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Vision system for mobile robots for tracking moving targets, based on robot motion and stereo vision information

Vision system for mobile robots for tracking moving targets,...

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IEEE/SICE International Symposium on System Integration

作者： Tae-Il Kim Wook Bahn Changhun Lee Tae-jae Lee Muhammad Muneeb Shaikh Kwang-soo Kim Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision-tracking for mobile robots, which tracks a moving target based on robot motion and stereo vision information. The proposed system controls pan and tilt actuators attached to a stereo camera, using the data from a gyroscope, robot wheel encoders, pan and tilt actuator encoders, and the stereo camera. Using this proposed system, the stereo camera always faces the moving target. The developed system calculates the angles of the pan and tilt actuators by estimating the relative position of the target with respect to the position of the robot. The developed system estimates the target position using the robot motion information and the stereo vision information. The movement of the robot is modeled as the transformation of the frame, which consists of a rotation and a translation. The developed system calculates the rotation using 3-axis gyroscope data and the translation using robot wheel encoder data. The proposed system measures the position of the target relative to the robot, combining the encoder data of pan and tilt actuators and the disparity map of the stereo vision. The inevitable mismatch of the data, which occurs from the asynchrony of the multiple sensors, is prevented by the proposed system, which compensates for the communication latency and the computation time. The experimental results show that the developed system achieves excellent tracking performance in several motion scenarios, including combinations of straights and curves and climbing of slopes.

关键词： Cameras Mobile robots Robot vision systems Actuators Instruction sets

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Robust ℋ∞ horizon optimization control for sampled-data systems with constraints

Robust ℋ∞ horizon optimization control for sampled-data sy...

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Chinese control Conference (CCC)

作者： Fuchun Liu Hailong Pei Yueying Zhao Min Li College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control (ASNC) Ministry of Education South China University of Technology Guangzhou 510640 China Department of Automation Guangzhou Kangda Vocational Technical College 511363 China School of Electronic Information and Control Engineering Shandong Polytechnic University Jinan 250353 China

In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data control systems with output constraints have been investigated base on jump system model of sampled-data system using constant Lyapunov function (CLF) approach. The online algorithm of the H ∞ receding horizon optimization design for the norm-bounded parametric uncertain system is proposed. The optimal state-feedback H ∞ controllers are obtained and these controller can provide a performance tradeoff with respect to output constraints, i.e., the control strategy offers the capability of relaxing the performance level automatically in order to obey output constraints in the case of a larger disturbance. When the disturbance is restored to a usual situation, this control strategy can also improve the performance of system automatically.

关键词： Electronic mail Robustness control systems Predictive models Modeling Optimization Predictive control

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Optimization research of genetic neural network based on Scilab

Optimization research of genetic neural network based on Sci...

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IEEE International Workshop on Open-source Software for Scientific Computation (OSSC)

作者： Baoyong Zhao Yingjian Qi Xing Tao School of Automation & Electrical Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Advanced Control for Iron and Steel Process Ministry of Education China Science School Communication University of China Beijing China Beijing Research Center of Urban System Engineering Beijing China

ISBN: (纸本)9781612844923

Radial basis function (RBF) network is one of the significant neural networks. It has been used successfully in various fields. But in RBF network approximation algorithm, the initial value of the network weights, Gauss function center vector and broad-based vector is not easy to determine, and when these parameter choice is undeserved, RBF network approximation precision will decline and even the serious consequences of network spread will be produced. By using genetic algorithm in this paper, which can better realize RBF network parameter optimization, thereby increasing the accuracy of approximation. Scilab is open source software and has good simulation capabilities. Experiments using Scilab shows that the optimization method of genetic neural network is feasible and results are satisfied.

关键词： Genetic algorithms Radial basis function networks Optimization Approximation methods Vectors Biological cells Genetics

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Robust Hα control for large-scale systems based on networks

Robust Hα control for large-scale systems based on networks

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作者： Zhou, Ying Yang, Fuwen Fan, Chunxia Zang, Qiang College of Automation Nanjing University of Posts and Telecommunications Nanjing 210003 China School of Information Science and Engineering East China University of Science and Technology Shanghai 200237 China School of Information and Control Engineering Nanjing University of Information Science and Technology Nanjing 210044 China

ISBN: (纸本)9789881725592

Based on networks, a state feedback Hα controller design for a class of linear discrete-time large-scale system with both measurement data and control data missing simultaneously is considered in this paper. The large-scale system was modeled as interconnection of N linear discrete-time subsystems. The occurrence of measurement data and control data missing is assumed to be a Bernoulli distributed sequence with known probability. Sufficient conditions for the existence of a Hα controller are derived in terms of linear matrix inequality(LMI), such that the closed-loop system exponentially stable in the sense of mean square and a prescribed H α performance is guaranteed. A numerical example is also provided to demonstrate the validity of the proposed design approach. © 2011 Chinese Assoc of Automati.

关键词： Linear matrix inequalities

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Comparison of initial alignment methods for SINS

Comparison of initial alignment methods for SINS

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World Congress on Intelligent control and automation (WCICA)

作者： Hongyu Zhao Hong Shang Zhelong Wang Ming Jiang School of Control Science and Engineering Dalian University of Technology Dalian China National Earthquake Response Support Service Beijing China Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

Six standard analytic coarse alignment methods and a direct method are compared via error analyses for strapdown inertial navigation system on stationary base. Although these methods are derived from the same measurements of the local gravity vector and the Earth rate, their error characteristics are not completely identical. The susceptibility of these methods to geographical latitude is examined, and a criterion for the election of an appropriate algorithm is established. Due to its high accuracy, computation efficiency and immunity to latitude uncertainty, the direct method is more suitable for practical applications. The results obtained from both simulation and real data test give a visual demonstration.

