检索结果-内蒙古大学图书馆

Welded joint localization based on model matching with structured-light vision sensing

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008年第SUPPL. 1期36卷 76-79页

作者： Gong, Yefei Dai, Xianzhong Li, Xinde Gan, Yahui Key Laboratory of Measurement and Control of Complex Systems of Engreering School of Automation Southeast University Nanjing 210096 China

A model-based matching method is proposed for welded joint localization and recognition. Simple parameterized joint models are defined, which approach the actual joint pose fast in a iterative style by using the partial Hausdorff distance (PHD) as the similarity measurement. Statistical analysis is employed to determine the matching parameters adaptively, and the dimension of parameter space is decreased by performing the estimation on the structured light plane, which make a robust and real-time performance. Experiments show that accurate result can be acquired in real time, which meets the actual applications' requirements.

关键词： Computer vision

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Mobile Robot based Odor Path Estimation via Dynamic Window Approach

Mobile Robot based Odor Path Estimation via Dynamic Window A...

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IEEE Conference on Robotics, automation and Mechatronics

作者： Ji-Gong Li Qing-Hao Meng Fei Li Ming-Lu Zhang Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University TJU Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

This paper addresses the problem of estimating the odor path which is most likely taken by the odor patch detected by the concentration sensor on a mobile robot moving in an indoor dynamic airflow environment. The odor path estimation is useful for plume tracing and odor source declaration. A novel algorithm for odor path likelihood mapping in the dynamic airflow environment is proposed. The algorithm has a low computation cost by importing the idea of dynamic window approach. Experiments are carried out on the mobile robot in which odor concentration sensor, airflow sensor, encoder and compass are equipped. To extract useable concentration information from the odor sensor, a practicable data preprocessing method is put forward. The experiment results in the indoor dynamic airflow environment show that the odor path can be well estimated online.

关键词： Mobile robots Animals Vehicle dynamics Robot sensing systems Wireless sensor networks Life estimation Algorithm design and analysis Hidden Markov models Delay Mechanical engineering

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Hailstone Detection Based on Image Mining

Hailstone Detection Based on Image Mining

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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Zhiying Lu Lei Wang Hongmin Ma Qimeng Zhang Huizhen Jia Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University TJU Tianjin China Tianjin Meteorological Bureau Tianjin China

Hailstone is one of the main meteorological disasters and it is very difficult to be forecasted effectively. A novel method of automatic recognition hail cloud is proposed base on association rules in this paper. Firstly, the method preprocesses the original reflectivity image. Then the color features and texture features are extracted from the radar echo image. Lastly, the association rules, which are used to distinguish hailstorm from rainstorm and super refract, are constructed, namely hail echo ensemble forecast model based on image mining is constructed. The results show that hail echo ensemble forecast model based on image mining has higher accuracy compared with the PUP products.

关键词： Data mining Association rules Predictive models Meteorology Weather forecasting Clouds Reflectivity Feature extraction Meteorological radar Radar imaging

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New delay-dependent stability and stabilization of linear system with state and input delays

New delay-dependent stability and stabilization of linear sy...

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Chinese control and Decision Conference, CCDC

作者： Yijing Wang Xianbo Yan Zhiqiang Zuo Huimin Zhao Guoshan Zhang Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering & Automation Tianjin University TJU Tianjin China Academy of Military Transportation PLA Tianjin China

This note deals with the delay-dependent stability and stabilization of linear system with state and input delays. Firstly, for the nominal system, by introducing the augmented Lyapunov functional and some free-weighting matrices, new delay-dependent stability and stabilization criteria of the system are presented. Then, these new conditions are extended to handle norm-bounded uncertain systems with state and input delays, which show less conservativeness. Numerical examples are given to illustrate the effectiveness of the proposed results.

关键词： Stability criteria Stability analysis Delay Numerical stability Symmetric matrices Delay effects Linear systems

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Qualitative control for mobile robot navigation based on reinforcement learning and grey system

Mediterranean Journal of Measurement and Control

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Mediterranean Journal of measurement and control 2008年第1期4卷 1-7页

作者： Chen, Chunlin Dong, Daoyi Chen, Zonghai Wang, Haibo School of Management and Engineering Nanjing University Nanjing China State Key Laboratory for Novel Software Technology Nanjing University Nanjing China Key Laboratory of Systems and Control Institute of Systems Science Beijing China Department of Automation University of Science and Technology of China China

A qualitative control method using reinforcement learning (RL) and grey system is developed for mobile robot navigation in an unknown environment. New representation and computation mechanisms are key approaches for learning and control problems with incomplete information or in large probabilistic environments. In this paper, the uncertainties in sensor information and qualitative localization are represented using grey systems. Traditional RL methods are also combined with grey theory for mobile robot navigation control and a new grey reinforcement learning (GRL) method is proposed to solve complex problems where environment information is incomplete and grey models are constructed through representing incomplete information with grey algebra. The experimental results verify the effectiveness and superiority of the qualitative control system and the presented approaches also show alternative ways for the measurement and learning control problems with incomplete information of the environment. Copyright © 2008 SoftMotor Ltd.

关键词： Mobile robots

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Gas/Liquid Two-Phase Flow Regime Recognition Based on Adaptive Wavelet-Based Neural Network

Gas/Liquid Two-Phase Flow Regime Recognition Based on Adapti...

