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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

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A Potential Saturation Value of World Population is Near?

A Potential Saturation Value of World Population is Near?

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yunong Zhang Nanhao Wang Liangyu He Wan Li Hongzhou Tan School of Data and Computer Science Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

Sigmoid function was applied in a population growth model by Verhulst in 1838, of which the soundness has been tested by history. With the rapid development of computers' both hardware and software, it is accessible and worthwhile to build multiple sigmoid functions(MSF) models to describe and predict the potential saturation value of the world population. Via computer simulations, one of MSF models achieves a reasonable result that the potential saturation value of the world population is approximately 9.6 billion.

关键词： Multiple sigmoid functions model saturation value world population over-fitting

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Proposal and Verification of Four Fundamental Operations of Time-Varying Numbers

Proposal and Verification of Four Fundamental Operations of ...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Sheng Wu Yunong Zhang Dechao Chen Jian Li Yaqiong Ding School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

Four fundamental operations of time-varying numbers are widely encountered in systems and signals. Given the irreplaceable role of four fundamental operations and their timevarying properties, traditional arithmetics intrinsically aim at static(or say, time-invariant) problems solving. When running on relatively low speed processing units, the lagging errors of traditional arithmetics may become quite large and *** eliminate the lagging errors of time-varying four fundamental operations in potential signal processing systems, based on Zhang dynamics(ZD), real-time computing models for four fundamental operations of time-varying numbers are proposed,constructed and investigated. The lagging-error-free solutions for four fundamental operations of time-varying numbers are obtained in this paper. Through four concise lemmas, the laggingerror-free properties are guaranteed. Correspondingly illustrative examples of time-varying four fundamental operations are also presented in turn. Additionally, simulation results are shown to substantiate the high accuracy of the ZD method for four fundamental operations of time-varying numbers.

关键词： Time-varying problem solving Zhang dynamics lagging errors online solutions four fundamental operations

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UK Population Forecast Using Twice-Pruning Chebyshev-Polynomial WASD Neuronet

UK Population Forecast Using Twice-Pruning Chebyshev-Polynom...

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第28届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu HongzhouTan Ziyi Luo School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467397155

As an important branch of artificial intelligence,artificial neuronet has been well developed in many data learning and forecasting *** this paper,a weights-and-structure-determination(WASD) neuronet model for population forecast is proposed and *** from previous works,the cubic spline method is applied to restoring the historical population data evenly in order to overcome the deficiency of previous works in the neuronet ***,a twice-pruning structure determination algorithm for hidden-neuron selection is proposed to improve the forecast capability of the neuronet *** numerical experiments conducted to verify the inspiring capability of such a model,a UK population forecast based on the neuronet is thus shown and *** to the forecast results,the UK population is most likely to increase with a steady growing rate in the following 15 years.

关键词： Chebyshev Polynomial WASD Neuronet Population Forecast

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The Second-Order ZD,GD and Hybrid systems Solving Nonlinear Equations Compared with Other Dynamics

The Second-Order ZD,GD and Hybrid Systems Solving Nonlinear ...

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第28届中国控制与决策会议

作者： Yunong Zhang Jinjin Wang Tianjian Qiao Zhengli Xiao Mingzhi Mao School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467397155

Solving nonhnear equations has become increasingly significant and indispensable in many *** the recent decade,two powerful methods,the Zhang dynamics(ZD) method and the gradient dynamics(GD) method have been extensively investigated and implemented in solving nonhnear *** addition,some conventional methods,such as the dynamic relaxation method(DRM),redundant manipulators dynamics(RMD),and Langevin dynamics(LD),can also be applied to solve nonhnear *** this paper,we propose four novel types of systems based on the ZD method,the GD method and the hybrid dynamics methods to solve nonlinear equations in time-invariant and time-variant situations,*** addition,it is worth pointing out that,by comparison,the four proposed systems depicted in the second-order dynamics are evidently quite different from and more general than some other conventional systems/dynamics for solving nonhnear equations,which all constitute the unified second-order methodology for nonlinear equations solving.

