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2011年中国智能自动化会议

作者： YANG Tang-wen QIN Yong HAN Jian-da Institute of Information Science Beijing Jiaotong University Beijing 100044 China State Key Labor State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang 110016 China

Large load swing of a gantry crane, due to cable
　　flexibility and rapid movement, needs to be
　　controlled. Herein, a
　　wave-based approach interprets the cable motion as
　　two superposed traveling waves. To 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
　　uncertainties. This new solution to motion control of
　　a gantry crane works very well, and is stable and
　　adaptive to large load
　　variations. As 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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Dynamic Shared control for Human-Wheelchair Cooperation

Dynamic Shared Control for Human-Wheelchair Cooperation

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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： Qinan Li Weidong Chen Jingchuan Wang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240Chinaand State Key Laboratory of Robotics and System (HIT)Harbin 150001China

Shared control is a common used method for human and wheelchair cooperation. However, most of the previous shared control methods didn’t think much of the effect caused by the difference in the user’s control ability. The control weight of a user in these methods is irrelevant to the user’s capability or the driving conditions. In this paper, a dynamic shared control method is proposed to adapt wheelchair’s assistance to the variations of user performance and the environmental changes. Three evaluation indices including safety, comfort and obedience are designed to evaluate wheelchair performance in real time. A minimax multi-objective optimization algorithm is adopted to calculate the user’s control weight. The results of lab experiments and elderly home field tests show that this method can adapt the degree of wheelchair’s autonomy to the user’s control ability and it makes driving wheelchair much easier for elder people.

关键词： Wheelchairs Trajectory Safety Velocity control Indexes Senior citizens Manuals

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networked Tank Gunnery Skill Training Based on Haptic Interaction

Networked Tank Gunnery Skill Training Based on Haptic Intera...

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2011 4th International Conference on Biomedical Engineering and Informatics(第四届生物医学工程与信息学国际会议 BMEI 2011)

作者： Guanyang Liu Keke Lu State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

This paper introduces networked tank gunnery skill training based on haptic interaction. "Hand in hand" training mode is implemented by constructing a networked haptic display system. A teacher and a trainee can respectively manipulate his own haptic device to realize skill transferring. In this process, the trainee can experience the teacher's motor skill and can be corrected by the teacher. A local network is built to connect two haptic devices and computers. Two modes for tank gunnery skill training are designed in this system: haptic guidance and real-time correction. A prototype system is established to testify the effectiveness of such a new type "Hand in hand" training system.

关键词： networked skill training hand in hand haptic display haptic guidance real-time correction

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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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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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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

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. © 2011 IEEE.

关键词： Micromanipulators

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Analysis of Time Zero Reset method for Virtual Slope Walking

Analysis of Time Zero Reset method for Virtual Slope Walking

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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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