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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Risk-Sensitive Cubature Filtering for Jump Markov Nonlinear systems and Its Application to Land Vehicle Positioning ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 20-25页

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.

关键词： Markov models Kalman filters estimation theory target tracking

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Formation control of mobile robots with input constraints: An elliptic approximation approach

Formation control of mobile robots with input constraints: A...

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International Conference on Control, automation and systems ( ICCAS)

作者： Xiaohan Chen Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and Department of Systems and Control Beihang University BUAA Beijing China Beihang University Beijing CN Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.

关键词： Robot kinematics Lead Mobile robots Approximation methods Trajectory Educational institutions

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Adaptive Iterative Learning Control for Uncertain Delay systems Based on Model Matching Technique

Adaptive Iterative Learning Control for Uncertain Delay Syst...

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2011 American Control Conference (ACC)

作者： Haixia Su Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

In this paper, an adaptive iterative learning control (ILC) scheme is proposed for trajectory tracking of uncertain delay systems based on model matching technique. The reference model is a delay system operating over in a finite time interval. An iterative model matching controller is designed and an iteration domain adaptive law is chosen to estimate the unknown parameters. It shows that the model matching technique can be applied in a straightforward method to ILC problem. A simulation example is included to illustrate the designed scheme.

关键词： Adaptation models Polynomials Adaptive systems Delay effects Delay systems

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Gaussian Mixture PHD Smoother for Jump Markov Models in Multiple Maneuvering Targets Tracking

Gaussian Mixture PHD Smoother for Jump Markov Models in Mult...

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2011 American Control Conference (ACC)

作者： Wenling Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University Beijing China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University Beijing China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo Henan China

This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.

关键词： Target tracking Approximation methods Markov processes Covariance matrix Smoothing methods Radar tracking Computational efficiency

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The first five percent of neural contrast spikes from a visual scene robustly computes the gravity vector

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BMC Neuroscience 2010年第1期11卷 1-2页

作者： John R Goulding Robotics and Neural Systems Laboratory. Electrical and Computer Engineering University of Arizona Tucson AZ 85719 USA

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB)

作者： Danny Plass-Oude Bos Matthieu Duvinage Oytun Oktay Jaime Delgado Saa Huseyin Guruler Ayhan Istanbullu Marijn van Vliet Bram van de Laar Mannes Poel Linsey Roijendijk Luca Tonin Ali Bahramisharif Boris Reuderink HMI group Faculty of EEMCS University of Twente Netherlands TCTS Laboratory Electrical Engineering University of Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal Üniversitesi Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Faculty of Engineering and Natural Sciences VPA Laboratory Sabanci University Turkey Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Institute for Computing and Information Sciences Radboud University Nijmegen Nijmegen Netherlands

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment.

关键词： Pipelines Accuracy Electrooculography Electrodes Training Electroencephalography Games

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Research on the reconstruction of fast and accurate AFM probe model

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Chinese Science Bulletin 2010年第24期55卷 2750-2754页

作者： YUAN Shuai DONG ZaiLi MIAO Lei XI Ning WANG YueChao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University USA

The AFM image will be distorted due to the tip-broadening effect. It may be mathematically represented as the effect of the tip's convolution on the real image. As a result, the true geometry of the sample surface can not be obtained. If the tip shape could be known accurately, such distortion can be eliminated with the adoption of disconvolution operation. It is of practical significance in the accurate reconstruction of the AFM image. Among the current tip modeling algorithms, the blind tip estimation algorithm based on mathematical morphology is widely applied. However, it takes much time and has difficulties in defining the optimal noise threshold. In view of the above problems, this paper proposes a new blind tip evaluation method to accelerate the speed of blind tip modeling calculation and realize the accurate reconstruction of the AFM image. The simulation and the experimental results demonstrate the feasibility and effectiveness of the above research method.

关键词： AFM探针原子力显微镜数学形态学图像效果模型几何形状精确重建建模算法

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Conference on Imaging systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Detecting CD20-Rituximab specific interactions on lymphoma cells using atomic force microscopy

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Science China(Life Sciences) 2010年第10期53卷 1189-1195页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA Department of Electrical and Computer Engineering University of PittsburghPittsburgh 15261USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071China Graduate University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China

Elucidating the underlying mechanisms of cell physiology is currently an important research topic in life sciences. Atomic force microscopy methods can be used to investigate these molecular mechanisms. In this study, single-molecule force spectroscopy was used to explore the specific recognition between the CD20 antigen and anti-CD20 antibody Rituximab on B lymphoma cells under near-physiological conditions. The CD20-Rituximab specific binding force was measured through tip functionalization. Distribution of CD20 on the B lymphoma cells was visualized three-dimensionally. In addition, the relationship between the intramolecular force and the molecular extension of the CD20-Rituximab complex was analyzed under an external force. These results facilitate further investigation of the mechanism of Rituximab’s anti-cancer effect.

关键词： atomic force microscopy single-molecule force spectroscopy CD20 antigen Rituximab

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