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检索条件"机构=National Key Laboratory of Complex System Intelligent Control and Decision"

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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...

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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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Transfer function of fluidic system in liquid-circular angular accelerometer

Transfer function of fluidic system in liquid-circular angul...

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IEEE Instrumentation and Measurement Technology Conference

作者： Siyuan Cheng Meiling Wang Xiang Li Meifeng Xiao Mengyin Fu Xin Zheng Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing China Nanjing University of Science and Technology Nanjing China The Third Academic of Aerospace and Technology Group of China Beijing China

ISBN: (纸本)9781467392211

In this paper, a new kind of liquid-circular angular accelerometer is studied. Based on electrokinetic phenomenon, this angular accelerometer is designed with a porous transducer and fluid mass. Due to the existence of electrical double layer between transducer and fluid mass, this angular accelerometer is able to convert angular acceleration input to electrical signal. The whole system is composed of fluidic system and molecular electronic system. Theoretical analysis and several experiments are implemented to obtain transfer function model of fluidic system. The flow in transducer satisfies the Darcy Law in the experiment and angular velocity input is proved to have no effect on the output. A prototype is designed to compare the output of theoretical model and experiments. All of the experiments prove that the fluidic system of this liquid-circular angular accelerometer can be seen as a first-order system, especially when the frequency of input is less than 30Hz and its transfer function is derived.

关键词： Transducers Fluids Prototypes Accelerometers Transfer functions Electron tubes Acceleration

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Real-time terrain estimation based on multi-scale radial basis function for unmanned ground vehicle

Real-time terrain estimation based on multi-scale radial bas...

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International Conference on Information and Automation (ICIA)

作者： Yi Yang Zhili Wang Xinghe Li Mengyin Fu Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509041039

Accurate terrain estimation is essential for unmanned ground vehicle (UGV) to achieve autonomous navigation. However, some existing approaches are difficult to reconstruct the 3D surface in real-time because of serious amount of computation. A method of environmental terrain estimation based on multi-scale radial basis function with a 3D lidar mounted on a moving vehicle was proposed in this paper. By combining kernel template with terrain grid map, the approach is applicable to the non-uniform density distribution of laser point cloud with the increasing detection range and improves the efficiency of calculation. What's more, the estimation of culverts and trees will be more accurate if treat the point cloud in separate layers for suspended obstacles problem. All terrain estimation approaches were verified with good performance in an interactive system, which is set up with Virtual Robot Experimentation Platform (VREP) and actual vehicle.

关键词： Three-dimensional displays Estimation Laser radar Kernel Lasers Surface reconstruction Real-time systems

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Integration Weights Determination of Launch Equipment Hydraulic system Based on Indexes Coupling Characteristics 34

Integration Weights Determination of Launch Equipment Hydrau...

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第三十四届中国控制会议

作者： CHEN Chen WANG Yun TIAN Zhimin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Mechanical Equipment

ISBN: (纸本)9781467374439

Launch equipment hydraulic system plays a vital role in completion of mission due to its stability and accuracy. This paper built an effectiveness evaluation index system based on comprehensive analysis of launch equipment hydraulic system, compared weighting factor determination mechanisms, and integrated independence factor into weight determination by combining the strong coupling feature of launch equipment hydraulic system indexes. The final weight was integrated and determined in four aspects, including importance weight, information weight, independence weight and credibility weight. Then, the paper obtained the system effectiveness evaluation results by utilizing system operation data, and provided theoretical and data reference for equipment selection and effectiveness improvement.

关键词： launch equipment,hydraulic system,effectiveness evaluation,indexes coupling,integration weights

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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Design, modeling and control of a novel amphibious robot wit...

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IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2015

作者： Yi, Yang Geng, Zhou Zhang, Jianqing Cheng, Siyuan Fu, Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479999941

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm. © 2015 IEEE.

关键词： Propulsion

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Stochastic resonance of asymmetric bistable system driven by binary signals under α stable noise

Stochastic resonance of asymmetric bistable system driven by...

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Chinese control Conference (CCC)

作者： Shang-Bin Jiao Jie Kou Ding Liu Qing Zhang National & Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Xi'an Shaanxi CN Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China

In this paper the asymmetric bistable system excited by binary aperiodic signals is taken as a model and the average symbol error rate is regarded as an index to study stochastic resonance (SR) phenomenon. Firstly, the SR driven by binary signals under α stable noise is studied. Secondly, the interplay between the α stable noise parameters α, β, and the system parameters a, b, r on the resonant output effect is explored. The results show that weak binary signals detection can be realized by adjusting the system parameters a, b and r. The optimal values solved by these parameters can make the system produce the best SR effect. For a certain a or b, there is an optimal value under different α or β. For the parameter r, there is an optimal value under different α, and there are several optimal values under different β. Moreover, when α or β is given different values, the evolution laws in asymmetric bistable SR system excited by binary signals are same. The results lay a foundation for realizing the adaptive parameter adjustment in asymmetric bistable SR system with α stable noise.

