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IEEE International Conference on robotics and Biomimetics

作者： Youbin Qiu Mingguo Zhao State Key Laboratory of Robotics and System (HIT) Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781457721366

In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.

关键词： Legged locomotion Angular velocity Limit-cycles Eigenvalues and eigenfunctions Mathematical model Stability analysis

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Lag Quasi-Synchronization of Coupled Delayed systems With Parameter Mismatch

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IEEE Transactions on Circuits and systems I: Regular Papers 2011年第6期58卷 1345-1357页

作者： Wangli He Feng Qian Qing-Long Han Jinde Cao Key Laboratory of Advanced Control and Optimization of Chemical Processes Ministry of Education East China University of Science and Technology Shanghai China Centre of Intelligent and Networked Systems and the School of Information and Communication Technology Central Queensland University Rockhampton QLD Australia Department of Mathematics South-East University Nanjing China

This paper is concerned with lag synchronization of two coupled delayed systems with parameter mismatch. Due to parameter mismatch, complete lag synchronization can not be achieved. Therefore, a new lag quasi-synchronization scheme is proposed to ensure that coupled systems are in a state of lag synchronization with an error level. Several simple criteria are derived and the error level is estimated by applying a generalized Halanary inequality and matrix measure. Three examples are given to illustrate the effectiveness of the proposed lag quasi-synchronization scheme. It is shown that as the coupling strength increases, the estimated error level is close to the simulated one, which well supports theoretical results.

关键词： Synchronization Measurement uncertainty Delay Linear matrix inequalities Trajectory Delay effects Couplings

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Robust ℋ∞ horizon optimization control for sampled-data systems with constraints

Robust ℋ∞ horizon optimization control for sampled-data sy...

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Chinese control Conference (CCC)

作者： Fuchun Liu Hailong Pei Yueying Zhao Min Li College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control (ASNC) Ministry of Education South China University of Technology Guangzhou 510640 China Department of Automation Guangzhou Kangda Vocational Technical College 511363 China School of Electronic Information and Control Engineering Shandong Polytechnic University Jinan 250353 China

In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data control systems with output constraints have been investigated base on jump system model of sampled-data system using constant Lyapunov function (CLF) approach. The online algorithm of the H ∞ receding horizon optimization design for the norm-bounded parametric uncertain system is proposed. The optimal state-feedback H ∞ controllers are obtained and these controller can provide a performance tradeoff with respect to output constraints, i.e., the control strategy offers the capability of relaxing the performance level automatically in order to obey output constraints in the case of a larger disturbance. When the disturbance is restored to a usual situation, this control strategy can also improve the performance of system automatically.

关键词： Electronic mail Robustness control systems Predictive models Modeling Optimization Predictive control

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Review on image edge detection technologies

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 811-816页

作者： Wang, Min-Jie Yang, Tang-Wen Han, Jian-Da Qin, Yong Institute of Information Science Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Acad. of Sci. Shenyang 110016 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China

Edge detection is one of the most fundamental topics in the research area of image processing and analysis. First, several classical edge detection methods were introduced, and the performance of these methods was compared;then, several edge detection methods developed in the latest years were reviewed;finally, the trend of the research of the image edge detection in the future was discussed.

关键词： Edge detection

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A rotary ultrasonic motor using bending vibration transducers

A rotary ultrasonic motor using bending vibration transducer...

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作者： Liu, Yingxiang Chen, Weishan Liu, Junkao Shi, Shengjun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

A rotary ultrasonic motor using bending vibration transducers is proposed. In each transducer, two orthogonal bending vibrations are superimposed and an elliptical trajectory is generated at the driving foot. Typical output of the prototype is a no-load speed of 58 rpm and maximum torque of 95 N·m under an exciting voltage of 200 Vrms. © 2010 IEEE.

关键词： Transducers

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CPG based locomotion control of Pitch-Yaw connecting modular self-reconfigurable robots

CPG based locomotion control of Pitch-Yaw connecting modular...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Cui, Xindan Zhu, Yanhe Zang, Xizhe Tang, Shufeng Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom;therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed. ©2010 IEEE.

关键词： Modular robots

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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IEEE International Conference on robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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Active and passive control algorithm for an exoskeleton with bowden cable transmission for hand rehabilitation

Active and passive control algorithm for an exoskeleton with...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Shuang Li, Jiting Zheng, Ruoyin State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493173

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive rehabilitation training. In the passive mode control the PID control algorithm is executed in the velocity mode of the driver. In the active mode control, control architecture is proposed to deal with in both free space and constraint space. A resistance compensation control method is proposed to reduce the resistance in free space which is caused by the friction of the Bowden cable as well as the moment of inertial. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. A commercial driver, which could switch between the two control modes by a programmable digital switch rather than changing the physical connection manually, guarantees the realization of the required functions. The experiments are conducted to verify the proposed method, and the results show that in the active control mode, the maximum finger-exerted force with compensation is about two fifths of the force without compensation which means the resistance is greatly reduced. And in the passive mode, the maximum joint position error is about 1.2 degree, which satisfies the requirement in hand rehabilitation application. The experimental results demonstrate the validity of the proposed method. © 2010 IEEE.

关键词： Cables

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Pre-allocation and partition of buffers for deadlock control in flexible manufacturing systems

Pre-allocation and partition of buffers for deadlock control...

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International Conference on Mechatronics and Automation

作者： Zhang, Zhiming Wu, Weimin State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781424451418

In order to make a live flexible manufacturing system (FMS) in which resources and buffers are shared, Liu et al. used the buffer pre-allocation rule to greatly reduce deadlock states and proposed a buffer partition policy to forbid the remaining deadlock states. They also defined a subclass of Petri nets called resource-shared assembly net with buffers (RSANB) to characterize the rule and policy. Nevertheless, only one resource in the FMSs modeled by RSANB can be used in each step in their policy, so its modeling power is limited. This paper indicates that the buffer pre-allocation rule and buffer partition policy can also be used to prevent deadlocks in FMSs in which multiple resources can be used in each step. Subsequently, an extension of RSANB, called extended resource-shared assembly net with buffers (ERSANB), is defined to show the extended application of this rule and policy. Finally, its application is demonstrated by an FMS example. © 2010 IEEE.

关键词： Petri nets

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