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2003 European control Conference, ECC 2003

作者： Skoundrianos, E.N. Tzafestas, S.G. Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)9783952417379

This article deals with the modeling issue of plants with unknown description. The modeling approach is based on the Local Model Network structure. Local Models perform local linearization and their structure is quite similar to the Takagi-Sugeno fuzzy models. Local Neural Models (LNM) function as linear filters, giving a satisfying estimation for the plant's output within parts of the operating regime. Their training is performed off-line, which ensures a reliable method. The method is applied on the RobuterTM mobile robot. © 2003 EUCA.

关键词： Mobile robots

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A hierarchical hybrid of genetic algorithm and particle swarm optimization for distributed clustering in large-scale wireless sensor networks

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Journal of Ambient Intelligence and Humanized Computing 2017年 1-11页

作者： Su, Shengchao Zhao, Shuguang College of Information Science and Technology Donghua University Shanghai201620 China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai201620 China

In clustering wireless sensor networks (WSNs), the collected data from sensor nodes can be aggregated by cluster head instead of being sent directly to the base station. So distributed clustering in WSNs can eliminate the redundant data generated by nodes, and thus save the energy consumption by avoiding the unnecessary redundant data transmission. In this paper, a hierarchical hybrid of genetic algorithm (GA) and particle swarm optimization (PSO) is proposed for distributed clustering in large-scale WSNs. All sensor nodes can be organized into two levels of logic architecture. The bottom layer is made up of independent subgroups, and GA is used for global search. The optimum individuals of all sub groups constitute the elite group at the upper level, and the evolution of the PSO algorithm is mainly responsible for the local search of the elite individual. Then the design solution of distributed clustering can be obtained and the convergence speed of the algorithm will be accelerated effectively. Simulation results demonstrate that the proposed approach effectively reduces the energy consumed and it helps to increase the network lifetime. © 2017 Springer-Verlag GmbH Germany, part of Springer Nature

关键词： Genetic algorithms

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

Decentralized Energy Sharing Protocol using TÆMS Framework ...

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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

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A new approach to robust fault detection of model-unknown nonlinear systems

International Journal of Control and Automation

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International Journal of control and Automation 2014年第8期7卷 181-192页

作者： Su, Shengchao Zhang, Wei Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai 201620 China College of Information Science and Technology Donghua University Shanghai 201620 China

Most of actual engineering systems have the characteristics such as nonlinearity, difficult modeling, and high cost to experiment with fault. So fault detection in these systems is difficult. In this paper, a new approach to robust fault detection is proposed for model-unknown nonlinear systems. Firstly, a general framework for fault detection is discussed. This framework is capable of associating each detection result with a confidence level. An online learning least squares support vector regression algorithm is then used to design the framework. Meanwhile, robust strategy and forgetting strategy are added to the algorithm. Accordingly, a robust online fault detection method is developed with less amount of calculation. Finally, the proposed method is applied to fault detection of model-unknown fighter F-16. The simulation results show that the proposed method can detect fault quickly without the model of system or any prior knowledge of fault. © 2014 SERSC.

关键词： Nonlinear systems

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Evolutionary Dynamics and Individual Heterogeneity in Multi-agent networking systems 35

Evolutionary Dynamics and Individual Heterogeneity in Multi-...

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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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Photopolymerization-based additive manufacturing of ceramics:A systematic review

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Journal of Advanced Ceramics 2021年第3期10卷 442-471页

作者： Sefiu Abolaji RASAKI Dingyu XIONG Shufeng XIONG Fang SU Muhammad IDREES Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Institute of Microscale Optoelectronics Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Conversion of inorganic-organic frameworks (ceramic precursors and ceramic-polymer mixtures) into solid mass ceramic structures based on photopolymerization process is currently receiving plentiful attention in the field of additive manufacturing (3D printing).Various techniques(e.g.,stereolithography,digital light processing,and two-photon polymerization) that are compatible with this strategy have so far been widely *** is due to their cost-viability,flexibility,and ability to design and manufacture complex geometric *** platforms related to these techniques have been developed too,in order to meet up with modem technology *** relevant to this review are the challenges faced by the researchers in using these 3D printing techniques for the fabrication of ceramic *** challenges often range from shape shrinkage,mass loss,poor densification,cracking,weak mechanical performance to undesirable surface roughness of the final ceramic *** is due to the brittle nature of ceramic *** on the summary and discussion on the current progress of material-technique correlation available,here we show the significance of material composition and printing processes in addressing these *** use of appropriate solid loading,solvent,and preceramic polymers in forming slurries is suggested as steps in the right *** are indicated as another factor playing vital roles and their selection and development are suggested as plausible ways to remove these barriers.

关键词： ceramics photopolymerization stereolithography additive manufacturing 3D printing polymer-derived ceramics

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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An Improved High Precision 3D Semantic Mapping of Indoor Scenes from RGB-D Images

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Computer Modeling in Engineering & Sciences 2023年第12期137卷 2621-2640页

作者： Jing Xin Kenan Du Jiale Feng Mao Shan Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an710048China Australian Centre for Field Robotics The University of SydneySydney2006Australia

This paper proposes an improved high-precision 3D semantic mapping method for indoor scenes using RGB-D *** current semantic mapping algorithms suffer from low semantic annotation accuracy and insufficient real-time *** address these issues,we first adopt the Elastic Fusion algorithm to select key frames from indoor environment image sequences captured by the Kinect sensor and construct the indoor environment space ***,an indoor RGB-D image semantic segmentation network is proposed,which uses multi-scale feature fusion to quickly and accurately obtain object labeling information at the pixel level of the spatial point cloud ***,Bayesian updating is used to conduct incremental semantic label fusion on the established spatial point cloud *** also employ dense conditional random fields(CRF)to optimize the 3D semantic map model,resulting in a high-precision spatial semantic map of indoor *** results show that the proposed semantic mapping system can process image sequences collected by RGB-D sensors in real-time and output accurate semantic segmentation results of indoor scene images and the current local spatial semantic ***,it constructs a globally consistent high-precision indoor scenes 3D semantic map.

关键词： 3D semantic map online reconstruction RGB-D images semantic segmentation indoor mobile robot

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Evolutionary Game Dynamics Driven by Setting a Ceiling in Payoffs of Defectors 36

Evolutionary Game Dynamics Driven by Setting a Ceiling in Pa...

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第36届中国控制会议

作者： ZHANG Jianlei ZHU Yuying CHEN Zengqiang CAO Ming Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781538629185

The collective cooperation dilemma,where players are involved in a public goods game and must decide whether to make an individual contribution or not,has gained increasing attention from game theorists and control *** from the traditional definition,defectors here will face the payoff restriction after adopting the strategy of free riding others' ***,we introduce payoff ceilings applied to the gained benefits of the defectors,which leads to an extensive public goods game *** the number of cooperators is lower than the threshold value,the current model can be transferred to the setups of the general public goods *** further increasing the number of cooperators will bring the restricted payoffs for *** results suggest that the payoff ceilings provide us with more insight into the resolution of cooperative ***,together with other parameters(e.g.,the amplification factor and the size of gaming population) of the introduced model,lower values of the payoff ceilings can better facilitate the domination of cooperation strategy at the steady state.

关键词： Evolutionary game theory Replicator dynamics Public goods games

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