关键词： Error analysis Signal detection Indexes Time-domain analysis Stochastic resonance Fluctuations Market research

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Research on the weak signal detection method based on adaptive vibrational resonance

Research on the weak signal detection method based on adapti...

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Chinese control Conference (CCC)

作者： Shang-Bin Jiao Di Sun Ding Liu Wei Chao Huang National & Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Xi'an Shaanxi CN Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China

In this paper, the weak signal detection under α stable noise is investigated based on bistable vibrational resonance (VR) which is driven by a high frequency signal. On the one hand, the energy of the high frequency drive signal is transferred to the low frequency weak signal when VR occurs; on the other hand, the control of stochastic resonance (SR) is achieved based on VR, which transfers more noise energy into useful signal energy. In addition, considering the requirements of real-time detection, the amplitude and frequency of the high frequency drive signal are optimized by the knowledge-based particle swarm optimization (KPSO), which takes the mean signal-noise-ratio (MSNR) of output as the fitness function, and the property that VR system produces the best resonance effect just when the valid system parameter â(B,Ω) is greater than zero as knowledge. Finally, the parameter compensation is combined to achieve multi-high frequency weak signals detection with a stable noise. Furthermore, the method is applied to the vibration fault diagnosis of a mono-crystalline silicon furnace, and the experiment results show the effectiveness and practicability of the method.

关键词： decision support systems

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Exploring Optimal Frequency Caps in Real Time Bidding Advertising

Exploring Optimal Frequency Caps in Real Time Bidding Advert...

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IEEE International Conference on Big Data and Cloud Computing (BdCloud)

作者： Rui Qin Yong Yuan Fei-Yue Wang Beijing Engineering Research Center of Intelligent Systems and Technology Beijing China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Research Center of Military Computational Experiments and Parallel System National University of Defense Technology Changsha China

ISBN: (纸本)9781509039371

Benefited from the high-speed development of Internet and the popularization of big data technology, Real Time Bidding (RTB) emerged and developed quickly, and has become one of the most important and popular model for online computational advertising. In the pay-per-impression based RTB advertising, frequency capping is undoubtedly one of the most crucial issues faced by advertisers and Demand Side Platforms (DSPs), since there are generally vast amount of ad requests in RTB markets, among which many may be triggered by the same target audience. As such, choosing the optimal frequency cap considering all the advertisers becomes a critical issue faced by DSPs. Considering that displaying one advertisement multiple number of times to the same user will diminish the advertising effect, we introduce the concept of discount factor and establish an optimization model of frequency capping to seek for the optimal frequency cap for each advertiser. We also design some experiments to validate our proposed model by utilizing the computational experiment approach, and the experimental results show that the optimal frequency cap can be influenced by the values of the discount factors, and higher value of the discount factor can deduce the advertising effect of larger frequency cap. Moreover, when the discount factors of the advertisers take different values, there also exists an optimal frequency cap, at which the advertisers can get the expected maximum revenue in the long run.

关键词： Advertising Digital signal processing Computational modeling Big data Time-frequency analysis Radio spectrum management Real-time systems

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Optimizing Market Segmentation Granularity in RTB Advertising: A Computational Experimental Study

Optimizing Market Segmentation Granularity in RTB Advertisin...

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IEEE International Conference on Big Data and Cloud Computing (BdCloud)

ISBN: (纸本)9781509039371

Real Time Bidding (RTB) is a novel business model of online computational advertising with the integration of Internet economy and big data analysis. It can help advertisers achieve the precision marketing through the market segmentation strategies of Demand Side Platforms (DSPs). Based on a mathematical programming approach, this paper studied DSPs' strategies for market segmentation, and established a selection model of the granularity for segmenting RTB advertising markets. We proposed to validate our model using the computational experiment approach, and the experimental results show that: 1) with the increasing refinement of the market segmentation granularity, the total revenue has a tendency of a rise first followed by a decline, 2) the optimal granularity of market segmentation will be significantly influenced by the number of advertisers on the DSP, but less influenced by the number of ad requests. Our findings show the crucial role of market segmentation on the RTB advertising effect, and indicate that the DSPs should adjust their market segmentation strategies according to their total number of advertisers. Our findings also highlight the importance of advertisers as well as the characteristics of the target audiences in DSPs' market segmentation decisions.

关键词： Digital signal processing Computational modeling Advertising Numerical models Big data complex systems Automation

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