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IEEE International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781479927456

A horizontal exoskeleton for lower limb rehabilitation called iLeg has been developed by our laboratory which consists of two 3-DOF (degrees of freedom) robotic leg orthoses. This paper proposes a position-based impedance control with the compensation of BP NNs (back propagation neural networks) for the exoskeleton. Based on the control scheme, the task-oriented active training is investigated where impedance parameters are self-adjusted to movement deviation and patient activities with fuzzy logic. An adaptive haptic interface of active compliance is ensured to provide positive feedback to patients when their effort is desired or negative otherwise, which encourages patients to practice the desired movement following the predefined directed path. Besides, the timing freedom is separated from spatial trajectory and determined by patients. Voluntary effort hence becomes a requirement during the exercises, no effort no movement, so that active contribution of patients is highly motivated. Simulation results have verified the feasibility of the control scheme and the training strategy. An active compliant environment is created with adaptive haptic interface for task-oriented patient-driven training of multi-joint coordination.

关键词： Training Impedance Vectors Joints Robot kinematics Artificial neural networks

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PCA & HMM based arm gesture recognition using inertial measurement unit 13

PCA & HMM based arm gesture recognition using inertial measu...

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8th International Conference on Body Area Networks, BODYNETS 2013

作者： Zhang, Yinlong Li, Yang Liang, Wei Zeng, Ziming Tan, Jindong Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang110168 China Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee Knoxville Tennessee United States

ISBN: (纸本)9781936968893

This paper presents a novel arm gesture recognition approach that is capable of recognizing seven commonly used sequential arm gestures based upon the outputs from Inertial Measurement Unit (IMU) integrated with 3-D accelerometer and 3-D gyroscope. Unlike the traditional gesture recognition methods where the states in the gesture sequence are irrelevant, our proposed recognition system is intentionally designed to recognize the meaningful gesture sequence where each gesture state relates to the contiguous states which is applicable in the specific occasions such as the police directing the traffic and the arm-injured patients performing a set of arm gestures for effective rehabilitation. In the proposed arm gesture recognition system, the waveforms of the inertial outputs, i.e., 3-D accelerations and 3-D angular rates are automatically segmented for each arm gesture trace at first. Then we employ the Principal Component Analysis (PCA) - A computationally efficient feature selection method characteristic of compressing the inertial data and minimizing the influences of gesture variations. These selected features from PCA are compared with those standard features stored in pattern templates to acquire the gesture observation sequence that satisfy the Markov property. Finally, the Hidden Markov Model is applied in deducing the most likely arm gesture sequence. The experimental results show that our arm gesture classifier achieves up to 93% accuracy. By comparing with the other published recognition methods, our approach verifies the robustness and feasibility in arm gesture recognition using wearable MEMS sensors. © 2013 ICST 978-1-936968-89-3.

关键词： Hidden Markov models

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LPV systems with Unstable Subsystems: A Single Lyapunov Function Solution to Stabilizing Switching Laws

LPV Systems with Unstable Subsystems: A Single Lyapunov Func...

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IEEE International Conference on System Science and Engineering

作者： Xu He Gyorgyi Dymirkovsky State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Dogus University Control & Automation Department

ISBN: (纸本)9781479900084

This investigation presents a synthesis solution for stabilizing switching laws for a class of parameter-varying plants represented via linear LPV systems that has all unstable subsystems. Considered class of LPV systems has state matrices as parametrically affine with parameter varying in a convex set for which all the subsystems are unstable. Stabilization design of switching laws is solved that enforce overall state trajectory that is asymptotically convergent to the equilibrium state. Via the single Lyapunov function approach and the idea of parameter-dependent Lyapunov functions, a set of linear matrix inequalities guaranteeing the existence of solution. Illustrative examples and the respective simulation results are given that demonstrate the effectiveness of this new synthesis design for this class of LPV systems.

关键词： switching law Liapunov function SUB-SYSTEM Stabilising equilibrium state Unstable Simulation results enforcement linear matrix inequalities

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Stabilizing Switching Laws for Switched LPV systems with All Unstable Subsystems

Stabilizing Switching Laws for Switched LPV Systems with All...

