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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Hua Xu Gang Rong Yiping Feng Department of control science and engineering State key laboratory of industrial control technology Institute of cyber-systems and control Hangzhou P.R. China

In this work, we propose a simplified least squares formulation (SLSF) for dynamic material balancing in chemical processes, which are often described by differential-algebraic equations. We compare the SLSF with traditional techniques, such as steady state data reconciliation (SSDR) and Kalman filter (KF). We also modify the SLSF when its assumptions can't be totally satisfied in some practical settings. Using chemical systems examples, we demonstrate that the SLSF can well deal with the practical dynamic material balancing problems.

关键词： Materials Mathematical model Equations Covariance matrix Kalman filters Noise Vectors

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Statistical layout of improved image descriptor for pedestrian detection

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ICIC Express Letters 2010年第5 B期4卷 1931-1936页

作者： Bai, Ming Zhuang, Yan Wang, Wei Research Center of Information and Control Dalian University of Technology Dalian 116024 China State Key Laboratory of Robotics Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

An automatic and robust approach for pedestrian detection is proposed in natural scene images, even in the presence of clutter and occlusion. An improved statistical descriptor is designed to encode more support vectors, and the dimensionality reduction method compactly optimizes it without its performance degradation. To improve the efficiency, similarity measurement kernel adopts a pyramid matching mode, and the statistic multi-models detector significantly improves the performance on challenging scenes. Comparisons in various aspects validate that the improved descriptor is more distinctive and robust, which results in a higher discriminant performance and a better efficiency. The experimental results testify the effectivity and robustness of pedestrian detection in complicated scene images. © 2010 ICIC International.

关键词： Principal component analysis

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UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND control

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International Journal of Humanoid robotics 2010年第4期7卷 609-634页

作者： HAI HUANG YONG-JIE PANG JIANG LI SHAO-WEI FAN XIN-QING WANG HONG LIU Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory Robot and Systems Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

关键词： Dynamic modeling dynamic control virtual spring approach underactuated hand

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Trajectory tracking and point stabilization of noholonomic mobile robot

Trajectory tracking and point stabilization of noholonomic m...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zhengcai Cao Yingtao Zhao Shuguo Wang College of Information Science and Technology Beijing University of Chemical and Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

In this paper, a mixed controller for solving the trajectory tracking and point stabilization problems of a mobile robot is presented, applying the integration of backstepping technique and neural dynamics. By introducing a virtual target point, the whole motion process is divided into two parts. The first one is employed to realize tracking control and the other one is adopted to implement point stabilization. Each part produces a feedback control law by using backstepping technique. Moreover, to solve the speed and torque jump problems and make the controller generate smooth and continuous signal when controllers switch, the neural dynamics model is integrated into the backstepping. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.

关键词： Mobile robots Trajectory Target tracking Robot kinematics Angular velocity

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Observer-Based Dynamic control of an Underactuated Hand

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Advanced robotics 2010年第1期24卷 123-137页

作者： Huang Hai haihus@*** Jiang Li Pang Yong-jie Shi Shi-cai Tang Qi-rong Yang Da-peng Liu Hong Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 P. R. China University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control. [ABSTRACT FROM AUTHOR]

关键词： curve fitting DYNAMIC control force control UNDERACTUATED VELOCITY OBSERVER

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Stereovision based obstacle detection approach for mobile robot navigation

Stereovision based obstacle detection approach for mobile ro...

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International Conference on Intelligent control and Information Processing (ICICIP)

作者： Ming Bai Yan Zhuang Wei Wang State Key Laboratory of Robotics Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Research Center of Information and Control Dalian University of Technology Dalian Liaoning China

An obstacle detection approach based on stereo vision is proposed for mobile robot navigation. The aim of the approach is to detect a real environment to allow a mobile robot to find a safe path even in complex scenarios. Our novelty is represented in terms of the two-stage perception structure. The detection stage infers the relationship between obstacles and a ground, and determines the region of interest. Based on this, the confirmation stage focuses on characterizing the contours and positions of obstacles and getting rid of most artefacts. The approach synthesizes the statistical information of projections and depth discontinuities in the region of interest to characterize obstacles. The detection-confirmation structure is robust to various lighting conditions, effective to negative obstacles, free to specular reflection effect, and real-time response to the interference from dynamic obstacles. Experimental results verified the effectiveness, reliability and real-time performance of the proposed approach.

关键词： Lighting Navigation Stereo vision Mobile robots Real time systems Robustness

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Robust ℋ221E;control of networked control systems with access constraints and packet dropouts

Robust ℋ221E;control of networked control systems with acce...

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International Conference on Green Circuits and systems (ICGCS)

作者： Dongxiao Wu Jun Wu Sheng Chen State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China School of Electronics and Computer Science University of Southampton Southampton UK

We consider a class of networked control systems (NCSs) where the plant has time-varying norm-bounded parameter uncertainties, the network only provides a limited number of simultaneous accesses for the sensors and actuators, and the packet dropouts occur randomly in the network. For this class of NCSs with uncertainties and access constraints as well as packet dropouts, we derive sufficient conditions in the form of linear matrix inequalities that guarantee robust stochastic stabilisation and synthesis of ℋ ∞ controller. An example is provided to illustrate our proposed method.

关键词： Robustness networked control systems Time varying systems Uncertain systems Sensor systems Actuators Uncertainty Sufficient conditions Linear matrix inequalities Robust control

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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Research on the control station system for a shape-shifting search and rescue robot

Research on the control station system for a shape-shifting ...

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IEEE International Conference on robotics and Biomimetics

作者： Minghui Wang Nan Wang Chengdong Wu Bin Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Information and Control Engineering Faculty Shenyang JianZhu University Shenyang China College of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781424493197

In conformity with the request for search and rescue application, the design criterions of human-robot interaction are proposed. Based on the human-robot interaction, the control station system for the shape-shifting search and rescue robot is designed. The system mainly has four features, which are completely perceptive information, flexible control, friendly interface and strong interaction. The experiments demonstrate that the control station system for search and rescue robots can control motion and exchange the multi-channel information in the complex simulated after-earthquake environment. Thus, feasibility and validity of the control station system have been proved in the fields of search and rescue.

关键词： control systems Robot sensing systems Hardware Monitoring Software systems Real time systems

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Modeling and analyzing nano-particle pushing with an AFM by using nano-hand strategy

Modeling and analyzing nano-particle pushing with an AFM by ...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Jing Hou Zhidong Wang Lianqing Liu Yongliang Yang Zaili Dong Chengdong Wu College of Information Science and Engineering Northeastern University China School of Information and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

One of the major limitations for Atomic Force Microscopy (AFM) based nanoparticle pushing is that AFM only has one sharp tip as the end-effector. The interaction force between the nanoparticle and the tip is applied through a single point, which often leads the AFM tip to slip-away from the nanoparticle due to their small touch area. Then several minutes is needed to relocate the missed nanoparticle by a new image scan. Moreover, if the nanoparticle is very soft, the sharp tip may damage the particle instead of pushing it away due to the cutting effect of the sharp tip. In this paper, a nano-hand strategy is proposed to resolve this problem. Based on the theoretical analysis to the behavior model of nanoparticle, the pushing points, pushing step-length and pushing speed of AFM tip are planned artfully, through which a multi-tip manipulation effect can be imitated with a single tip. The nanoparticle is pushed as by a virtual nano-hand during manipulation,. In this way, the slip-away problem due to single AFM tip pushing can be get rid of efficiently. The simulation and experiments results show the increased effectiveness of AFM based nanomanipulation.

关键词： Force Friction Real time systems Substrates Mathematical model Nanoparticles Kinematics

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