关键词： Zhang Dynamics Gradient Dynamics Time-Invariant Nonlinear Equations Time-Variant Nonlinear Equations Comparison

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Anti-windup-based Dynamic controller Synthesis for Lipschitz systems under Actuator Saturation

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 358-365页

作者： Naizhou Wang Hailong Pei Yong Tang Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology Key Laboratory of Surface Functional Structure Manufacturing of Guangdong Higher Education Institutes School of Mechanical and Automotive EngineeringSouth China University of Technology

This paper presents a new method for simultaneous synthesis of dynamic controller and static anti-windup compensator for saturated Lipschitz systems. Thanks to the reformulated Lipschitz property, the Lipschitz systems can be transformed into LPV (linear parameter-varying) systems whose system matrices are affine in a parameter matrix. Based on the modified sector condition dealing with saturation nonlinearity, the design of a nonlinear anti-windup-based controller leads to the solvability of a set of bilinear matrix inequalities (BMI) on the vertices of a bounded convex set which can be solved by the so-called iterative linear matrix inequality (ILMI) algorithm. A numerical example is presented to illustrate the effectiveness of the proposed method. © 2014 Chinese Association of Automation.

关键词： controllers Iterative methods Linear algebra Matrix algebra Numerical methods Set theory Synthesis (chemical)

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Sigmoid function array based ZG control for bounded input, energy saving and output tracking of time-invariant linear system

Sigmoid function array based ZG control for bounded input, e...

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World Congress on Intelligent control and Automation (WCICA)

作者： Yunong Zhang Jinjin Wang Deyang Zhang Binbin Qiu Yinyan Zhang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSUCMU Shunde International Joint Research Institute Foshan China School of Electronics and Information Technology Sun Yat-sen University (SYSU) Guangzhou China

ISBN: (纸本)9781467384155

The Zhang-gradient (ZG) method has been proved to be powerful for control problems solving. In view of the boundedness and safety of practical actuators through limiting the input, the sigmoid function array (SFA) based ZG (SFABZG) controller, designed by the combination of the SFA and the ZG method, is proposed and investigated for output tracking of the time-invariant linear (TIL) system in this paper. Simulation results substantiate the efficacy and superiority of the proposed novel controller for output tracking of the TIL system with the input bounded and energy saved.

关键词： Trajectory Simulation Actuators Process control Steady-state Safety

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A dynamic co-evolution compact genetic algorithm for E/T problem

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IFAC-PapersOnLine 2015年第28期48卷 1439-1443页

作者： Han, Zhonghua Zhu, Yihang Lin, Shuo Faculty of Information and Control Engineering Shenyang Jianzhu University Department of Digital Factory Shenyang Institute of Automation Key Laboratory of networked control system Shenyang China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China

In this paper, a dynamic co-evolution compact genetic algorithm (DCCGA) is proposed for flexible flow shop scheduling problem (FFSP) to minimize the total earliness and tardiness (E/T) penalties. In this new algorithm, a dynamic co-evolution mechanism containing two probabilistic models and a best individual inheritance strategy are integrated into the compact genetic algorithm (CGA). For improving the stability of the evolutionary trend in the evolution processes, the diversity of evolution trend and the convergence speed. Lastly, the experimental results show that, DCCGA outperforms CGA by 11.74% on the problem we study. © 2015

关键词： Genetic algorithms Machine shop practice Co evolution Compact genetic algorithm Earliness tardiness Flexible flow shop Probabilistic models

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Population projection of the Indian subcontinent using TP-aided WASD neuronet

Population projection of the Indian subcontinent using TP-ai...

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Yunong Zhang Wan Li Liangyu He Junqiao Qiu Hongzhou Tan School of Data and Computer Science Sun Yat-sen University (SYSU) Guangzhou China Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China

ISBN: (纸本)9781509040940

The population projection of the Indian subcontinent, which is closely related to the future development of this region and even the whole world, has catched great attention among sociologists as well as scientists. However, most of the former researches are just based on fertility, mortality or other individual quantifiable factors by using some traditional statistical models and thus may lack all-sidedness in their results. The historical population data are the comprehensive reflection of population development under the influence of all factors. Based on the historical population data over 2000 years, a feedforward neuronet equipped with the weights-and-structure-determination (WASD) algorithm aided by twice-pruning (TP) technique is constructed. Besides, by introducing the cubic spline and error evaluation methods, the neuronet shows great performance in the population projection. Due to the marvelous learning and generalization abilities of the presented TP-aided WASD neuronet, we successfully draw up the population projection for the Indian subcontinent.

关键词： Sociology Statistics Splines (mathematics) Neurons Biological system modeling Feedforward neural networks Computational modeling

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