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6th International Conference on Intelligent Robotics and Applications, ICIRA 2013

作者： Liao, Wenlong Chen, Weidong Wei, Zhixuan Zhang, Wenxi Wang, Jingchuan Li, Kang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China Harbin 150001 China Electrical Engineering and Computer Science Queen's University Belfast Belfast BT9 5AH United Kingdom

ISBN: (纸本)9783642408519

Simulator for smart wheelchairs is of great significance for both driver training and algorithm design. A development and simulation platform for wheelchairs is presented in this paper. On this platform, simulations of kinematics, dynamics and sensors are integrated, and a virtual prototype of wheelchair and virtual world are modled also. The sensors include encoders, a laser range finder and a set of Kinect. This platform is implemented in Gazebo and ROS, and is completely open source and freely available. Experiments verifies that this platform can be used as a valid tool for driver training and algorithm design. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Virtual reality

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Hybrid Modelling of Distributed Water Supply Networks

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IFAC Proceedings Volumes 2013年第13期46卷 111-116页

作者： Dongming Liu Jing Wu Ning Li Shaoyuan Li Department of Automation Shanghai Jiao Tong University Shanghai 200240 Changzhou Institute of Light Industry Technology Changzhou Jiangsu 213164 Key Laboratory of System Control and Information Processing Ministry of Education China

In this paper, the modelling of a class of distributed water supply networks is considered, where the modelling of pipes, valves, pump stations and reservoirs are presented separately. Two laws, nodal mass balance and energy conservation, are introduced to derive a general model for the water supply networks. The pumps are assumed to be working in parallel and a hybrid model is provided to describe the dynamics of pump stations, the discrete/ continuous variables in which represent the status (on or off) and the speed of pumps, respectively. Finally, a case study is given to illustrate the effectiveness of our proposed methods.

关键词： Water supply networks Distributed Pump station Hybrid Modelling

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning system Electronic mail Algorithm design and analysis MATLAB

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Human interest oriented heterogeneous multi-robot exploration under connectivity constraints

Human interest oriented heterogeneous multi-robot exploratio...

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IEEE International Conference on Robotics and Biomimetics

作者： Han Zhang Weidong Chen Jingchuan Wang Kang Li Department of Automation Key Laboratory of System Control and Information Processing Shanghai Electronics and Electrical Engineering and Computer Science Queen's University Belfast Belfast UK

ISBN: (纸本)9781479927456

Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.

关键词： Robot kinematics Base stations Optimization Resource management Equations Mobile communication

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Notes on Sampled-data Design for Robust control of a Single Qubit

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IFAC Proceedings Volumes 2013年第20期46卷 353-358页

作者： Yuanlong Wang Chunlin Chen Daoyi Dong Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China Department of Control and System Engineering Nanjing University Nanjing 210093 China Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China and School of Engineering and Information Technology University of New South Wales at the Australian Defence Force Academy Canberra ACT 2600 Australia

This paper presents several notes on the robust control method proposed in [Dong et al (2013), Sampled-data design for robust control of a single qubit. IEEE Transactions on Automatic control, in press] and furthermore improves the original sampling periods so that this control method can be better and more easily realized. For the case of amplitude damping decoherence, a larger sampling period is presented when the upper bound of the probability of failure is small enough. For the case of phase damping decoherence, a larger sampling period is given when the lower bound of the target coherence is large enough. Furthermore, we provide improved sampling periods for both of the above two cases under the same assumption as that in [Dong et al (2013), Sampled-data design for robust control of a single qubit. IEEE Transactions on Automatic control, in press].

关键词： Quantum control qubit sampled-data design sliding mode control robust decoherence control

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An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

An improved parameterized approach for real time optimal mot...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Wenhao Luo Jun Peng Jing Wang Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method.

关键词： Trajectory Planning Vehicle dynamics Dynamics Collision avoidance Kinematics Optimization

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An innovative detection method of high frequency BPSK signal with low signal-to-noise ratio

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Journal of Harbin Institute of Technology(New Series) 2012年第6期19卷 93-99页

作者：石硕徐立振顾学迈张宏莉 National Key Laboratory of Communication System and Information Control Technology Harbin Institute of Technology

Based on chaotic oscillator system, this paper proposes a novel method on high frequency low signal- to-noise ratio BPSK（ Binary Phase Shift keying） signal detection. Chaotic oscillator system is a typical non-lin- ear system which is sensitive to periodic signals and immune to noise at the same time. Those properties make it possible to detect low signal-to-noise ratio signals. The BPSK signal is a common signal type which is widely used in modern communication. Starting from the analysis of advantages of chaotic, os~.illator system and signal features of the BPSK signal, we put forward a unique method that can detect low signar-to-noise ratio BPSK sig- nals with high frequency. The simulation results show that the novel method can dclct.t low signal-to-noise ratio BPSK signals with frequency in an order of magnitude of l0s Hz, and the input Signal-to-Noise Ratio threshold can be -20 dB.

