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检索条件"机构=Key Laboratory of Networked Control Systems State Key Laboratory of Robotics"

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DCT representations based appearance model for visual tracking

DCT representations based appearance model for visual tracki...

引用

IEEE International Conference on robotics and Biomimetics

作者： Hongkai Chen Weizheng Zhang Xiaoguang Zhao Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China State Grid Henan Electric Power Company Zhengzhou China

ISBN: (纸本)9781479973989

In this paper, we present a simple yet effective visual tracking algorithm with an appearance model based on 2D discrete cosine transform (2D-DCT) representations. The DCT has the properties of decorrelation and energy compaction, and is robust against geometry and illumination changes. Hence, it is suitable for appearance modeling and the features of our appearance model are extracted from an optimized low dimensional subspace. In order to adapt to the appearance change caused by environment change or ego motion, we also propose to update the observation appearance model through a nonlinear weighted method. Numerous experiments on some challenging video sequences demonstrated that our algorithm is effective and it considerably outperforms the other methods.

关键词： Discrete cosine transforms Target tracking Visualization Adaptation models Lighting Robustness Feature extraction

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Recursive singular value decomposition based parameter estimation for thermal efficiency on-line monitoring of the cement clinker manufacturing process

Recursive singular value decomposition based parameter estim...

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World Congress on Intelligent control and Automation (WCICA)

作者： Zhao Liu Zhuo Wang Haibin Yu Mingzhe Yuan Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China University of Chinese Academy of Sciences Beijing China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Liaoning China

The cement clinker manufacturing process is a complex process of the conversion and consumption of thermal energy. An energy balance analytical model that can be used for on-line identification is established, aiming at solving the problem that the thermal efficiency can't be on-line monitored. Considering the input matrix is close to a singular matrix under steady-state condition, a recursive singular value decomposition (RSVD) identification algorithm that can overcome the ill-conditioned problem in linear regression algorithm is adopted for the on-line estimation of model parameters. In order to avoid the parameter vectors entering complex field in the recursive process, the initial values of the recursive algorithm are improved. The simulation results based on historical data show that the established model and the improved identification algorithm can effectively calculate the thermal efficiency of the cement clinker manufacturing process.

关键词： Heating Manufacturing processes Analytical models Parameter estimation Matrix decomposition Singular value decomposition Vectors

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Modularized global equalization of battery cells for electric vehicles

Modularized global equalization of battery cells for electri...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Feng Ju Weiwen Deng Jingshan Li State Key Laboratory of Automotive Simulation and Control Jilin University Changchun China Department of Industrial and Systems Engineering University of Wisconsin Madison WI USA

Battery management system has attracted mounting research attention recently, within which cell equalization plays a key role. Although many research and practices have been devoted to developing system-level structure of cell equalizers, there are still substantial opportunities for performance improvement yet to investigate. This paper proposes a novel architecture for battery cell equalization, referred to as modularized global equalizer. The mathematical model is developed to emulate the equalization dynamics by considering both charging/discharging and energy loss. Analytical formulas are derived to evaluate the performance of the global equalizer. The proposed method is also compared with the state-of-the-art structures in terms of equalization speed and energy loss.

关键词： System-on-chip Equalizers Batteries Energy loss Mathematical model Educational institutions Electric vehicles

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Performance Improvement in Communication-Based Train control (CBTC) systems using Cognitive control

Performance Improvement in Communication-Based Train Control...

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IEEE International Conference on Intelligent Transportation systems

作者： Wenzhe Sun F. Richard Yu Tao Tang State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University P.R. China Department of Systems and Computer Engineering Carleton University Ottawa ON Canada

Communication-Based Train control (CBTC) systems use bidirectional train-wayside wireless communications to ensure the safe operation of rail vehicles. Due to unreliable wireless networks, the uncertainties in train status information leads to imperfect traction/braking commands, which will affect CBTC performance. In this paper, we use recent advance in cognitive control to positively improve control performance as well as reduce information uncertainties. A cognitive control system composed of networked control System (NCS)-based state-space model and entropic-state model is presented. The performance optimization problem based on communication period decision and Medium Access control (MAC)-layer parameters adaption is formulated as a stochastic control process. Minimizing the energy consumption and information uncertainties is the objective of our model. Simulation result shows that the proposed cognitive control scheme can improve CBTC performance.

关键词： control systems Delays Uncertainty Adaptation models Wireless networks Rails state-space methods

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Mobile robot map building in eigenspace - A pea-based approach

Mobile robot map building in eigenspace - A pea-based approa...

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2013 25th Chinese control and Decision Conference, CCDC 2013

作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 150001 China

ISBN: (纸本)9781467355322

Detection and compression of the environmental information incrementally is useful when the mobile robot needs to continuously update its perception database online. In this paper, we propose an incremental subspace fusion method for abstract map building of mobile robot. We firstly adopt PCA to preprocess the panoramic images taken from omnidirectional camera at corresponding location, which can optimally extracts the local map features formed in the subspace and reduces the uncorrelated features. This enables robot to memorize the environmental features incrementally when it travels in an unknown environment. Experimental results are shown finally. © 2013 IEEE.

