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Crawling Gait Planning for a Quadruped Robot with High Payload Walking on Irregular Terrain

IFAC Proceedings Volumes 2014年第3期47卷 2153-2158页

作者： Nan Hu Shaoyuan Li Dan Huang Feng Gao Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai 200240 China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Walking on irregular terrain is usually a common task for a quadruped robot. It is however difficult to control the robot in this situation as undesirable impulse force by collision between the foot of robot and obstacles makes the robot unstable. This paper presents a hybrid Force-Posture Feedback Compensation (FPFC) controller for a quadruped robot with high payload walking on irregular terrain. In order to make the robot walk stably on irregular terrain, the proposed controller utilizes the feedback signals detected by force sensor and gyroscope to adjust every leg of the robot in real-time. The foot trajectory is scheduled based on the Bezier curve method in order to improve the stability of quadruped robot. Simulations of crawling gait on irregular terrain have been performed. The results have verified that the proposed methods have better stability and performance for walking on the irregular terrain.

关键词： Quadruped robot gait planning trajectory planning kinematics

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A Combined Approach for Master-slave Robotic Surgery system control Based on Jacobian and PD Algorithm

A Combined Approach for Master-slave Robotic Surgery System ...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Zhonglin Zhang Jing Xiong Yangzhou Gan Dongwen Zhang Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electronic Engineering and Automation Guilin University of Electronic Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.

关键词： robotic puncture surgery teleoperation Jacobian matrix PD control algorithm vibration elimination

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Distributed sequential estimation algorithm for steel temperature in hot strip mill

Distributed sequential estimation algorithm for steel temper...

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第三十二届中国控制会议

作者： LI Wenshuang CHEN Cailian ZHU Shanying Li Li'an GUAN Xinping Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (纸本)9781479900305

This paper is concerned with the steel temperature estimation problem in hot strip mill. We focus on the steel bar temperature estimation during the rough rolling process with the aid of industrial wireless network for its high reliability communication and low power consumptions. However, the mobility of the steel bar and the complexity of the industrial environments have posed new challenges for the temperature monitoring. According to the steel bar's mobility, we propose a distributed sequential estimation algorithm to realize the continuous temperature tracking and gradually remove the estimation error. It consists of a cluster-based estimation algorithm and an initialized fusion algorithm, whose design are based on two criteria, namely, unbiasedness and optimality. Finally, simulation studies are presented to validate the performance of the proposed algorithm.

关键词： Distributed sequential estimation, steel bar, temperature monitoring

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Optimal Dynamic Sensing Policy for Cognitive Radio Network:A POMDP model Based Method

Optimal Dynamic Sensing Policy for Cognitive Radio Network:A...

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第三十二届中国控制会议

作者： LI Li'an CHEN Cailian LIN Feilong GUAN Xinping Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781479900305

In the cognitive radio(CR) network,the secondary user(SU) are allowed to utilize the frequency channels of the licensees primary user(PU) when these channels are not currently being *** support spectrum reuse functionality,the SU are required to sense the channel to detect the PU activity accurately for each time *** are two parameters associated with spectrum sensing:probability of detection and probability of false *** the probability of detection,the long sensing time reduce the false alarm probability,however the left time used for transmission is *** is a trade off between the sensing cost and successful transmission *** we combined the PU activity property with the discounted utility of the SU,how to improve the SU utility under the unreliable spectrum sensing situation is still a challenge problem and rarely be *** this paper we propose a new optimal dynamic sensing policy,called sleep-sensing-transmission strategy based on partially observable Markov Decision Process(POMDP).At the beginning of each slot,the SU can choose three different possible actions:Sleep,spectrum sensing and then access the channel based on the sensing result or directly transmission to maximize the expected discounted utility in the long *** this model we have shown that the optimal strategy has a simple threshold structure,and the simulation result validate the efficiency of our policy compared with the traditional spectrum sensing and access mechanism.

关键词： Cognitive Radio network Spectrum sensing POMDP Threshold policy

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Improved Deformable Part Model For Object Detection Based on Scale Invariant Feature Transform

Improved Deformable Part Model For Object Detection Based on...