关键词： low signal-to-noise ratio signal detection chaotic oscillator system Binary Phase Shift keying high frequency

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State Identification of Automatic Gauge control Hydraulic Cylinder Using Acoustic Emission

State Identification of Automatic Gauge Control Hydraulic Cy...

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2013年中国智能自动化学术会议

作者： Hongzhi Chen Chao Wu Yanguang Sun Hua Zhao State Key Laboratory of Hybrid Process Industry Automation System and Equipment Technology Automation Research and Design Institute of Metallurgical Industry Drive Department Beijing Aritime Intelligent Control Co.Ltd

The growing requirements of steel products qualities bring even tricky restrictions to the hydraulic cylinder which acts as a screw down to maintain the rolling spaces ***,faults and disfunctions are unavoidable and bring underlying safety *** with un-expected loading is one of major impact that may cause catastrophic consequence happen to the cylinder,as the classical diagnostic process to-some-extent lack of cross-validating and timeconsuming, the paper proposes the potentials of using acoustic emission to fill the *** works include the data acquisition process to record the ultrasound acoustic signals from the hydraulic cylinder,application of modified image based acoustic emission approach to generate visual effects,as well as the application of principal component analysis to project the profiles onto the 3D plane for further *** the analysis of image based profiles,the subtle differences of various cylinder conditions can be examined using the pixel and intensity values. By assessing the projection of profiles in the principal component space,a clear trajectory can be observed with normal and overload conditions allocated upon the positive and negative sides of the *** result provided not only the potential of using acoustic emission for dynamic state identification of the subtle changes,but also opens up the possibility of preventive measures to the cylinder at risks.

关键词： State identification Acoustic emission Automatic gauge control

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Optimal node placement strategies of linear wireless sensor networks with sensor node uniformly distributed

Optimal node placement strategies of linear wireless sensor ...

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Chinese control Conference (CCC)

作者： Jian Bo Yang Xue An Ke Han Shen-Tu Zhejiang University Hangzhou Zhejiang CN Institution of Information and Control Hangzhou Dianzi University Hangzhou China State Key Laboratory of Industrial Control Technology Institute of Cyber-System and Control Zhejiang University Hang Zhou 310027 China

The linear and multi-hop transmission feature of wireless sensor networks on city drainage pipelines, roads, power lines and other monitoring occasions, is easy to lead to energy imbalance consumption of the network node and premature failure of the monitoring network. In this paper, the linear wireless sensor networks with sensor nodes uniformly distributed and emission capacity restricted is taken as the research object, the network energy consumption characteristic is analyzed. Network efficiency taked as optimization objective, then an efficient node deployment algorithm is proposed. Combining with network performance requirements, the optimal relay node deployment scheme and node forwards the data flow is solved to balance energy consumption and prolong the network life. Results of theoretical analysis and simulation show that the method of nodes placement and topology control can delay the “energy hole” problem and improve network efficiency. The researches for guiding nodes placement of linear wireless sensor networks is of great significance.

关键词： Wireless sensor networks Electronic mail Energy consumption Educational institutions Monitoring Laboratories Industrial control

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Global and Local Path Planning of MicroIV for Traffic Flow Modeling and Simulation

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IFAC Proceedings Volumes 2013年第13期46卷 502-507页

作者： Lindong GUO Ming YANG Zhengchen LU Bing WANG Chunxiang WANG Department of automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hierarchical topology maps is proposed to achieve a legal optimal path with the consideration of complicated topology maps caused by the dynamic traffic rules in local intersections and lanes. Secondly, multi-agents based control system architecture of MicroIV is designed where multi-autonomous driving tasks involved. Thirdly, a local path planning approach for different autonomous driving is proposed with the control system architecture. Experimental results show that these proposed approaches could meet the demand of path planning for MicroIV in complex traffic flow simulation.

关键词： micro intelligent vehicles path planning control system architecture

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