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International Conference on Natural Computation (ICNC)

作者： Jun Han Feng Dong Yaoyuan Xu Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering & Automation Tianjin University TJU Tianjin China Department of Educational Technology Capital Normal University Beijing China

Flow regime recognition of two-phase flow is of great importance in industrial process. In this paper, a new method is brought forward to recognize the gas/liquid two-phase flow regime. The information of the method that provided by electrical resistance tomography (ERT) is the measured data in horizontal pipe. A new adaptive wavelet-based neural network was introduced and it combines the wavelet transformation with neural network theory in this paper. The parameters of the wavelet are adjusted adaptively according to signal's characteristic in the learning process, so the feature of the signal could be extracted to a large extent and the recognition results of flow regime would be better.

关键词： Fluid flow Adaptive systems Neural networks Signal processing Electric resistance Tomography Electrical resistance measurement Electric variables measurement Data mining Character recognition

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Platform-based design of an embedded control system for three-dimensional robotic fish

Platform-based design of an embedded control system for thre...

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IEEE International Conference on automation and Logistics

作者： Ming Wang Junzhi Yu Min Tan Qinghai Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China School of Information and Electric Engineering Shandong Jianzhu University Jinan China

ISBN: (纸本)9781424425020

This paper addresses a platform-based design method of a real-time embedded system for controlling three-dimensional (3-D) swimming of link-based robotic fish. It involves mechanical design, hardware implementation, software design, and central pattern generators (CPG) inspired 3-D swimming control. With the ARM-based microprocessor AT91RM9200, the established hardware is well suited for complex computation environments. Moreover, concerning software design within the framework of the real-time operating system muC/OS-II, each function of the controller represented by a task can be easily added to the embedded system. Both the core hardware and software are realized by a standardized method, which makes the platform easily expandable and manageable. Without significant modification, the developed 3D locomotion controller for robotic fish based on the platform concept can further extend to other control systems.

关键词： Robots Marine animals Robot sensing systems control systems Software Hardware Microprocessors

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Robust Stability and Stabilization of Discrete Time-Delay System with Time-Varying Delay and Non-Linear Perturbations

Robust Stability and Stabilization of Discrete Time-Delay Sy...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Yijing Wang Xianbo Yan Zhiqiang Zuo Huimin Zhao Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering & Automation Tianjin University TJU Tianjin China General Courses Department Academy of Military Transportation PLA Tianjin China

ISBN: (纸本)9781424422241

In this paper, we consider the problems of robust stability and stabilization by static state feedback of discrete time-delay systems under non-linear perturbations. The delay in the system state may be time-varying. Firstly, by making use of some techniques, delay-dependent robust stability of the system is presented. Then, a sufficient condition on the existence of the state feedback controller is established in the terms of linear matrix inequality (LMI), which guarantee stability of the closed-loop system and at the same time maximize the nonlinearity bound. Finally, a numerical example is given to illustrate the effectiveness of the proposed results.

关键词： Intelligent control control systems USA Councils

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Automatic route tracking of smartcar based on fuzzy control

Automatic route tracking of smartcar based on fuzzy control

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World Congress on Intelligent control and automation (WCICA)

作者： Guiyou Chen Zhenhua Li Ping Yang School of Control Science and Engineering Shandong University Jinan Shandong China Key Laboratory of Complex System and Intelligent Sciences Institute of Automation Chinese Academy of Sciences Chinese Academy of Sciences Beijing China

The principle of fuzzy control and its application in automatic route tracking of smartcar are presented in the paper. The fuzzy controller is established to control the steering servo motor of the smartcar. Simulation of the designed controller based on MATLAB fuzzy logical toolbox is proposed. And the fuzzy controller is realized using freescale fuzzy inference machine. It is successfully applied in the automatic route tracking. The hardware design of the smartcar introduced. Then, the process of establishing the fuzzy controller is described in detail, including the choice of fuzzy input and output variables, linguistic values, domain, input and output membership functions, rule base, fuzzification, rule inference, defuzzification. The validity of the designed controller is verified by MATLAB simulation and actual operating results.

关键词： Fuzzy control Microcontrollers control systems DC motors Servomotors MATLAB Mathematical model

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Experimental study of position of piezoelectric probe in vortex row sensor

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Jiliang Xuebao/Acta Metrologica Sinica 2008年第5期29卷 427-433页

作者： Zheng, Dan-Dan Zhang, Tao Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

The design of bluff body, signal detection and processing methods of vortex flow sensors have been discussed by many researchers. The position of piezoelectric pressure probe in vortex flow sensor is seldom investigated. Experiments are firstly carried out in a water channel and a wind tunnel. It is found that the amplitude and frequency of vortex signals are closely related to locations of the probe, and positions of most intensive signals are different to bluff bodies with various width. Furthermore, experiments are carried out in a pipe to analyze the regularity of vortex signals. The differences between two-dimensional and three-dimensional vortex flow fields are compared and explained by numerical simulations. Finally, the optimum detecting position in vortex flow sensor is determined: the optimum distance between bluff body and probe is equal to the width of bluff body. In order to prove the conclusion, calibration tests are made on water and air standard flow equipments with DN100 and DN50 vortex flow sensors respectively. The linearity and repeatability of vortex flow sensor are both improved.

关键词： Metrology Numerical simulation Piezoelectric probe Signal intensity Vortex flow sensor

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