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International Conference on Information and Automation (ICIA)

作者： Awais Yasin Qiang Huang Qian Xu Weimin Zhang Key Laboratory of Biomimetic Robots and Systems Key Laboratory of Intelligent Control & Decision of Complex Systems Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology Beijing P.R. China

This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference System (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.

关键词： Trajectory Legged locomotion Robot sensing systems Foot Robot kinematics Current measurement

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Propagation characteristics of elastic wave in the overhead transmission cable

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Zhendong Ceshi Yu Zhenduan/Journal of Vibration, Measurement and Diagnosis 2012年第2期32卷 214-217页

作者： Yang, Yongjun Li, Huadong Qiu, Jinhao Electric Power Robotics Laboratory Shandong Electric Research Institute Ji'nan 250002 China State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

A new sensor with piezoelectric ceramic is designed for Structural Health Monitoring on high voltage transmission cable used for exciting elastic wave on the surface of transmission cable to obtain the propagation characteristics. Based on an experimental setup with two transducers, a signal generator and a data acquisition system, the dispersive curve of guided wave in the transmission cable is measured through Gabor wavelet transform. The results show that there are at least four modes above 30 kHz, but there are only two modes below 30 kHz, which is suitable for the research of SHM. Another experiment for the dam ping of elastic wave on the transmission cable is carried out. The curve of the relationship between amplitude attenuation and propagating distance is achieved. The influence of frequency on peak value is researched. Results show that the wave attenuation is exponential function.

关键词： Structural health monitoring

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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

作者： Tang, Hui Li, Yangmin Yang, Qinmin Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781467304283

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks. © 2012 IEEE.

关键词： controllers

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Market-driven profit optimization for tabular chemical reactors with genetic algorithms

Market-driven profit optimization for tabular chemical react...

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2012 IEEE Symposium on robotics and Applications, ISRA 2012

作者： Qin, Hai-Peng Chen, Peng Lu, Yong-Zai Wu, Zhao-Li Chu, Jian State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China Department of Automation Shanghai Jiaotong University Shanghai 200023 China Department of Chemical and Biological Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781467322072

With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in global marketplace. This paper presents the development of profit optimization solution with an integration of profit model and model-based genetic algorithm (GA) optimization, and its industrial case study on an ethanolamine (EA) production line. The proposed methodology and solution may also be applied to other chemical manufacturing enterprises. © 2012 IEEE.

关键词： Ethanolamines

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. This paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. The method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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Localizability estimation for mobile robots based on probabilistic grid map and its applications to localization

Localizability estimation for mobile robots based on probabi...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Zhe Liu Weidong Chen Yong Wang Jingchuan Wang State Key Laboratory of Robotics and System (HIT) Harbin China Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China

A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The validity of the proposed method is demonstrated by experiments in different typical environments. Furthermore, two typical localization-related applications, including active global localization and pose tracking, are presented for illustrating the effectiveness of the proposed localizability estimation method.

关键词： Covariance matrix Estimation Heuristic algorithms Iterative closest point algorithm Mobile robots Indexes

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Research on real time analysis and control method of material function quality for high performance work pieces

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Energy Education Science and Technology Part A: Energy Science and Research 2012年第SUPPL.2期30卷 323-328页

作者： Ji, Weixi Li, Xiaobing Cao, Yi Shan, Longyan School of Mechanical Engineering Jiangnan University Wuxi Jiangsu Province 214122 China State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou Zhejiang Province 310027 China State Key Laboratory of Robotics and System Harbin Heilongjiang Province 150080 China

Because of the complexity of shaped surface structure of those critical high performance work pieces of high-end equipment, the requirement of those work pieces is very high. The main requirement of these parts is about their performance, combined with the processing requirements of integration of performance and geometric parameters. These work pieces have the characters of complex moulding surface and their raw materials are difficult to process, the material deformation has big resistance, also the structure property is very sensitive to parameters of thermal processing time, temperature, strength and so on. So when they are being deformed, it is very difficult to ensure the structure property of these parts, which is affected by several factors like material, thermal processing, geometric shape and so on, causing the result of high defective rate in production and low efficiency of machining. This paper comes up with a solution to set up an integrated life cycle information model of quality information for high performance work pieces. The idea changes from dispersive quality information processing to integrate manufacturing process oriented quality information management. Also the paper researches into mapping and integration of quality data and quality inspection standards. It finally provides basis of application technology for quality assurance of critical high performance parts through real time collecting, managing, analyzing, and evaluating of quality inspection data, thus realizing management and control of function quality in the deformation processes. © Sila Science. All Rights Reserved.

关键词： Deformation

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UKF based Robust Attitude control for Helicopter

UKF based Robust Attitude Control for Helicopter

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World Congress on Intelligent control and Automation

作者： Qi Song J. D. Han Zhe Jiang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Academy of Mathematics and Systems Science Chinese Academy of Science

ISBN: (纸本)9781467313971

In order to handle the model uncertainty and the external disturbance, a robust attitude control method for helicopter robots is proposed in this paper. Unscented Kalman Filter (UKF) and backstepping technique are adopted in the attitude control design. Model-based backstepping control is presented to keep the desired helicopter attitude. UKF is employed for online estimation of both motion states and model errors of the helicopter. Such estimation results are further incorporated into the controller of helicopter. The backstepping control enhanced by real time model errors feedback can achieve a robust tracking performance even with the occurrence of external disturbance. Simulations conducted on the helicopter illustrate the effectiveness of the proposed attitude control.

关键词： UKF Backstepping control Attitude control Helicopter

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A hierarchical networked urban traffic signal control system based on multi-agent

A hierarchical networked urban traffic signal control system...

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IEEE International Conference on Networking, Sensing and control

作者： Cheng Chen Zheng Jiang Li State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control agents, which can move from device to device in a network. The system can reconfigure and replace these agents according to inconstant states of traffic environment and performances of agents. By this way, demand-based control is realized in traffic signal control system. Then we described the details and key technologies in the procession of agent-generation, agent-storage and agent-usage. At last, a prototype of the system is developed and basic functions of this system are tested by simulations. These simulations also confirm extensibility and effectiveness of the system.

关键词： control systems Databases Organizations Vehicles Roads Mobile communication Aerospace electronics

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A monitoring network based on embedded vision nodes suitable for robotic systems 1

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Jiao, Jile Ye, Shuguang Cao, Zhiqiang Yang, Yuequan Liu, Xilong Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China JiangSu King Source Electric Co. Ltd. Jiangsu 225200 China College of Information Engineering Yangzhou University Yangzhou 225009 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

A visual monitoring network suitable for robotic systems is presented in this paper. The monitoring network is composed of embedded vision nodes. By interacting with an upper computer as well as the robotic system, the monitoring network provides an important supplement, which may accelerate the task execution. Each embedded vision node captures and processes images independently, and it is easy to install with compact size. The vision node contains a S3C2440 processor as the main processing module, a CMOS camera as the image capturing module and a zigbee module for wireless communication. The detection based on frame difference or color feature is used to determine the mass center of moving object. On this basis, the object information from one vision node may also be sent to another one for stereo vision localization with stereo vision model and least square method. Application examples are demonstrated to testify the monitoring network. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Zigbee

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