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Ballistic method based on improved particle swarm optimization algorithm

Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2013年第SUPPL.I期43卷 215-218页

作者： Cui, Jing Deng, Fang Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

In order to improve real-time performance of the fire control system, a ballistic resolving method based on the improved particle swarm optimization (PSO) algorithm is proposed, which improves the response speed of the system and provides a convenient extension to parallel computing on multicore platforms. First, particles are generated and initialized around the pre-estimated aiming angle. Then each particle is evaluated by an objective function composed of the ballistic differential equation etc. Finally, the position and velocity of particle swarm are updated. In order to accelerate the convergence speed, the correction angle of the global best particle obtained by Zhou's iterative and correction formula is used to guide the update of particle swarm. Experimental results show that the calculation speed is twice that of the iterative and correction method, and the convergence speed of particle swarm is 1.5 times that of the conventional PSO algorithm. Moreover, the proposed method is fully compatible with parallel computing and can further shorten execution time on multicore platforms.

关键词： Ballistics

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Unsupervised robust adaptive filtering against impulsive noise

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Journal of systems Engineering and Electronics 2012年第1期23卷 32-39页

作者： Tao Ma Jie Chen Wenjie Chen Zhihong Peng School of Automation Beijing Institute of Technology Beijing 100081 R R. China Key Laboratory of Complex System Intelligent Control and Decision （Ministry of Education） Beijing Institute of Technology Beijing 100081 P. R. China

An implementation of adaptive filtering, composed of an unsupervised adaptive filter （UAF）, a multi-step forward linear predictor （FLP）, and an unsupervised multi-step adaptive predictor （UMAP）, is built for suppressing impulsive noise in unknown circumstances. This filtering scheme, called unsupervised robust adaptive filter （URAF）, possesses a switching structure, which ensures the robustness against impulsive noise. The FLP is used to detect the possible impulsive noise added to the signal, if the signal is ＂impulse-free＂, the filter UAF can estimate the clean sig- nal. If there exists impulsive noise, the impulse corrupted samples are replaced by predicted ones from the FLP, and then the UMAP estimates the clean signal. Both the simulation and experimental results show that the URAF has a better rate of convergence than the most recent universal filter, and is effective to restrict large disturbance like impulsive noise when the universal filter fails.

关键词： adaptive filtering unsupervised form impulse insen- sitive switching structure.

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Distributed vision localization system for mobile robot

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.2期44卷 40-45页

作者： Wang, Huan Ma, Xudong Qian, Kun Fang, Fang Cao, Juan Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education School of Automation Southeast University Nanjing 210096 China

A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual target perception caused by senor, clustering background and lighting condition changes, a projection based color target recognization method is employed. A new localization algorithm combining Tsai's calibration and polynomial fitting is proposed, as well as a multi-camera collaborative strategy. This improves the accuracy and reliability of the global visual localization in a complex environment. Hardware and software structure of smart sensing nodes based on embedded DSP TMS320DM642 is developed. key functions of real-time visual information acquisition, processing and network interface are integrated in the smart nodes. Application and experiments with the mobile robot navigation control platform verifies the localization accuracy as well as other favorable performances.

关键词： Mobile robots

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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A quantitative performance evaluation index for image fusion: Normalized Perception Mutual Information

A quantitative performance evaluation index for image fusion...

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31st Chinese control Conference, CCC 2012

作者： Yan, Liping Liu, Yulei Xiao, Bo Xia, Yuanqing Fu, Mengyin School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9789881563811

Information entropy based criteria are analyzed and the Normalized Mutual Information(NMI) that is presented in the field of image registration is revised to Normalized Mutual Information Entropy (NMIE) to meet the need of the evaluation of image fusion algorithms. Then, through analysis to NMIE and some human perception based criteria, and by analyzing the essence of image fusion techniques systematically, a new index, Normalized Perception Mutual Information (NPMI), is defined in view of information transmission as well as edge preservation, and is used to evaluate the performance of image fusion algorithms. The experiments are done to three groups of images, namely, the remote sensing images corrupted by noises, the multifocus images and the medical images obtained by CT and MRI, respectively. Compared with other indices including the root mean square error (RMSE), space frequncy (SF), space visibility (SV), entropy, the collective cross entropy (CCE), information deviation (ID), and the edge information preservation value (EIPV), etc., NPMI is shown to be the only one that is effective in all the cases in the evaluation of the performances of the fused images or the image fusion algorithms, which illustrates the feasibility and effectiveness of the presented algorithm. © 2012 Chinese Assoc of Automati.

关键词： Image fusion

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Optimal guidance law for cooperative attack of multiple missiles based on optimal control theory

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International Journal of control 2012年第8期85卷 1063页

作者： Sun, Xiao Xia, Yuanqing [a] School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This article considers the problem of optimal guidance laws for cooperative attack of multiple missiles based on the optimal control theory. New guidance laws are presented such that multiple missiles attack a single ... 详细信息

关键词： optimal guidance law optimal control theory hamiltonian many-to-one guidance

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Robust fault detection of linear systems over networks with bounded packet loss

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Journal of the Franklin Institute 2012年第7期349卷 2480-2499页

作者： Bo Liu Yuanqing Xia Yi Yang Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This paper is devoted to the fault detection of linear systems over networks with bounded packet loss . The inputs and the measurements of the monitored system are transmitted to a fault detection node over an unreliable network with bounded packet loss. The packet loss process is assumed to be arbitrary or Markovian in this paper. Due to the bounded packet loss process, the monitored system is modeled as a switched system by re-sampling it at each time instant when the measurements arrive at the fault detection node. A fault detection filter for this switched system is designed in this paper to satisfy some performance constraints. The filter updates only at the time instant when new measurements arrive at the fault detection node and the input data packets' lost are considered as external disturbances . Finally, the numerical example and simulations have demonstrated the usefulness of the proposed method.

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Centralised fusion over unreliable networks

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International Journal of control 2012年第4期85卷 409-418页

作者： Xia, Yuanqing Yan, Liping Fu, Mengyin Zhu, Cui School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This article considers a centralised data fusion system, in which the measurements of the local sensors are time-stamped, and then transmitted through the network to the fusion centre. The system will suffer measurements delay or loss due to the unreliability of the network. Based on the Kalman filter and information filter in a single channel, a centralised data fusion algorithm with buffers is proposed to solve this problem. A probabilistic metric to evaluate the performance of the system is presented. Simulation results show the effectiveness of the proposed method.

关键词： networked data fusion centralised Kalman filter network delay stability

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Dynamical Balance Optimization and control of Quadruped Robots Under Perturbing External Force

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IFAC Proceedings Volumes 2013年第20期46卷 199-205页

作者： Zhijun Li Sijia Yu Sibang Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education College of Automation Science and Engineering South China University of Technology Guangzhou China The Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu China 610054 The Robotics Institute and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China 610054

This paper investigates the optimal feet forces distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamic model of quadruped robots and derive a reduced order dynamical model of motion/force. Consider an external wrench on quadruped robots, the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to minimize the optimized objective function with linear equality and inequality constraints, and hybrid motion/force control based on adaptive neural network is used to compensate for the external perturbation in the environment and approximate feedforward force and impedance of the leg joints on line. The verification of the proposed control is conducted using the extensive simulations.

关键词： quadruped robot forces distribution external wrench motion/force control

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