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第25届中国控制与决策会议

作者： Feihu Sun Junzhi Yu De Xu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences The Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467355339

The recently increased interests in visual measurement and control applied to underwater robots have challenged the existing visual technologies that once were sufficient in ground-based applications. This paper surveys the major difficulties and representative applications in underwater visual measurement and control, most of which result from the particularity of the aquatic environments. Specifically, the state of the art of the underwater vision is summarized from different perspectives, primarily involving key points and existing problems. In particular, the application of the embedded vision-based system in the context of bionics is accented. Finally, the potential development trends and possible breakthroughs are discussed, shedding light on the effort both in hardware and software to advance real-world underwater vision applications.

关键词： Visual measurement and control, Underwater robots, Embedded vision, Bio-robotics.

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Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems

Virtual system calibration based on jitter prediction of int...

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

作者： Hua, Jianning Cui, Yujie Yang, Fangping Wang, Xuezhu Yang, Yanhua Li, Hongyi Institute of Control Engineering Northeastern University Qinhuangdao China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China China

ISBN: (纸本)9783902823458

The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework. Copyright © 2013 IFAC.

关键词： Forecasting

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Dynamical balance optimization and control of quadruped robots under perturbing external force

Dynamical balance optimization and control of quadruped robo...

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

作者： Li, Zhijun Yu, Sijia Liu, Sibang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Robotics Institute School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 610054 China Robotics Institute University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783902823458

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations. Copyright © 2013 IFAC.

关键词： Adaptive control systems

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A construction strategy for cloud robotic system

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Sensor Letters 2014年第2期12卷 255-259页

作者： Liang, Yongquan Zhang, Zhenmei Fan, Jiancong Tang, Leiyu State Key Laboratory of Mining Disaster Prevention and Control Ministry of Science and Technology Shandong University of Science and Technology Qingdao China College of Information Science and Engineering Shandong University of Science and Technology Qingdao China College of Management Science and Engineering Shandong University of Finance and Economics Jinan China College of Mathematics and Systems Science Shandong University of Science and Technology Qingdao China

The technological developments of sensors, actuators, communication devices, and especially cloud computing, enable cloud robotics to be studied and designed. A cloud robot is a robot with lightweight inherent configurations, but connected to the cloud. Cloud robotics can offload computationintensive tasks to be executed in remote cloud. In this paper, we design two types of cloud robotic structures, called homoRobotSys and heteroRobotSys respectively. Different structures are designed to adapt to different task-relevant or configuration-relevant requirements. Simulation is developed to discuss time performances of cloud robotics. Comparisons between cloud robotics and networked robotics are also made. Copyright © 2014 American Scientific Publishers.

关键词： Cloud computing

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Predictive control for Visual Servo Stabilization of Nonholonomic Mobile Robots

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自动化学报 2013年第8期39卷 1238-1245页

作者： CAO Zheng-Cai YIN Long-Jie FU Yi-Li LIU Tian-Long College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji UniversityShanghai 201804China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China

活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳... 详细信息

活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳定的一个预兆的控制器被介绍。第一，利用产生速度的命令的一个运动学的预兆的稳定控制器被介绍。然后，来临以便 asymptotically 做活动机器人的实际速度到需要的，一个动态预兆的控制器被设计。建议预兆的控制器能容易处理限制。最后，几模拟被执行，并且结果说明建议控制计划是有效的解决视觉伺服稳定问题。

关键词：非完整移动机器人稳定化控制器预测控制器视觉伺服生成速度运动预测稳定问题控制方案

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Simulation and experiment research of non-contact micro-liquid reagent dispensing

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Advance Journal of Food Science and Technology 2013年第5期5卷 514-521页

作者： Yufeng, Yao Shizhou, Lu Yaxin, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

With the development of biological analytical techniques and high throughput screening techniques, a large number of automated biological agents dispensing systems are widely used in the field of life science research. Non-contact dispensing method characterizedby its small dispensing volume, high dispensing precision and quick service speed which satisfies the requirements of biological agent's distribution, becomes the mainstream dispensing method used in reagent dispensing systems. However, the difficult control way, complex system of non-contact dispensing method and its vulnerable dispensing process, which can be easily affected by characteristics of the agent, have hindered the application and development of the method. In this study, simulation model of the separation process ofmicro scale biological reagent are constructed in order to solve the above problems. The prerequisites of the non-contact dispensing method, the relationship between dispensing volume and precision and characteristics of reagents, formation of system and control parameters are researched through theoretical analysis and numerical simulations. The experiment results are quite consistent with the simulation results;therefore it well verifies the reliability of the modeling and simulation method and also lays a firm theoretical foundation for the system design of non-contact micro-liquid reagent distribution and control optimization © Maxwell Scientific Organization, 2013.

关键词： Numerical methods

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A highly integrated joint controller for a humanoid robot arm

A highly integrated joint controller for a humanoid robot ar...

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IEEE International Conference on robotics and Biomimetics

作者： Zijian Zhang Fenglei Ni Yi Ren Minghe Jin Yiwei Liu Hong Liu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781479927456

A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors - the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been integrated with five level emergent condition response strategies to ensure safety of the robot arm. To test performance of the joint controller, a testing platform has been established. Though a serious of experiments, the performance of the joint controller including the motor drive function, the sensor information acquisition and the joint track and velocity control can be validated.

关键词： Joints Magnetic sensors Brushless motors Temperature sensors Torque Robots

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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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An FES-assisted training strategy combined with impedance control for a lower limb rehabilitation robot

An FES-assisted training strategy combined with impedance co...

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IEEE International Conference on robotics and Biomimetics

作者： Yixiong Chen Jin Hu Weiqun Wang Liang Peng Long Peng Zeng-Guang Hou State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences

ISBN: (纸本)9781479927456

In order to investigate the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, this paper proposes an FES-assisted training strategy combined with impedance control for our self-made exoskeleton lower limb rehabilitation robot. This control strategy is carried out in a leg press task. Through impedance control, an active compliance of the robot is established, and the patient's voluntary effort to accomplish the 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 aiming to induce a desired active torque which is proportional to the voluntary effort of the patient. 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. The feasibility of this control strategy has been verified in Matlab.

关键词： Robots Torque Muscles Force Trajectory Joints Impedance

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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