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Localization method for particle-filter based on the optimization of particle swarm

Kongzhi Lilun Yu Yingyong/Control Theory and Applications 2008年第3期25卷 533-537页

作者： Fang, Zheng Tong, Guo-Feng Xu, Xin-He Key Laboratory of Process Industry Automation Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China

To locate a mobile robot efficiently and accurately, we propose a localization algorithm for the particle-filter based on particle swarm optimization. The drawbacks of generic particle-filter are analyzed. By incorporating the newest observations into the sampling process and using particle swarm optimization, the prediction performance of the generic particle-filter is improved. After that, the probabilistic motion-model and observation-model of the mobile robot are established, and the self-localization problem of the mobile robot is resolved by applying the particle swarm optimization to the particle filter. In this method, through particle swarm optimization, particles are moved to the regions where they have larger values of posterior density function. As a result, the impoverishment of the particle filter is overcome and the number of particles needed for accurate location is reduced dramatically. Simulation experiments show the validity of the proposed method.

关键词： Mobile robots

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Distributed Functional Safety for Modular process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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Study of adhesion force between cellulose micro-sphere and cellulose membrane

Study of adhesion force between cellulose micro-sphere and c...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Yuli Lai Pasi Kallio Hao Zhang Hui Xie Yasuhito Sugano Johan Bobacka Department of Automation Science and Engineering Tampere University of Technology Tampere Finland The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Chemistry University of Helsinki Helsinki Finland Johan Gadolin Process Chemistry Centre Åbo Akademi University Turku Finland

ISBN: (纸本)9781509029464

Development of novel high added value cellulose products requires improved understanding of interaction forces, which includes also the adhesion force, between cellulose surfaces. However, the interaction forces between cellulose surfaces have not been adequately studied. In this paper, cellulose-cellulose adhesion force is studied by using a customized dual-probe atomic force microscope (AFM) with a cellulose colloidal probe. Two different types of cellulose membranes (CM) with cellulose concentration of 1.5% and 2% are used as test samples, and about ten thousand tests are repeated on each CM sample type. Adhesion force histograms are provided and they show a large difference between the two types of CM. The average adhesion force on CM 1.5% is approximately 10 times higher than that on CM 2%. On CM 1.5%, the adhesion forces concentrate on the range from 450nN to 650nN, whereas on CM 2% the force distribute from 50 to 75nN. The difference in the adhesion force on these two types of CM can be attributed to their difference in surface roughness and surface energy.

关键词： Probes Adhesives Force Surface topography Force measurement Rough surfaces Surface roughness

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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System and its characteristics of robot soccer over the Internet

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2005年第SUPPL.期36卷 220-224页

作者： Hao, Li-Na Li, Qing-Yun Xu, Xin-He Laboratory of Process Industry Automation Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics College of Information Science and Engineering Northeastern University Shenyang 110004 China

This paper studies the necessity of the robot soccer over the Internet on the basis of analysing the tele-operation system, presents a new system architecture of the robot soccer over the Internet based on C/S, describes the information flowchart of the local site and the remote sites, realizes a human-robots interactive game over the internet, does some researches on its characteristics, and describes the architecture, software programming and the key technology of each parts in details. The whole system adopts the technology of Windows operation system, VC+ +, and Winsock network programming. The distributed simulation system of robot soccer over the Internet is based on HLA. The competitions that rely on the regulations were finished. The results show that this system can simulate the whole process of soccer competitions of human being, and meet the demands of stability and reliability.

关键词： HLA Robot soccer over the Internet Simulation system Teleoperation

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Robust and efficient algorithm for mobile robot localization

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Zidonghua Xuebao/Acta Automatica Sinica 2007年第1期33卷 48-53页

作者： Fang, Zheng Tong, Guo-Feng Xu, Xin-He Key Laboratory of Process Industry Automation of MOE and Liaoning Province Northeastern University Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China

Robot self-localization is realized by using adaptive particle filter scheme with map-matching algorithm. A two-phase-updating method based on similarity measurements of range and geometry is proposed to improve the performance of general particle filter localization which uses a laser range finder. The algorithm not only enhances the robustness of the system, but also increases the computational efficiency. Simulation results demonstrate that by using the proposed algorithm and nature characteristics in indoor environment, mobile robot can localize itself accurately and robustly.