关键词： Error analysis Accelerometers Accuracy Navigation Earth Uncertainty Noise

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An extention of height value algorithm for micro-mouse robot applying for exploring unknown region

An extention of height value algorithm for micro-mouse robot...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Zhengtian Li Haibin Duan Yan Gao Zhuoning Dong School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Provincial Key Laboratory for Information Processing Technology Soochow University Suzhou China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

The micro-mouse competition is gaining immense popularity universally. This paper proposes algorithm referred to the “extended height value algorithm” which is developed to an advanced level, so that the artificial robot could be made capable of exploring unknown regions such as micro-mouse competition maze. All of the 256 units in the standard 16*16 units maze are given a series of numbers, which represent discretely assigned potential levels of turning into the crossway during exploring task. The numbers will be taken into consideration when the robot makes the crossway choice as well as autonomous route decisions. Then the choices will alter when the micro-mouse walks in order to optimize the exploring process. The paper also demonstrates effective measures to avoid duplication exploring as much as possible with artificial intelligence technique. In order to verify the developed algorithm, a simple, yet effective simulation program is coded to show that the improved algorithm has higher average efficiency compared with the less intelligent traditional algorithms.

关键词： Algorithm design and analysis Robot kinematics Arrays Mice Conferences Industrial electronics

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Dynamic fault tree analysis approach to Safety Analysis of Civil Aircraft

Dynamic fault tree analysis approach to Safety Analysis of C...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Qichuan Geng Haibin Duan Shuangtian Li School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Provincial Key Laboratory for Information Processing Technology Soochow University Suzhou China

As one of key projects of China at present, the safety of the civil aircraft is a major issue first considered in design and development. Fault-tolerant systems with redundancy are used more often for the design of modern advanced large aircraft. It is a new research area for the safety analysis technology which is not perfect in China. A novel approach to Safety Analysis of Civil Aircraft based on Dynamic Fault Tree Analysis has been proposed in this paper. This paper takes the mature typical design of large aircraft and general aircraft in developed countries as research object, performs safety analysis using dynamic fault tree, and optimizes the analysis of fault tree using modularization thinking. Then, the failure probability of civil aircraft can be calculated in the newly-developed simulation software.

关键词： Safety Aircraft Fault trees Atmospheric modeling Aerospace control Analytical models Markov processes

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Differential evolution with adaptive population size combining lifetime and extinction mechanisms

Differential evolution with adaptive population size combini...

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Asian control Conference

作者： Chunmei Zhang Jie Chen Bin Xin Tao Cai Chen Chen School of Electronic Information Engineering Taiyuan University of Science and Technology Shanxi China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781612844879

Differential Evolution (DE) is a simple and efficient numerical optimization method. Most DE variants in the literature adopt fixed population size. This paper incorporates into DE the mechanisms of lifetime and extinction which regulate DE's population size in an adaptive manner. The population size is adjusted according to the online progress of fitness improvement. Two schemes of inserting new individuals are proposed to match different mechanisms respectively. The performance of these innovations is examined through the optimization of benchmark problems. The results show that the proposed adaptive population sizing strategy is efficient for improving the convergence and efficiency of the DE.

关键词： Convergence Optimization Benchmark testing Cloning automation Evolutionary computation Algorithm design and analysis

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A delay system method to design of event-triggered control of networked control systems

A delay system method to design of event-triggered control o...

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IEEE Conference on Decision and control

作者： Dong Yue Engang Tian Qing-Long Han Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Hubei 430074 China School of Electrical and Automation Engineering Nanjing Normal University 78 Bancang Street Nanjing 210042 China Center for Intelligent and Networked Systems and the School of Information and Communication Technology Central Queensland University Rockhampton Qld 4702 Australia

ISBN: (纸本)9781612848006

The event-triggered H_(infinity) control design is investigated for networked control systems with uncertainties and transmission delays. A novel event-triggering scheme is proposed, which has some advantages over traditional ones with a continuous detector. Considering the effect of the transmission delay, a delay system model for the analysis is firstly constructed. Then, based on the model and Lyapunov functional method, criteria for the stability with an H_(infinity) norm bound and criteria for the co-design of both the feedback gain and the trigger parameters are derived. In order to solve the feedback gain and the trigger parameters, the linear matrix inequality technique is employed. From the simulation example, it can be concluded that the proposed event-triggering scheme is superior to some other event-triggering schemes in some existing literature.

关键词： feedback gain Networked control systems Event trigger Delay systems Scheme Co-design control systems design control

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Designation and development of hardware platform for intelligent ter-minal in 126kV Smart substation

Designation and development of hardware platform for intelli...

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International Conference on Advanced Power System automation and Protection (APAP)

作者： Tong Sun Bin Wang XinZhou Dong ShuJian Zhang MingCai Kang RunBin Cao School of Automation Nanjing University of Science and Technology Jiangsu 210094 China State Key Lab of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China Electrical engineering and automation Hefei University of Technology Anhui 230009 China

According to the demand of 126kV intelligent switch with intelligent operative box, an intelligent terminal device by using cooperation control of embedded CPU (STM32F103ZET6 ARM) and Field Programmable Gates (Cyclone II EP2C8Q208C8 FPGA), which is up to the IEC61850 standard, is designed in this paper. Research program of the device is discussed. Starting from the modularization structure design, function of each module, circuit design and implementation method were introduced in detail. A hardware platform was established according to the design. Finally, the article confirmed the correctness of the hardware platform primarily through experimental method.

关键词： Optical fiber LAN Voltage measurement Measurement units Optical fibers Switchgear Field programmable gate arrays Sun

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