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8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Applications, ISCIIA and ITCA 2018

作者： Gao, Guanqiang Xin, Bin School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

The multi-robot coverage motion planning (MCMP) problem refers to a typical task where every point of the target area must be covered by robots at least once. This paper designs a novel efficient offline algorithm to solve the MCMP problem, which is extended from the spiral-spanning tree coverage algorithm. A distributed auction mechanism is designed for the cooperative task allocation in the proposed algorithm. In this mechanism, each robot will be an auctioneer which chooses a suitable cell as an auction item form its neighbor vertexes and determines a winner robot. According to the connectedness and the balance of each robot’s graph, bidders will submit proper biddings to the auctioneer. After the auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm. Meanwhile, the proposed algorithm is compared with the state-of-the-art algorithm named DARP. The comparative results show that the auction-based MCMP algorithm has apparent advantages in the running time and the makespans for large crowded configuration spaces. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Application.

关键词： Multipurpose robots

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Distributed Full Order Sliding Mode control for Finite-time Attitude Synchronization and Tracking of Spacecraft

Distributed Full Order Sliding Mode Control for Finite-time ...

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第37届中国控制会议

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Key Laboratory of Drive and Control of Servo Motion System Ministry of Industry and Information Technology School of Automation Huazhong University of Science and Technology

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues parameters are used for attitude representation.A two layer sliding mode surface with fast non-singular terminal sliding mode surface（FNTSMS） as the inner layer and terminal sliding mode surface（TSMS） as the outer layer is used to create a full order sliding mode *** proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader’s time varying ***-time stability of the closed loop system is guaranteed by Lyapunov-based stability *** results are presented to validate the performance of the proposed control strategy.

关键词： Attitude synchronization Attitude tracking Finite-time Full-order sliding mode（FOSM） Distributed control

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Path Planning system for Smart Cars Used in Education

Path Planning System for Smart Cars Used in Education

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Guangyu Xiong Lulu Niu Yanfu Tian Jiehan Zhou Babak Mohajeri Timo R. Nyberg Silk Road Business School Sanya University(USY) China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing The Cloud Computing Center Chinese Academy of Sciences Dongguan China School of Articial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Oulu Oulu Finland Aalto University Espoo Finland

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

In this paper, we developed a path planning system for smart cars for teaching electronic engineering or computer science, which consists of the interactive platform for smart cars development and path planning. Designed by Visual C++, the interactive platform can call Matlab engine, allows users to choose path optimization algorithms such as genetic or A-star(A*) algorithm for different tasks and control smart cars through serial ports. The simulation and practice demonstrate that our interactive platform can help learners to plan paths and control intelligent vehicles without specially designing a user interface.

关键词： Education Path planning Automobiles Task analysis Optimization Programming profession Matlab

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From AR to AI: Augmentation Technology for intelligent Surgery and Medical Treatments

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IFAC-PapersOnLine 2020年第5期53卷 792-796页

作者： Mei Zhang Zhicheng Zhang Xiao Wang Hui Yu Yifan Xia Kanran Tan Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China and also with the Qingdao Academy of Intelligent Industries Qingdao 266109 China The Department of the 7th Medical Center of PLA General Hospital Beijing 100700 China The Department of Computer Science Purdue University West Lafayette Indiana 47906 USA The School of Creative Technologies University of Portsmouth UK The Department of Computer Science Johns Hopkins University Baltimore Maryland USA

With the development of augmented reality (AR) technologies, more and more approaches are proposed for medical applications. With the help of AR technology, the doctor can highly improve the spatial perception and obtain more information beneath the displayed image. Generally, 3D reconstruction, registration, tracking and depth visualization are all important for an AR system, which directly determine the accuracy of the system. However, none of recent systems have achieved a perfect 3D vision for doctors. It is particularly challenging for the AR system to perform well for operation on highly deformable body tissues. Therefore, there is an urgent need to improve the 3D vision and intelligence of AR systems. In this paper, we provide a review of the recent development of augmentation technologies for surgery and medical treatment. And then, we introduce the parallel intelligence theory into AR systems, which can provide a feasible approach to enhance the efficiency.

关键词： Potential impact of automation open problems Augmented reality Medical treatment Parallel theory 3D technology

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Multi-delay network based IEEE 802.15.4 for low delay deterministic networked control systems 36

Multi-delay network based IEEE 802.15.4 for low delay determ...

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第36届中国控制会议

作者： Aopeng Song Yuanqing Xia Yufeng Zhan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

Wireless networked control systems have gained significant popularity due to commissioning and maintenance *** 802.15.4 standard is one of wireless communication protocol for low delay deterministic *** automation,not only needs low delay but also requires the network that should has the capacity of various delay *** this paper,we propose a scheme,satisfying the muli-delay network in the networked control *** are using TI SmartRF04 EB evaluation boards with CC2530 SoC and TIMAC software stack CC2530 boards,as well as dc servo motors for a speed tracking control problem.

