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2013 IEEE International Conference on Information and automation, ICIA 2013

作者： Long, Zhili Fang, Jiwen Zhao, Jiping Chao, Zhu Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China Shenzhen Key Lab for Advanced Motion Control Technology and Modern Automation Equipment Shenzhen 518055 China State Key Lab for Manufacturing Systems Engineering Xi'An Jiaotong University Shenzhen 710049 China Dongguan Huazhong University of Science Technology Manufacturing Engineering Institute Dongguan 523808 China

ISBN: (纸本)9781479913343

Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity damping, is proposed for motion switching of automated equipment. At first, the control models were established by analyzing displacement control and pressure control. To solve the shortage of direct switching between displacement and pressure, switching control based on the velocity damping is presented. The effectiveness of this method is verified by using piezoelectric sensor in experiment. Compared to direct switching control, the proposed switching control becomes more accurate and faster. The measurement data shows that the maximal impact force of control system is 0.4N and the amplitude of forces of fluctuations are within the range of ±0.03N. © 2013 IEEE.

关键词： control systems

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The inversion control of nonlinear differential-algebraic-equation subsystems: Extended Interactor algorithm

The inversion control of nonlinear differential-algebraic-eq...

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Chinese control Conference (CCC)

作者： Qiang Zang Kaifeng Zhang Xianzhong Dai Ying Zhou Tao Li School of Information and Control Engineering Nanjing University of Information Science & Technology 210044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China College of Automation Nanjing University of Posts and Telecommunications 210003 China

For a class of nonlinear differential-algebraic equations subsystems, whose index is one and interconnection is local measurable, the inversion control problem is studied by extending Interactor algorithm of nonlinear ordinary differential equations systems. Compared with existing results, the proposed method in this paper bears better realization because of no complex matrix transformation being needed. Firstly, the definition of right inverse systems is presented. Secondly, an extended Interactor algorithm is proposed to judge whether the controlled systems are invertable. Once the controlled systems are invertable, a physical realizable right inverse system is constructed, with which the controlled systems are made linearization and decoupled so that linear control methods can be applied. Finally, an excitation controller is designed for one synchronous generator of multi-machine power systems based on the proposed method in this paper. The simulation results illustrate the validity of the proposed control method in this paper.

关键词： Electronic mail Educational institutions Differential equations Algorithm design and analysis Power systems control engineering

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Human-like Manipulation Planning for Articulated Manipulator

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Journal of Bionic engineering 2012年第4期9卷 434-445页

作者： Yahui Gan Xianzhong Dai School of Automation Southeast UniversityNanjing 210096P.R.China Key Lab of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096P.R.China

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like ma- nipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a con- strained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment （RULA） in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom （DOF） planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

关键词： manipulation planning human likeness rapid upper limb assessment applied ergonomics task compatibilitymeasurement velocity transmission ratio

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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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Target Tracking of Robotic Fish Based on Embedded Vision and CPG Model

Target Tracking of Robotic Fish Based on Embedded Vision and...

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IEEE International Conference on Information and automation

作者： Feihu Sun Junzhi Yu De Xu Ming Wang The State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Information and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

ISBN: (纸本)9781479913329

There has been greatly increased interest in using embedded vision for aquatic environments. This paper presents a robust target tracking method for a free-swimming biomimetic robotic fish by means of embedded vision and central pattern generator (CPG)-based motion control. Specifically, an algorithm called automatic continuous adaptive mean shift (Auto-CAMSHIFT) is firstly proposed to obtain the position and size of the interested target. Then a fuzzy logic controller is developed to generate the control input closely related to the desired target. A CPG controller that is robust against small and unexpected disturbance, at the same time, is employed to produce coordinated signals for multiple moving joints of the robotic fish. Finally, aquatic testing results verify the effectiveness of the proposed methods and show a satisfactory performance.

