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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Su, Hu Xu, De Huang, Yanlong State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781424481149

Learning control has been an active topic of research for several decades, and is of theoretical, as well as practical, significance. Current theories and developments in learning control are discussed. Following a brief introduction of the state as well as new progress on learning control, we give a detail review on the models and algorithms of the control policies developed recently which proved to be advantageous over previous approaches through experimental results. The related results and properties are presented. Then, several potentially developmental topics that are valuable to be further investigated are suggested. Finally, the conclusion remark is proposed. © 2011 IEEE.

关键词： Learning algorithms

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Translational offset detection based on far-field intensity for grating tiling

Translational offset detection based on far-field intensity ...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Huang, Yanlong Fang, Zaojun Xu, De Tan, Min Xia, Lan State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Laboratory of Shanghai Institute of Laser and Plasma Chinese Academy of Engineering Physics Shanghai China

ISBN: (纸本)9781424481149

The far-field intensity is detected from far-field image to estimate the piston distance between two gratings. The image processing algorithm includes projections along the horizontal and vertical directions, search for each focal spot's centre, feature extraction and intensity computation. Each focal spot's centre can be found with the projections. A self-growing method is used for feature extraction, where the threshold value depends on the gray value of each focal spot's centre. For each focal spot, the sum of gray values within the relevant domain is taken to be its energy intensity. Furthermore, the energy ratio of left and main focal spots (or main and right focal spots) is computed. A formula that expresses the piston distance between two gratings as the function of the energy ratio is fitted with several measured points. Based on this formula, the piston distance is obtained for a new energy-ratio. Finally, the proposed method is verified with a series of experiments. © 2011 IEEE.

关键词： Image processing

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A closed-loop method to generate fast C-start for a robotic fish

A closed-loop method to generate fast C-start for a robotic ...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Su, Zongshuai Yu, Junzhi Tan, Min Zhang, Jianwei State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Informatics University of Hamburg Germany

ISBN: (纸本)9781424481149

This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed preparatory stage, and the turning precision is achieved by the feedback of the turning angle from a gyroscope and a new design of the propulsive stage. Different types of C-starts are studied, due to the different sizes of caudal fins, in order to achieve the highest turning angular velocity. All the proposed types of C-starts are experimented and compared using a four-joint robotic fish. The experimental results show a fastest angular velocity up to 200°/s and the distinctions between all these different types. © 2011 IEEE.

关键词： Fish

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Optimal motion generation for heavy duty industrial robots—control scheme and algorithm

Optimal motion generation for heavy duty industrial robots—...

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International Conference on Mechatronics (ICM)

作者： Wei You Minxiu Kong Lining Sun State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolation process of traditional motion control scheme, a FC based control scheme is proposed, An industrial computer with a TwinCAT real-time system was chosen as the motion control unit,and EtherCAT was used for command transmission. With the bask requirements of motion generation, a navel time and power optimal motion generation algorithm based on modified cubic spline interpolation is proposed. The execution time and work were chosen as the objective function. The constraints are the limits of torque, velocity and jerk. The position and velocity of the optimized motion were smooth. Acceleration was continuous throughout the execution period, including at the start point and end point Then the proposed control scheme and motion generation algorithm was applied for control of heavy duty material handling robots. The final experimental results showed that after obtaining motion parameters in an off-line stage, the computation of interpolation in Cartesian space could be finished very rapidly, within a short sample time (about four times the sample time of the position control loop). And the motion generation algorithm has a great effect on energy saving and production efficiency improvement.

