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Chinese control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail Process control Educational institutions control design

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Lane detection and recognition based on around-view system

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 233-236页

作者： Gu, Xiaolin Yang, Ming Wang, Bing Wang, Chunxiang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

A multi-type lane detection and recognition method using onboard around-view system was proposed, which could provide distinct road information around the vehicle and was less susceptible to occlusion by other vehicles. Firstly, the principle direction of the image was rectified based on Hough transform, as lane markings close to the vehicle are straight. Then x space feature histogram was used to detect regions of interest and y space feature histogram was used to recognize the properties of lane markings, such as number of lines, solid/dashed, and so on. Color information was analyzed in the HSV color space. Finally, a Kalman filter and confidence measurement was used to reduce the impact of noise. Experimental results demonstrated the effectiveness of the proposed method.

关键词： Kalman filters

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Detecting, locating and crossing a door for a wide indoor surveillance robot

Detecting, locating and crossing a door for a wide indoor su...

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IEEE International Conference on robotics and Biomimetics

作者： DaWei Dai GuoLai Jiang Junbo Xin Xiang Gao LiangLiang Cui YongSheng Ou GuoQiang Fu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781479927456

Crossing a door is usually a necessary action for autonomous patrol of an indoor surveillance robot. However, it is difficult for a large robot to cross narrow doors. In this paper, a method for detecting, locating and crossing a door for an indoor surveillance robot with Kinect is presented. Firstly, doors are detected and located based on RGB-D data collected form Kinect. Then, the conversion between robot coordinate system and world coordinate system is discussed. Thirdly, a nonlinear adaptive controller is designed for the robot to move perpendicularly through the door. Experiments were taken on a surveillance robot and the results illustrated the effectiveness of this method.

关键词： Robot kinematics Image edge detection Mobile robots Cameras Surveillance Robot sensing systems

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Sliding mode control with nonlinear disturbance observer for a class of underactuated system

Sliding mode control with nonlinear disturbance observer for...

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Chinese control Conference (CCC)

作者： Jian Huang Feng Ding Yongji Wang State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of underactuated system which is in cascaded form. By using strict feedback, the underactuated system is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： Observers Sliding mode control Robustness Uncertainty Simulation Joints Friction

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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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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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A Self-organizing Cooperative Hunting by Swarm Robotic systems Based on Loose-preference Rule

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Acta Automatica Sinica 2013年第1期39卷 57-68页

作者： Tian-Yun HUANG Xue-Bo CHEN Wang-Bao XU Zi-Wei ZHOU Zhi-Yong REN School of Control Science and Engineering Dalian University of Technology Dalian 116024 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China State Key Laboratory of Robotics System Harbin Institute of Technology Harbin 150080 China

A novel self-organizing approach to cooperative hunting by swarm robotic systems is put forward. Firstly, an individual autonomous motion planning is presented, and the cooperative hunting behaviors are mathematically described. According to decomposition of hunting behaviors, the loose-preference rule is established for the individuals to form the ideal hunting formation during the self-organizing process by the interaction between the target and individuals. Then, we employ the proposed rule to design the autonomous motion controller of the individuals. Finally, the stability of self-organizing system is analyzed by Lyapunov stability criteria. Simulations and experiments demonstrate the feasibility and effectiveness of the proposed approach to cooperative hunting by swarm robotic systems.

关键词： Swarm robotic systems self-organizing cooperative hunting loose preference leader emergence

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic （SDOF） system Energy harvesting Finite element analysis（FEA）

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Virtual Force Feedback-based 3D Master/Slave Tele-nanomanipulation in SEM

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Journal of Nano Research 2012年 20卷 109-116页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electromechanical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the haptic device (Omega3) as the master and the nanopositioner (Attocube) as the slave, working in scanning electron microscope (SEM). The 3D manipulation environment is developed with the help of VR technology. The platform is controlled by the enhanced virtual coupling (EVC) algorithm. The stability of the platform is discussed with Llewellyn's stability criteria. Scale factors and enhancement factor of the control system are determined, according to the force applied on master and slave terminals. Performances of the platform are tested with the ZnO nanowire manipulation experiments. Experiment results show that the platform has good performance while guaranteeing stability on ZnO nanowires manipulation in SEM using the method presented in this paper. © (2012) Trans Tech Publications, Switzerland.

关键词： Stability criteria

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Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

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Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

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