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World Congress on Intelligent control and Automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning system Data acquisition Process control Attitude control Servers Automation

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Robust decentralized dynamic control for synchronization of a complex dynamical network with randomly occurring uncertainties

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Nonlinear Dynamics 2012年第1期70卷 559-570页

作者： Lee, Tae H. Park, Ju H. Wu, Zheng-Guang Lee, Sang-Choel Lee, Dong Ha Nonlinear Dynamics Group Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang P.R. China Division of IT Convergence/Division of Robotics System DGIST Daegu Republic of Korea

This paper considers synchronization problem of an uncertain complex dynamical network. The norm-bounded uncertainties enter into the complex dynamical network in randomly ways, and such randomly occurring uncertainties (ROUs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. Under the circumstances, a robust $\mathcal{H}_{\infty}$ decentralized dynamic feedback controller is designed to achieve asymptotic synchronization of the network. Based on Lyapunov stability theory and linear matrix inequality (LMI) framework, the existence condition for feasible controllers is derived in terms of LMIs. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our result.

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New results on synchronization for complex dynamical networks with time-varying coupling delay and sampled-data

New results on synchronization for complex dynamical network...

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International Conference on control, Automation and systems ( ICCAS)

作者： Zheng-Guang Wu Ju H. Park Bo Song Sang-Choel Lee Dong Ha Lee Department of Electrical Engineering Yeungnam University Kyongsan South Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang China Division of IT Convergence/Division of Robotics System DGIST Daegu South Korea

This paper is concerned with the synchronization problem for complex dynamical networks with time-varying coupling delay and sampled-data. The sampling period considered here is assumed to be time-varying but bounded. A novel exponential synchronization condition is established based on the Gronwall's inequality, and an explicit expression for a set of sampled-data synchronization controllers is also given in terms of the solution to linear matrix inequalities. A numerical example is introduced to show the effectiveness of the given result.

关键词： Synchronization Delay Symmetric matrices Couplings Complex networks Trajectory Time varying systems

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Algorithm analysis for a rover simulation platform

Algorithm analysis for a rover simulation platform

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Gao, Haibo Li, Weihua Ding, Liang Deng, Zongquan Liu, Zhen Guo, JunLong Research Center of Aerospace Mechanism and Control State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612840857

In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. Key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable. © 2011 IEEE.

关键词： Rovers

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Hybrid Map-based Navigation for Intelligent Wheelchair

Hybrid Map-based Navigation for Intelligent Wheelchair

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yong Wang Weidong Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and In State Key Laboratory of Robotics and System (HIT) Harbin 150001 China

ISBN: (纸本)9781612843865

A navigation system based on hybrid map for intelligent wheelchair is presented. The system is consisted of hybrid map building, localization, path planning and trajectory following. The hybrid map includes a series of small probabilistic grid maps (PGM) and a global topological map (GTM). They are built simultaneously and easily using the human-guided method. Then on the hybrid map, the localization and the real-time path planning algorithms are realized smartly and effectively. The experiments and applications results show that the human-guided method integrates both the computer’s modeling ability and the human’s sensory perception to the environment. The hybrid map is easy to solve the loop-closure and doorway problems that enhances the robustness against uncertainty of sensors. It also can improve the efficiency in large-scale SLAM. Further more, at an elderly home we did the activities of daily living (ADL) testing and at Shanghai Expo 2010 we demonstrated the wheelchair system by offering trial rides to visitors.

关键词： Navigation Wheelchairs Trajectory Buildings Real time systems Senior citizens

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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Dynamic Shared control for Human-Wheelchair Cooperation

Dynamic Shared Control for Human-Wheelchair Cooperation

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Qinan Li Weidong Chen Jingchuan Wang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240Chinaand State Key Laboratory of Robotics and System (HIT)Harbin 150001China

Shared control is a common used method for human and wheelchair cooperation. However, most of the previous shared control methods didn’t think much of the effect caused by the difference in the user’s control ability. The control weight of a user in these methods is irrelevant to the user’s capability or the driving conditions. In this paper, a dynamic shared control method is proposed to adapt wheelchair’s assistance to the variations of user performance and the environmental changes. Three evaluation indices including safety, comfort and obedience are designed to evaluate wheelchair performance in real time. A minimax multi-objective optimization algorithm is adopted to calculate the user’s control weight. The results of lab experiments and elderly home field tests show that this method can adapt the degree of wheelchair’s autonomy to the user’s control ability and it makes driving wheelchair much easier for elder people.

关键词： Wheelchairs Trajectory Safety Velocity control Indexes Senior citizens Manuals

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Research on reconfigurable hydraulic robot configuration based on genetic algorithm

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International Review on Computers and Software 2011年第7期6卷 1301-1306页

作者： Lin, Jiang Hongwei, Zhang Xianbao, Xiang Xinyuan, Chen Jie, Zhao Key Laboratory of Metallurgical Equipment Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 Hubei China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct. © 2011 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Genetic algorithms

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

ISBN: (纸本)9789881725592

关键词： Mobile robots

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