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检索条件"机构=Laboratory of Control System and Robotics"

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AUV dead-reckoning navigation based on neural network using a single accelerometer 11

AUV dead-reckoning navigation based on neural network using ...

引用

11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Xie, Yan-Xin Liu, Jun Hu, Cheng-Quan Cui, Jun-Hong Xu, Hongli State Key Laboratory of Robotics CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9781450346375

The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and accelerometer. A major challenge for DR navigation is from measurement error of the inertial sensors (gyroscope, accelerometer, etc.), especially when the AUV is near or at the ocean surface. The AUV's motion is affected by ocean waves, and its pitch angle changes rapidly with the waves. This rapid change and the measurement errors will cause great noise to the direction measured by gyroscopes, and then lead to a large error to the DR navigation. To address this problem, a novel DR method based on neural network (DR-N) is proposed to explore the time-varying relationship between acceleration measurement and orientation measurement, which leverages acoustic localization and neural network estimate timely pitch angle through the explored time-varying relationship. This method enables AUV's DR navigation with a single acceleration, without relying on both acceleration and gyroscope. Most importantly, we can improve the accuracy of AUV navigation through avoiding DR errors caused by gyroscope noise at the sea surface. Simulations show DR-N significantly improves navigation accuracy.

关键词： Accelerometers

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Design of Optimal PI controller with Dead-zone Link for Low-order Processes with Time Delay

Design of Optimal PI Controller with Dead-zone Link for Low-...

引用

第28届中国控制与决策会议

作者： X.H.Li H.B.Yu P.Zeng L.X.Sun M.Z.Yuan C.Z.Zang J.Bian Key Laboratory of Industrial Control Network and System Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467397155

-in this paper,a design method of optimal proportionalintegral(PI) controller with dead-zone link is presented for loworder processes with time ***-loop system is the nonlinear control system with the dead-zone *** feedback system can be equivalently transformed into the linear switch system(LSS) or autonomous switch system(ASS).The optimal control problem is equivalently transformed into nonlinear constraint optimization(NLCO) problem via common Lyapunov functions(CLF) theorem and Lyapunov ***,optimal PI controller can be obtained by solving the NLCO *** results show effectiveness and usefulness of the proposed design method.

关键词： optimal PI controller dead-zone link Low-order process time delay LSS or ASS NLCO problem CLF theorem

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Occupancy grid based urban localization using weighted point cloud

Occupancy grid based urban localization using weighted point...

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International Conference on Intelligent Transportation

作者： Lindong Guo Ming Yang Bing Wang Chunxiang Wang Department of Automation The Key Laboratory of System Control and Information Processing Shanghai China Chunxiang Wang is with the Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781509018901

Localization is considered as a key capability for autonomous vehicles act in urban environments. Though have been proved to be able to perform convictive results, localization methods using neither laser scanners nor vision sensors could achieve the goal about balancing between accuracy and cost. In this paper, an occupancy grid based localization framework is presented in order to obtain a precise positioning result with relatively low-cost sensor configuration in large scale urban environment. The proposed approach takes a prebuilt global grid map as prior knowledge for localization. Model based feature extraction method is introduced to provide laser points classification, with each extracted point allocated a specified weight to describe local characteristic. The prior grid map is generated from weighted point cloud to be able to describe the local metric features such as curbs and building facades. Localization function is then carried out with a weight point based maximum likelihood matching method to determine the correspondence between local point cloud and the reference grid map. There are also position initialization and reference map management modules to make the framework more practical and reliable. In the end, the proposed approach has been validated by promising experimental results with long distance tests in large urban environments.

关键词： Three-dimensional displays Feature extraction Sensors Laser modes Roads Vehicles

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Road DNA based localization for autonomous vehicles

Road DNA based localization for autonomous vehicles

引用

IEEE Symposium on Intelligent Vehicle

作者： Liang Li Ming Yang Chunxiang Wang Bing Wang Department of Automation Key Laboratory of System Control and Information Processing Shanghai CN Chunxiang Wang is with Research Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781509018222

High-precision and reliable localization is current research focus in the area of autonomous vehicles. Previous studies rely on either high-cost sensors or some specific characteristics, which means that the methods are limited to only a bit given situations. In this paper, a road DNA based localization method is proposed. It could afford high-precision result and does not have the shortcomings of previous methods at the same time. The scenery on both sides of the roads are used to generate the prior-map. The map is presented as grid map by the joint probability of occupation and reflectivity. With this type of map, different environments show different properties, which means that this method is not limited to specific environments and is effective in most cases. It costs much less memory than the previous maps. The map and live road scene flatting are both generated by data collected by low-cost LIDAR. Normalized Information Distance is utilized to align the live road scene flatting with the road DNA. Experiments show the validation and precision of this method.