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IEEE International Conference on System Science and Engineering

作者： Xu He Gyorgyi Dymirkovsky State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Dogus University Control & Automation Department

ISBN: (纸本)9781479900084

This investigation presents a synthesis solution for stabilizing switching laws a class of parameter-varying plants represented via linear LPV systems that has all unstable subsystems. Considered class of LPV systems has state matrices as parametrically affine with parameter varying in a convex set for which all the subsystems are unstable. Stabilization design of switching laws is solved that enforce overall state trajectory that is asymptotically convergent to the equilibrium state. Via the parameter-dependent multiple Lyapunov function approach, a set of linear matrix inequalities guaranteeing the existence of parameter-dependent Lyapunov functions is derived. An illustrative example and the respective simulation results are given that demonstrate the effectiveness of this new synthesis design for this class of LPV systems.

关键词： switching law SUB-SYSTEM Stabilising Liapunov function equilibrium state Unstable Simulation results enforcement linear matrix inequalities

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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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controllability analysis of networked control systems with packets loss

Controllability analysis of Networked Control Systems with p...

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Chinese control Conference (CCC)

作者： Hong Lin Hongye Su Yong Xu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang CN

The problem of controllability and control strategy for a class of networked control systems (NCSs) with packets loss are studied in this paper. A probabilistic controllability conception is proposed for these systems. In order to analyze the probabilistic controllability and relevant properties, a representation of the initial state by a group of constructive base of linear space is introduced. Based on this representation the affects to control system caused by packets loss can be expressed by system substates. A control strategy is developed to guarantee, the controllability of NCSs, and the minimum control steps property of this control strategy is discussed as well. Finally, a necessary and sufficient condition of probabilistic controllability for NCSs with packets loss is represented.

关键词： Packet loss controllability Sufficient conditions networked control systems Probabilistic logic

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Dynamical Balance Optimization and control of Quadruped Robots Under Perturbing External Force

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IFAC Proceedings Volumes 2013年第20期46卷 199-205页

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

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.

关键词： quadruped robot forces distribution external wrench motion/force control

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Virtual System Calibration Based on Jitter Prediction of Internet Time-delay for Teleoperation systems

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IFAC Proceedings Volumes 2013年第20期46卷 497-502页

作者： Jianning Hua Yujie Cui Fangping Yang Xuezhu Wang Yanhua Yang Hongyi Li Institute of Control Engineering Northeastern University at Qinhuangdao China (Tel: 86-335-8052421) State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

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.

关键词： Teleoperation Predictive display Prediction Internet Time delay Jitter

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Bezier curve based path planning for a mobile manipulator in unknown environments

Bezier curve based path planning for a mobile manipulator in...

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IEEE International Conference on robotics and Biomimetics

作者： Jile Jiao Zhiqiang Cao Peng Zhao Xilong Liu Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined according to the related information of the path as well as obstacles. The mobile manipulator has the ability to adapt to the environment and the optimal path will be updated once the new detected obstacles block this path. The path planning approach is verified by simulations.

关键词： Manipulators Mobile communication Path planning Sensors Robot kinematics Acceleration

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Design and its visual servoing control of an inspection robot for power transmission lines

Design and its visual servoing control of an inspection robo...

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IEEE International Conference on robotics and Biomimetics

作者： Dezheng Zhao Guodong Yang En Li Zize Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

A bi-branchiate robot is presented for the inspection of the high-voltage power transmission lines. With a symmetrical mechanical structure, the robot can roll along the power lines and negotiating all the obstacles in the lines to complete the inspection work. A hierarchical structure based on modular approach are used to design the control system of the robot. A combination mode composed of teleoperation via RF module and local intelligence based on visual servoing is developed to control the inspection robot. Using an image feature acquisition method based on Otsu adaptive threshold, the position and width of the power line in image plane are extracted as the basis of controller design. Experiments of obstacle negotiation and automatic line grasping in laboratory prove the effectiveness of the proposed robot prototype and the relative control method.

关键词： Robot kinematics Cameras Inspection Robot vision systems Feature extraction

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