关键词： wireless communication IEEE 802.15.4 control system multi-delay

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Backstepping sliding mode control for Mars Entry with finite time convergence 36

Backstepping sliding mode control for Mars Entry with finite...

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第36届中国控制会议

作者： Ganghui Shen Yuanqing Xia Dailiang Ma Jinhui Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781538629185

There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles,which inevitably degrades the performance of entry guidance *** paper presents a backstepping sliding mode controller for drag tracking in Mars entry guidance,which can guarantee the tracking error with finite-time ***,the drag can track the reference trajectory under the virtual control law by introducing a sliding manifold,and the extended state observer（ESO） is used to estimate and counteract the ***,the finite-time convergence of drag tracking error can be achieved under the proposed backstepping sliding mode guidance *** addition,the rigorous proof of tracking error convergence is ***,numerical simulation results are presented to demonstrate the effectiveness of the proposed guidance law.

关键词： Backstepping Sliding mode control Finite time Mars entry

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Fractional-Order Impedance control for a Wheel-Legged Robot 29

Fractional-Order Impedance Control for a Wheel-Legged Robot

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第29届中国控制与决策会议

作者： Yinghui Chen Jiangbo Zhao Junzheng Wang Duoyang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.

关键词： wheel-legged robot legged locomotion impedance control fractional-order

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Small-scale intersection scan model for UGV in urban environment

Small-scale intersection scan model for UGV in urban environ...

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2017 American control Conference, ACC 2017

作者： Yang, Yi Hao, Li Zhu, Hao Ningyi, Lyu Wenjie, Song School of Automation State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781509059928

Intersection detection is a critical capacity for an Unmanned Ground Vehicle (UGV) to drive safely in structured urban environment. Large-scale intersections stamped on maps have plenty of features for detection while some unmapped small-scale urban intersections are hard to be identified. In this paper, we propose a novel intersection detection method conducted on the basis of Hidden Markov Model (HMM). This method is based on the intersection scan model to obtain the traversable directions to classify the intersection. The scan model is effective in dealing with both LIDAR and visual data. Combination of the scan model and the HMM can accurately estimate the traversable directions in consideration of both real-time and historic data. Results from simulations and real-world experiments have shown the functionality of the presented approach. © 2017 American Automatic control Council (AACC).

关键词： Hidden Markov models

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UAV-aided Large-scale Map Building and Road Extraction for UGV 7

UAV-aided Large-scale Map Building and Road Extraction for U...

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7th IEEE Annual International Conference on CYBER Technology in automation, control, and intelligent systems, CYBER 2017

作者： Meiling, Wang Huachao, Yu Guoqiang, Feng Yi, Yang Yafeng, Li Tong, Liu School of Automation Beijing Institute of Technology State Key Laboratory of Complex System Intelligent Control and Decision Beijing100081 China

ISBN: (纸本)9781538604892

Due to the limited visual field of UGV, it is difficult to detect the accessible zone in a wide range of area in real time. This paper proposes a UAV-aided autonomous road network construction method where roads are previously unknown for UGV navigation. First, SIFT and RANSAC algorithms are applied to obtain the homography of UAV sequential images, through which these images are stitched to a large-scale map. Next, least square fitting algorithm and RDP algorithm are applied to extract initial road area and then obtain road network suitable for UGV navigation by topological processing and skeleton extraction. The experiments show that this UAV-aided method is effective in generating a large-scale road network map for UGV driving through unknown environment without human intervention. © 2017 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Trajectory Tracking based on Time-Varying Sliding Mode controller for Hypersonic Vehicle with Aileron Stuck 36

Trajectory Tracking based on Time-Varying Sliding Mode Contr...

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第36届中国控制会议

作者： Haibo Ji Lei Wang Zhuoyue Song Xiangdong Liu Zhirong Lei State Key Laboratory of Intelligent Control and Decision of Complex Systems and School of Automation Beijing Institute of Technology School of Automation Northwestern Polytechnical University

ISBN: (纸本)9781538629185

This paper presents nonlinear robust trajectory tracking strategies for the hypersonic vehicle whose ailerons are stuck at an unknown angular position. Firstly, a time-varying sliding mode control strategy for general second-order systems is introduced, and the chattering of sliding mode controller is alleviated. Secondly, the dynamics of hypersonic vehicle are transformed into two second-order systems. Then, the corresponding guidance law and attitude controller are designed using time-varying sliding mode controller. By the proposed strategies, the hypersonic vehicle can fly along the reference ***, the proposed strategies are applied to a hypersonic platform to verify its validity.

关键词： Trajectory Tracking Stuck Aileron Time-Varying Sliding Mode

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