关键词： Mobile robots

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Unified hysteresis and creep compensation in AFM tip positioning with an extended PI model

Unified hysteresis and creep compensation in AFM tip positio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhiyu Wang Lianqing Liu Zhidong Wang Wenxue Wang Dept. of Advanced Robotics Chiba Institute of Technology Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences (CAS) China College of Electrical and Control Engineering Liaoning Technical University and University of Chinese Academy of Sciences China

The nonlinearities such as hysteresis and creep are the major factors inherent in PZT actuation that affect the tip positioning precision and manipulation performance of the AFM system. In this study, an extended PI model is generalized by introducing a creep model to the basic hysteretic operator of the PI model at the inflexion point of the hysteresis loop. Unified compensation for hysteresis and creep can be implemented with the extended PI model. Experiment results demonstrate the validity and effectiveness of the extended PI model and it is implied that the inflexion creep compensation not only improves the tip positioning precision at the inflexion points on the hysteresis loops, but also the localization effectiveness during the whole process of PZT actuation.

关键词： Creep Hysteresis Computational modeling Mathematical model Calibration Trajectory Load modeling

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EEG-based classification of upper-limb ADL using SNN for active robotic rehabilitation

EEG-based classification of upper-limb ADL using SNN for act...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jin Hu Zeng-Guang Hou Yi-Xiong Chen Nikola Kasabov Nathan Scott State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Knowledge Engineering and Discovery Research Institute Auckland University of Technology Auckland New Zealand

Repetitive activities of daily living (ADL) and robotic active training are commonly practised in the rehabilitation of paralyzed patients, both of which have been proven rather effective to recover the locomotor function of impaired limbs. ADL classification based on electroencephalogram (EEG) is of great significance to perform active robotic rehabilitation for patients with complete spinal cord injury (SCI) who lose locomotion of affected limbs absolutely, where surface electromyography (sEMG) or active force signal can hardly be detected. It is a challenge to achieve a satisfying result in neuro-rehabilitation robotics using EEG signals due to the high randomness of the EEG data. A classification method is proposed based on spiking neural networks (SNN) to identify the upper-limb ADL of three classes with 14-channel EEG data. The continuous real-number signals are firstly encoded into spike trains through Ben's Spike Algorithm (BSA). The generated spikes are then submitted into a 3-D brain-mapped SNN reservoir called NeuCube trained by Spike Timing Dependant Plasticity (STDP). Spike trains from all neurons of the trained reservoir are finally classified using one version of dynamic evolving spiking neuron networks (deSNN) - deSNNs. Classifications are presented with and without NeuCube respectively on the same EEG data set. Results indicate that using the reservoir improves identification accuracy which turns out pretty promising despite that EEG data is highly noisy, low frequently sampled, and only from 14 channels. The classification technique reveals a great potential for the further implementation of active robotic rehabilitation to the sufferers of complete SCI.

关键词： Neurons Electroencephalography Training Robot kinematics Encoding Reservoirs

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A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights

A Robust Road Segmentation Method Based on Graph Cut with Le...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Jun Yuan Shuming Tang Fei Wang Hong Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences High-Tech Innovation Engineering Center Institute of AutomationChinese Academy of Sciences Institute of Artificial Intelligence and Robotics of Xi'an Jiaotong University School of Information Engineering Minzu University of China

Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approach,a novel graph-cut based method is proposed in this *** novelty of this proposal is that weights of neighboring links(n-links) in a s-t graph are estimated by Multilayer Perceptrons(MLPs) rather than calculating by the neighboring contrast simply in previous graph-cut based *** n-link weights by MLPs reinforces the ability of graph-cut based road segmentation algorithms to tolerate the complex and changeable appearance of road ***,the Gentle Ada Boost algorithm is integrated into the graph-cut framework to estimate the terminal link(t-link) weights in the s-t *** are conducted to show the robustness and efficiency of the proposed method.

关键词： image A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights Graph

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Real-time road detection and description for robot navigation in an unstructured campus environment

Real-time road detection and description for robot navigatio...

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World Congress on Intelligent control and Automation (WCICA)

作者： Wenhao Xu Yan Zhuang Huosheng Hu Yiwen Zhao School of Control Science and Engineering Dalian University of Technology Dalian China School of Computer Science and Electronic Engineering University of Essex Colchester U.K. State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

This paper investigates real-time road detection for an unmanned ground vehicle (UGV) to navigate in a campus environment. A novel vision system with two monocular cameras at different heights and angles is utilized to accomplish both road region detection and direction estimation tasks simultaneously. An Adaboost-based classifier is used in the road region detection in order to handle the road surface's diversity, and a vanishing point tracking technique is used to estimate the road direction. To describe the unstructured road spaces with an accurate model, a RANSAC Spline Fitting algorithm is adopted to delineate the road borders based on the data fusion results from vision and lasers. Extensive experiments are carried out by using a real UGV platform in a campus environment and results show the feasibility and performance of the proposed approach.

关键词： Roads Cameras Navigation Splines (mathematics) Laser fusion Three-dimensional displays Fitting

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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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