关键词： Mobile robots

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Prediction-Based Reachability Analysis for Collision Risk Assessment on Highways

arXiv

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arXiv 2022年

作者： Wang, Xinwei Li, Zirui Alonso-Mora, Javier Wang, Meng Department of Transport and Planning Delft University of Technology Delft2628 CD Netherlands School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Department of Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands Traffic Process Automation Technische Universität Dresden Dresden Germany

Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set considering two-dimensional motion with vehicle state probability distributions is firstly established. We then develop an acceleration prediction model, which provides multi-modal probabilistic acceleration distributions to propagate vehicle states. The collision probability is calculated by summing up the probabilities of the states where two vehicles spatially overlap. Simulation results show that the prediction model has superior performance in terms of vehicle motion position errors, and the proposed collision detection approach is agile and effective to identify the collision in cut-in crash events. © 2022, CC BY.

关键词： Probability distributions

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Automated classification of gait patterns based on time-frequency analysis

Beijing Keji Daxue Xuebao/Journal of University of Science a...

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Beijing Keji Daxue Xuebao/Journal of University of Science and Technology Beijing 2012年第1期34卷 31-36页

作者： Wang, Fei Wen, Shi-Guang Zhang, Yu-Zhong Kim, Ki-Jun Wu, Cheng-Dong State Key Laboratory of Integrated Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A general scheme for the automated classification of gait patterns based on time-frequency analysis was proposed to discriminate acceleration signals characterized by high dimension, non-linearity, strong coupling and high time-varying acquired under different terrains and motion patterns of lower limbs. A three-axis acceleration sensor was mounted on a crus to acquire acceleration signals in the sagittal, coronal and cross-sectional planes separately. By using a 5-order Daubechies wavelet base, the features were extracted from time-series acceleration signals and further dimensionally reduced by employing linear discrimination analysis (LDA). The reduced features were classified by the decision tree and the support vector machine (SVM). From experimental results, both classifiers can achieve the high classification accuracy ratio over 90% and for the specified gait the ratio can be up to 100%, indicating the rationality and effectiveness of the proposed methods for feature extraction and dimension reduction.

关键词： Support vector machines

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Robust Stability of Discrete-Time Switched Delay Systems and Its Application to Network-Based Reliable Control

Robust Stability of Discrete-Time Switched Delay Systems and...

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2009 American Control Conference (ACC 2009)

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge Key Laboratory of Integrated Automation of Process Industry Ministry of Education of China Northeastern University Shenyang China 110004 Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

ISBN: (纸本)9781424445233

This paper addresses the problem of robust stability of discrete-time switched systems with time-varying delays and polytopic uncertainties. It is supposed that the switched systems are composed of both stable and unstable subsystems. Delay-dependent sufficient conditions for robust exponential stability are proposed by employing parameter-dependent piecewise Lyapunov-like functional combined with the free-weighting matrix and average dwell time methods. These sufficient conditions are applied in the study of stability analysis for a network-based reliable control system with controller failures, and the effectiveness of the analysis procedure is demonstrated with numerical simulation on network-based reliable control of cart-pendulum.

关键词： Robust stability Delay systems Control systems Switched systems Sufficient conditions Control system synthesis Time varying systems Uncertainty Delay effects Stability analysis

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DECOMPOSITION OF INDUSTRIAL SYSTEMS FOR ENERGY EFFICIENCY OPTIMIZATION WITH OPTTOPO

arXiv

引用

arXiv 2022年

作者： Thiele, Gregor Johanni, Theresa Sommer, David Krüger, Jörg Department for Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Germany Faculty of Electrical Engineering and Computer Science Technical University of Berlin Berlin Germany Weierstrass Institute for Applied Analysis and Stochastics Berlin Germany Institute for Machine Tools and Factory Management Technical University of Berlin Berlin Germany

The operation of industrial facilities is a broad field for optimization. Industrial plants are often a) composed of several components, b) linked using network technology, c) physically interconnected and d) complex regarding the effect of set-points and operating points in every entity. This leads to the possibility of overall optimization but also to a high complexity of the emerging optimization problems. The decomposition of complex systems allows the modeling of individual models which can be structured according to the physical topology. A method for energy performance indicators (EnPI) helps to formulate an optimization problem. The optimization algorithm OptTopo achieves efficient set-points by traversing a graph representation of the overall system. © 2022, CC BY.

关键词： Optimization

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