关键词： Roads Three-dimensional displays Vehicles DNA Trajectory Simultaneous localization and mapping Autonomous automobiles

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Low-obstacle detection using stereo vision

Low-obstacle detection using stereo vision

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Robert Bichsel Paulo V K Borges Robotics Systems and Control Program at ETH Zurich Switzerland Autonomous System Laboratory - CSIRO Digital Productivity Flagship - 1 Technology Court Pullenvale QLD 4066 Australia

ISBN: (纸本)9781509037636

Real-time obstacle detection is a key component of autonomous vehicles. In this context, low obstacles are particularly challenging, as they are often discarded by traditional algorithms. Curb detection methods that can potentially be suitable for the problem usually target roads with clearly defined curbs and sidewalks. We propose a real-time algorithm for the detection of low obstacles (including, but not restricted to curbs), merging 2-D and 3-D information from stereo imaging. A set of candidate object lines is extracted based on their combined 2-D and 3-D features, tracked over time and clustered according to a novel similarity metric. Finally, a 3rd order polynomial spline is fitted to each cluster to represent the obstacle. The proposed system can deal with noisy and incomplete point clouds and keeps the model assumptions to a minimum. To evaluate the algorithm, a new stereo dataset is provided and made available online. We present experiments in different scenarios and lighting conditions, illustrating the applicability of the method.

关键词： Kerbstones Stereoviews Obstacle detection Autonomous Vehicles Three Dimensions Noise Road Crucial components stereo imaging

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Exploiting human walking speed transitions using a dynamic bipedal walking robot with controllable stiffness and limb coordination

Exploiting human walking speed transitions using a dynamic b...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Yan Huang Baojun Chen Libo Meng Zhangguo Yu Xuechao Chen Qiang Huang Qining Wang Ministry of Education Beijing Institute of Technology Beijing China Robotics Research Group Peking University Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781509047192

In this paper, we employ a two-dimensional dynamic bipedal walking robot to investigate the effects of controllable stiffness and limb coordination on speed transition of bipedal walking. The robot is equipped with a variable stiffness actuator at each joint. We proposed a central pattern generatorbased control method to implement limb coordination and realize independent control of torque and stiffness for the robot. Then we carry out human motion experiments on speed transitions. The comparison of hip joint kinematics and ground reaction forces between human and the robot during speed transitions shows that variable stiffness and limb coordination are important for adaptive human walking and can improve the performance of bipedal walking robot. The results may be used to exploit possible principles of complex human gaits.

关键词： Legged locomotion Robot kinematics Hip Oscillators Robot sensing systems Servomotors

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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Towards multi-functional light-weight long-term real-time coastal ocean observation system 11

Towards multi-functional light-weight long-term real-time co...

引用

11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Jiang, Zhenfeng Ma, Yanming Chen, Jiali Wang, Zigeng Peng, Zheng Liu, Jun Han, Guitao Smart Ocean Industry Research Institute Nantong Jiangsu226000 China Computer Science and Engineering Department University of Connecticut StorrsCT06269 United States Computer Science Deparment City College of New York NY10031 United States Computer Science and Technology Department Jilin University Changchun Jilin130012 China State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

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On Simulation for Fuzzy control on Oxygen Concentration of the Mixed Air Supplied by Breathing Adjuster 34

On Simulation for Fuzzy Control on Oxygen Concentration of t...

引用

第三十四届中国控制会议

作者： SUN Hao WANG Shou-jun SUN Qing-lin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System The College of Mechanical Engineering Tianjin University of Technology The College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781467374439

The breathing adjuster is the core component of life support system of an aircraft and it is very important to control the valve to make the breathing adjuster supply the pilot the mixed air with the suitable oxygen concentration. In this paper the mathematical model, which describes the relation between the opening degree of the valve of the breathing adjuster and the flight altitude of the aircraft, is set up through analyzing requirement of aviation physiology and working principles of the breathing adjuster. Then a fuzzy controller is designed to control the opening degree of the valve in order to make the breathing adjuster supply to the pilot the mixed air with suitable oxygen concentration. Finally MATLAB Simulink is employed to verify the feasibility and validity of the fuzzy controlling approach. The results of simulating experiments show that the fuzzy control approach proposed in this paper can make the breathing adjuster supply the mixed air with suitable oxygen concentration to the pilot boarded on an aircraft.

关键词： Breathing adjuster,Oxygen concentration,the opening degree of the valve,Fuzzy control,Simulation

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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