关键词： Interpolation Acceleration Spline Algorithm design and analysis Kinematics Service robots

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Hybrid Map-based Navigation for Intelligent Wheelchair

Hybrid Map-based Navigation for Intelligent Wheelchair

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yong Wang Weidong Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and In State Key Laboratory of Robotics and System (HIT) Harbin 150001 China

ISBN: (纸本)9781612843865

A navigation system based on hybrid map for intelligent wheelchair is presented. The system is consisted of hybrid map building, localization, path planning and trajectory following. The hybrid map includes a series of small probabilistic grid maps (PGM) and a global topological map (GTM). They are built simultaneously and easily using the human-guided method. Then on the hybrid map, the localization and the real-time path planning algorithms are realized smartly and effectively. The experiments and applications results show that the human-guided method integrates both the computer’s modeling ability and the human’s sensory perception to the environment. The hybrid map is easy to solve the loop-closure and doorway problems that enhances the robustness against uncertainty of sensors. It also can improve the efficiency in large-scale SLAM. Further more, at an elderly home we did the activities of daily living (ADL) testing and at Shanghai Expo 2010 we demonstrated the wheelchair system by offering trial rides to visitors.

关键词： Navigation Wheelchairs Trajectory Buildings Real time systems Senior citizens

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Separate DOF control and Mutual Guidance in networked Haptic Collaboration Maze Game: Design and Evaluation

Separate DOF Control and Mutual Guidance in Networked Haptic...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Lingzhi Liu Guanyang Liu Yuru Zhang Weidong Guo Keke Lu Moyuan Zhou State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityChina

ISBN: (纸本)9781612843865

In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation – separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF of an object or a task independently in collaborative virtual environment. Mutual guidance is also proposed which provides guidance force to each player. We setup an experiment to evaluate its efforts on cooperation performance and co-presence. Twelve participants did the experiment. The results revealed that this collaboration mode is effective. Ten of the twelve participants believed that they performed well in the experiment and thought the collaboration way was very interesting. The presented results motivated a new haptic collaboration mode in the fields of game design, education and cooperative assembly.

关键词： control networked Evaluation Hunting Game theory Game animals DEPTH OF FIELD Guidance Mazes haptic device Players Haptic Device Component

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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Multiple Rehabilitation Motion control for Hand with an Exoskeleton

Multiple Rehabilitation Motion Control for Hand with an Exos...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Shuang WANG Jiting LI Ruoyin ZHENG Zhongyuan CHEN Yuru ZHANG State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityBeijingChina

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which can realize the active, passive, and assisted rehabilitation motion. The active mode is accomplished with the force control algorithm during which the resistance is compensated in free space and the virtual interactive force is rendered to the finger in constraint space. The passive mode is realized by the position controller given the desired motion trajectory. The assisted mode is implemented in the customized positions by switching between the active and passive modes according to the predefined action procedure. The experiments are conducted to verify the proposed method, and the results show that the different rehabilitation motion are successfully accomplished and the maximum joint position error is less than 1.2 degree, which satisfies the requirement in hand rehabilitation application. The results demonstrate the validity of the proposed method.

关键词： Fingers Exoskeletons Joints Force Immune system Humans Actuators

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Robust control of gantry crane system with hoisting:A new solution based on wave motion

Robust control of gantry crane system with hoisting:A new so...

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2011年中国智能自动化学术会议

作者：杨唐文秦勇韩建达 Institute of Information Science Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University State Key Laboratory of Robotics Shenyang Institute of Automation

Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** combine position and active swing control, the trolley motion and load hoisting are carefully designed here,and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres,counteracting their reverse effects on the load swing.A robust control algorithm,based on the model of the crane system,is proposed to realize the trolley and hoisting motions,allowing for load variations and parameter *** new solution to motion control of a gantry crane works very well,and is stable and adaptive to large load *** demonstrated in the simulation experiments,it lands the load rapidly and exactly at target and stops it dead,with nearly zero swing.

关键词： gantry crane systems robust control hoisting mechanical wave concepts

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Research on reconfigurable hydraulic robot configuration based on genetic algorithm

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International Review on Computers and Software 2011年第7期6卷 1301-1306页

作者： Lin, Jiang Hongwei, Zhang Xianbao, Xiang Xinyuan, Chen Jie, Zhao Key Laboratory of Metallurgical Equipment Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 Hubei China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct. © 2011 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Genetic algorithms

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