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International Conference on Display Technology, ICDT 2018

作者： Pei, Renjing Ma, Kui Wang, Feiyue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781510867659

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye’s visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer’s demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance. © 2018 SID.

关键词： Three dimensional displays

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Valve Stiction Compensation Based on Equivalent-Input-Disturbance Approach 29

Valve Stiction Compensation Based on Equivalent-Input-Distur...

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第29届中国控制与决策会议

作者： Qi Lei Xi Lei Min Wu School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781509046584

The presence of stiction in a control valve causes loop oscillation,and limits the control loop *** address this problem,the paper proposes a method based on equivalent-input-disturbance（EID） to control valve *** this method,a classic two-parameter stiction model is ***,an EID estimator is utilized to estimate the effects of valve stiction in control *** the controller is designed in the spirit of repetitive *** simulation control results are compared with the traditional *** results demonstrate that the proposed EID method can effectively improve the control performance of valve stiction and eliminate the stiction-induced oscillations.

关键词： Valve Stiction EID Repetitive control Compensation

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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Decoupling control for Parallel Robot Based on Equivalent-Input-Disturbance Approach 29

Decoupling Control for Parallel Robot Based on Equivalent-In...

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第29届中国控制与决策会议

作者： Pingping Lin Jinhua She Min Wu Qianqiu Li School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781509046584

This paper discusses the problem of posture control for a parallel *** parallel robot features multiple variables and large *** control accuracy is strongly affected by the parameters which are coupled with each other,and by exogenous disturbances.A decoupling control strategy is presented based on the equivalent-inputdisturbance(EID) approach to improve control ***,decoupling control is used to eliminate the main coupling effect between multiple ***,the EID method is used to further improve decoupling effect and suppress the external *** results show that the control strategy is effective for the decoupling control of parallel robot.

关键词： Parallel Robot Decoupling control Equivalent Input Disturbance(EID) PID

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Fault Detection of a 6-DOF Hydraulic Platform Based on Equivalent-Input-Disturbance Approach 29

Fault Detection of a 6-DOF Hydraulic Platform Based on Equiv...

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第29届中国控制与决策会议

作者： Qianqiu Li Jinhua She Min Wu Pingping Lin School of Information Science and Engineering Central South University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

ISBN: (纸本)9781509046584

This paper presents a method of fault detection for a 6-degree-of-freedom hydraulic platform based on the equivalent-input-disturbance(EID) ***,a model of the platform is derived based on the Lagrange ***,the types of actuator faults are ***,an optimal feedback controller is designed and the EID approach is incorporated to detect and suppress actuator *** results demonstrate the effectiveness of the method.

关键词： Equivalent input disturbance 6 degrees of freedom Fault detection Optimal feedback controller

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Semi-Global Stabilization via Homogeneous Output Feedback for a Class of Nonlinear Time-Delay systems

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Journal of systems Science & complexity 2016年第6期29卷 1538-1552页

作者： WANG Pan CHAI Lin FEI Shumin Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University

The semi-global stabilization problem for a class of nonlinear systems with state time-delay is addressed in this paper. By using Lyapunov-Krasovskii functional method and homogeneous dom- ination approach, a homogeneous observer and an output feedback controller with a scaling gain are designed. Then the sealing gain is adjusted such that the closed-loop system is semi-global asymptoti- cally stable. A numerical example is presented to illustrate the effectiveness of the obtained results in this paper.

关键词： Homogeneous domination approach Lyapunov-Krasovskii functional nonlinear time-delay systems output feedback semi-global.

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Nonlinear robust control design for SSSC to improve damping oscillations and transient stability of power system 36

Nonlinear robust control design for SSSC to improve damping ...

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第36届中国控制会议

作者： Bangjun Lei Xiang Wu Shumin Fei Key Laboratory of power big data of Guizhou Province College of Electrical and Information EngineeringGuizhou Institute of Technology School of Mathematical Sciences Guizhou Normal University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSchool of AutomationSoutheast University

ISBN: (纸本)9781538629185

In this article, a nonlinear robust（NR） control is designed for static synchronous series compensator（SSSC） to improve transient stability and oscillation damping of power system. By taking the parameter deviations, external disturbances and unmodeled dynamics into account, the nonlinear dynamic model of SSSC can be changed into a Hamiltonian structure with the help of coordinate transformation. Based on the Hamiltonian structure of SSSC, a nonlinear robust control is designed for SSSC. Numerical simulation results on the two-area four-machine power system demonstrate the robustness and effectiveness of the proposed nonlinear robust control in comparison with the direct feedback linearization（FL） control. The study results show that the nonlinear robust control has better performance than the FL control.

关键词： SSSC nonlinear robust control Hamiltonian function method oscillations damping transient stability

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UKF based Fault Detection and State Estimation for Nonlinear systems with Correlated Noise 36

UKF based Fault Detection and State Estimation for Nonlinear...

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第36届中国控制会议

作者： Hongxue Chen Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao Guangzheng Hu Huifang Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

State estimation and fault diagnosis are essential topics for dynamic *** Kalman fllter（UKF） has been widely applied in nonlinear *** classical UKF algorithm is built on the premise that process noise and measurement noise is *** practical problems,this assumption is not always *** addition,due to the limitation of communication and sensor fault,etc.,data missing or unreliable measurements will happen ***,it is very important to study the state estimation of nonlinear systems with unreliable measurements and correlated *** this paper,an UKF based state estimation algorithm with unreliable observations under correlated noise is presented.A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： fault detection state estimation correlated noise nonlinear system

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A Dual-Mode Real-Time Lip-Sync System for a Bionic Dinosaur Robot

A Dual-Mode Real-Time Lip-Sync System for a Bionic Dinosaur ...

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Chinese automation Congress (CAC)

作者： Shuaizheng Yan Jiasheng Hao Zhengxing Wu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation University of Chinese Academy of Sciences Beijing China School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

This paper provides a dual-mode real-time lip-sync system for a bionic dinosaur robot. Different from traditional mono-modality control systems, our system is constructed with different controllers and classifiers in both time domain and frequency domain. Specially, a classifier in time domain is designed to extract the sound features including pitch and intensity. Meanwhile, a nonlinear mapping relationship between time-domain feature parameters and mouth open angles is particularly designed. In time domain, an efficient algorithm consisting of original and modified short-term average amplitude difference function (AMDF) is applied for frequency measurement. With the goal of predicting the curve of mouth open, we train the audio data of dinosaurs to get a frequency classifier by Support Vector Machine with racial basis function (RBF-SVM), which has a relatively high accuracy. Finally, extensive experiments validate the effectiveness of this proposed system on a real bionic dinosaur robot.

关键词： Dinosaurs Robots Mouth Time-domain analysis Face Frequency-domain analysis Feature extraction

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Design of Modular Humanoid Rehabilitation Robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.

关键词： Rehabilitation Robot Humanoid robot Modularity Singularity Geometric Representation

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