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第25届中国控制与决策会议

作者： Jianfang Dou Jianxun Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China

ISBN: (纸本)9781467355339

We propose an approach to improving the detection results of a generic offline trained detector on frames from a specific video. For two consecutive frames of a video with the object, deformable part model（DPM） detection is perform to get the original detections. Then respectively obtain the image patches corresponding to the detected root box and part boxes. Thirdly, extract scale invariant feature transform features（SIFT） from those image patches and match the sift features by KD-Tree. Finally, get the SIFTPM detection result of from the matches between image patches of continuous frames. We focus on methods with high precision detection results since it is necessitated in real application. Extensive experiments with state-of-the-art detector demonstrate the efficacy of our approach..

关键词： object detection deformable part model scale invariant feature transform KD-Tree.

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A Computer-Aided Visualization system for Orthodontic Treatment

A Computer-Aided Visualization System for Orthodontic Treatm...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Ziwei Li Yangzhou Gan Jiali Tan Qunfei Zhao Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciencesand The Chinese University of Hong Kong Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China Guanghua School of Stomatology Hospital of StomatologySun Yat-Sen University and Guangdong Provincial Key Laboratory of Stomatology

This system present a feasibility of computer-aided diagnosis, planning and simulation for orthodontic *** the Visualization Toolkit(VTK) and Microsoft Foundation Classes(MFC) integrated environment, a flexible, friendly and functional interface for orthodontic treatment was *** methods of how to integrate VTK and MFC in different system are described, and the three-dimensional model of the dentition is reconstructed by using marching-cubes(MC)algorithms. Finally, the three-dimensional model for rendering and interaction is also introduced.

关键词： simulation MFC A Computer-Aided Visualization system for Orthodontic Treatment VTK

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Finite-time consensus of leader-follower multi-agent systems with fixed and switching topologies

Finite-time consensus of leader-follower multi-agent systems...

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World Congress on Intelligent control and Automation (WCICA)

作者： Yakun Zhu Cailian Chen Xinping Guan Xiaoyuan Luo School of Control Engineering Northeastern University at Qinhuangdao Qinhuangdao P. R. China Department of Automation Key Laboratory of System Control and Information Processing Shanghai P. R. China Institute of Electrical Engineering Yanshan University Qinhuangdao P. R. China

This paper proposes a novel nonlinear distributed consensus protocol of the finite-time consensus problems of leader-follower multi-agent systems based on the distributed consensus error functions. It is proved that the leader-follower multi-agent systems under this nonlinear protocol can reach the consensus in finite time in the scenarios with fixed topology and two kinds of switching topologies, respectively. The results are also extended to the case with directed communication topology. Finally, some examples and simulation results are given to illustrate the effectiveness of the proposed control protocols.

关键词： Topology Switches Protocols Multi-agent systems Network topology Vehicle dynamics Educational institutions

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On Infinite Time Performance of Nonlinear Model Predictive controllers

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IFAC Proceedings Volumes 2014年第3期47卷 1916-1921页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper addresses the problem of infinite time performance of model predictive controllers applied to constrained nonlinear systems. The total performance is compared with a finite horizon optimal cost to reveal performance limits of closed-loop model predictive control systems. Based on the Principle of Optimality, an upper and a lower bound of the ratio between the total performance and the finite horizon optimal cost are obtained explicitly expressed by the optimization horizon. The results also illustrate, from viewpoint of performance, how model predictive controllers approaches to infinite optimal controllers as the optimization horizon increases.

关键词： Model Predictive control Finite Horizon Optimal control Value Iteration Principle of Optimality

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People-following system Design for Mobile Robots Using Kinect Sensor

People-following System Design for Mobile Robots Using Kinec...

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第25届中国控制与决策会议

作者： Guansheng Xing Shuangna Tian Hexu Sun Weipeng Liu Huawang Liu School of Control Science and Engineering Hebei University of Technology Key Laboratory of System Control and Information Processing Ministry of Education Hebei University of Science and Technology

ISBN: (纸本)9781467355339

A system of Kinect-based people following for mobile robots is presented. The function of skeleton tracking of Kinect, a 3D somatosensory camera, is used to identify a specific person in the depth image. And then the position of the identified person in robot local coordinates is attained by using the ranging data obtained from the Kinect sensor. A rule-based control law is designed to keep the person in the center of depth images and in a fixed distance away from the mobile robot. Finally, a physical experiment in a corridor of an office building is shown.

关键词： Mobile Robot, Kinect Camera, People Following, Depth Image

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