关键词： Embedded vision Central Pattern Generator (CPG) fuzzy logic control robotic fish

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ICP matching algorithm-based localization of indoor mobile robots

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 262-266页

作者： Gu, Wenhua Zhou, Bo Dai, Xianzhong Key Laboratory of Measurement and Control of Complex System Engineering of Ministry of Education School of Automation Southeast University Nanjing 210096 China

The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.

关键词： Mobile robots

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Energy efficient target tracking algorithm using cooperative sensors

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Journal of systems engineering and Electronics 2012年第5期23卷 640-648页

作者： Chun Zhang Shumin Fei School of Automation Southeast UniversityNanjing 210096P.R.China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096P.R.China

Target tracking is one of the applications of wireless sensor networks（WSNs）.It is assumed that each sensor has a limited range for detecting the presence of the object,and the network is sufficiently dense so that the sensors can cover the area of *** to the limited battery resources of sensors,there is a tradeoff between the energy consumption and tracking *** solve this problem,this paper proposes an energy efficient tracking *** on the cooperation of dispatchers,sensors in the area are scheduled to switch their working mode to track the *** energy consumed in active mode is higher than that in monitoring or sleeping mode,for each sampling interval,a minimum set of sensors is woken up based on the select ***,other sensors keep in sleeping *** analysis and simulation results show that the proposed algorithm provides a better performance than other existing approaches.

关键词： target tracking wireless sensor network energy consumption tracking accuracy

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Position/force switching control based on velocity damping

Position/force switching control based on velocity damping

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International Conference on Information and automation (ICIA)

作者： Zhili Long Jiwen Fang Jiping Zhao Zhu Chao Shenzhen Key Lab for Advanced Motion Control Technology & Modern Automation Equipment Shenzhen State Key Lab for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an Shenzhen Graduate School Harbin Institute of Technology Shenzhen Shenzhen Graduate School Harbin Institute of Technology 518055 China

ISBN: (纸本)9781479913329

关键词： Switches Damping Force Welding Pressure control Process control

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Remote control of smart sprinkler system based on CAN-BUS

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.1期44卷 292-296页

作者： Zhang, Shuzhe Ye, Hua Mao, Jianliang Shi, Yiwen School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Southeast University Nanjing 210096 China School of Marketing and Logistics Management Nanjing University of Finance and Economics Nanjing 210046 China

Till now, most lawn is still irrigated manually or timely. That means lack of proper irrigation strategy and information management ability. However, irrational irrigation method will not only lead to unhealthy growth of lawn, but also waste of water. A new idea for lawn intelligent remote irrigation was put forward. The smart sprinkler strategy was created by researching the characters of lawn, such as water demand, heat resistance and diseases law. And the embeded control system can apply the strategy to irrigate intelligently. Tying the urban lawn features, the system was designed to be driven by solar, which makes it an energy self-sufficiency system. What's more, the sprinkler system gains the CAN bus-based network management function, which simplify the user's contol and management. Finally, the experimental results show that the system has the advantages of good effect, low cost, high reliability, easy maintenance, etc. And it will meet the demand of energy saving and environmental protection.

关键词： Remote control

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Research on anti-interference measures for the control system of flow calibration facility

Research on anti-interference measures for the control syste...

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2012 International Conference on Advances in Mechanics engineering, ICAME 2012

作者： Yanchao, Han Lijun, Sun Yanxing, Wei Shengjie, Li Haishan, Niu Tianjin Key Lab of Process Parameters Measurement Control School of Electrical Engineering and Automation Tianjin University China

ISBN: (纸本)9783037855287

Eliminating or reducing the influence of electromagnetic interference to control system is the key problem to improve the performance of flow calibration facility. In the paper, the sources, the action principles and the propagation paths of electromagnetic interference were analyzed. Anti-interference measures to control system of flow calibration facility were investigated based on the New 2# water flow calibration facility at Tianjin University Flow lab. © (2012) Trans Tech Publications, Switzerland.

关键词： control systems

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