TANG Yuan GUO Xiao-biao SHAN Tao XIE College of Computer and Control Engineering Qiqihar University State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Engineering University of AucklandAuckland 1010 New Zealand

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输... 详细信息

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输出功率。研究方法:对一种两自由度的压电-电磁复合能量收集器进行数学建模,并实验验证数学模型的正确性。基于实验测试得到的系统参数值,理论研究压电元件和电磁元件的机电耦合系数对不同能量收集器发电性能的影响关系,并对几种能量收集器的发电能力进行对比分析。重要结论:对于非强耦合(弱或中间耦合)的两自由度机电转换器,复合能量收集器(压电+电磁)具有比单一能量收集器(压电或电磁)更高的发电能力。

关键词：振动复合能量收集两自由度模型压电电磁

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