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International Conference on Information and automation (ICIA)

作者： Gangfeng Liu Zenghui Xie Ge Li Changle Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509041039

In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation error, two kinds of control strategies including integral impedance controller (IIC) and distributed impedance controller (DIC) are proposed, and a co-simulation of the control strategies using the MATLAB and ADAMS software are carried out to seek out the advantages and disadvantages of these strategies. The conclusions are drawn that the DIC is superior to the IIC, which lay the theoretical foundation for the subsequent docking experiments.

关键词： Force Impedance Damping Torque MATLAB Kinematics Couplings

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Coupling thermodynamics modeling and analysis of a free piston linear generator range-extender for HEVs

Coupling thermodynamics modeling and analysis of a free pist...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Peng Sun Chi Zhang Lianlian Mao Dequan Zeng Fei Zhao Jinhua Chen Ningbo Institute of Materials Technology& Engineering Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology China School of Mechatronic Engineering and Automation Shanghai University China

This paper proposes a concept of free piston linear generator (FPLG) range-extender for the application of hybrid electric vehicles (HEVs). The coupling thermodynamics model of the FPLG range-extender is developed mathematically. Its stable operation characteristics are analyzed accordingly. In addition, the effects of the variations of the key operational parameters on the effective output power and overall efficiency are investigated. The simulation results verify that the designed FPLG range-extender can provide 15kW effective charging power with the overall efficiency of 38.2%, and the peak power can even reach as high as 47.5kW. It is a promising alternative range-extender of the HEVs that can dramatically enhance the battery life.

关键词： Pistons Batteries Springs Ice Force Mathematical model Combustion

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A real-time supervised learning approach for sky segmentation onboard unmanned aerial vehicles

A real-time supervised learning approach for sky segmentatio...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Adrian Carrio Carlos Sampedro Changhong Fu Jean-François Collumeau Pascual Campoy Computer Vision Group Center for Automation and Robotics (UPM-CSIC) Madrid Spain School of Mechanical and Aerospace Engineering and ST Engineering-NTU Corp Laboratory Nanyang Technological University Singapore

Vision-based sky segmentation and horizon line detection can be extremely useful to perform important tasks onboard Unmanned Aerial Vehicles (UAVs), such as pose estimation and collision avoidance. Most of the existing vision-based solutions use traditional image processing methods to identify the horizon line. This results in good overall accuracy and fast computation times. However, difficult environmental conditions such as a foggy or cloudy skies hinder correct sky segmentation. This paper proposes a solution for sky segmentation in RGB images using a supervised Machine Learning approach by first splitting the image into fixed-size patches, extracting and classifying color descriptors for each patch and performing a final post-processing stage to improve segmentation quality. A method for automatic horizon line detection is also proposed. The performance of our approach was evaluated on flight images captured onboard UAVs, achieving performance accuracies above 93% at real-time frame rates.

关键词： Image color analysis Image segmentation Aircraft Image edge detection Histograms Real-time systems Unmanned aerial vehicles

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Acceleration sensor-based first resonance vibration suppression of a double-clamped piezoelectric beam

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International Journal of Acoustics and Vibrations 2016年第1期21卷 11-23页

作者： Qiu, Zhi-Cheng Meng, Fan-Kong Han, Jian-Da Liu, Jin-Guo School of Mechanical and Automotive Engineering South China University of Technology Guangzhou510641 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

This paper investigates resonance vibration suppression under persistent excitation near the first structural resonant frequency of a clamped-clamped (doubly-clamped) piezoelectric flexible beam. In this study, an acceleration sensor is used to measure the resonant vibration. Firstly, the finite element method (FEM) is utilized to derive the dynamics model of the system, and modal analysis is carried out. Secondly, an acceleration feedback-based proportional-integral control algorithm and variable structure control algorithms are designed, and a numerical simulation is performed. Finally, a doubly-clamped piezoelectric flexible beam experimental setup is constructed. Experiments are conducted on resonant vibration suppression using the designed control algorithms. The numerical simulation and experimental results demonstrate that the resonant vibration can be suppressed by using the designed control methods, and the improved variable structure control method shows better control performance in suppressing the resonant vibration.

关键词： Natural frequencies

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DC bus voltage control of a Free-Piston Linear Generator

DC bus voltage control of a Free-Piston Linear Generator

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International Conference on Ecological Vehicles and Renewable Energies (EVER)

作者： Lianlian Mao Chi Zhang Yanxia Gao Peng Sun Jinhua Chen Fei Zhao School of Mechatronic Engineering and Automation Shanghai University Shanghai China Ningbo Institute of Materials Technology & Engineering Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China

This paper presents a DC-bus voltage regulation strategy to rectify the fluctuated AC voltage into stable DC-bus voltage for the Free-Piston Linear Generator (FPLG) in stable operation state. Considering that the frequency and amplitude of the AC voltage change rapidly with the nonsinusoidal piston velocity, a three-phase PWM rectifier topology together with its controller are presented to stabilize the DC-bus voltage. The simulation is conducted with the overall coupled dynamic system in which the models of the internal combustion engine thermodynamics, linear electric machine and mechanical spring are all included. The simulation results show that the proposed method can stabilize the dc bus voltage around 400V and ensure stable operation of the FPLG.

关键词： Mathematical model Vehicles Voltage control MATLAB Springs Integrated circuit modeling

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Learning Cooperative Primitives with physical Human-Robot Interaction for a HUman-powered Lower EXoskeleton

Learning Cooperative Primitives with physical Human-Robot In...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rui Huang Hong Cheng Hongliang Guo Xichuan Lin Qiming Chen Fuchun Sun School of Automation Center for Robotics University of Electronic Science and Technology of China Chengdu China School of Computer Engineering Nanyang Technological University Singapore School of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509037636

Human-powered lower exoskeletons have gained considerable interests from both academia and industry over the past few decades, and thus have seen increasing applications in areas of human locomotion assistance and strength augmentation. One of the most important aspects in those applications is to achieve robust control of lower exoskeletons, which, in the first place, requires the proactive modeling of human movement trajectories through physical Human-Robot Interaction (pHRI). As a powerful representation tool for motion trajectories, Dynamic Movement Primitive (DMP) has been used extensively to model human movement trajectories. However, canonical DMPs only offers a general offline representation of human movement trajectory and neglects the real-time interaction term, therefore it cannot be directly applied to lower exoskeletons which need to model human motion trajectories online since different pilots have different trajectories and even one pilot might change his/her intended trajectory during walking. This paper presents a novel Coupled Cooperative Primitives (CCPs) scheme, which models the motion trajectories online. Besides maintaining canonical motion primitives, we also model the interaction term between the pilot and exoskeletons through impedance models and apply a reinforcement learning method based on Policy Improvement and Path Integrals (PI~2) to learn the parameters online. Experimental results on both a single Degree-Of-Freedom (DOF) platform and a HUman-powered Augmentation Lower EXoskeleton (HUALEX) system demonstrate the advantages of our proposed CCP scheme.

关键词： HUman-powered Augmentation Lower EXoskeleton (HUALEX) Coupled Cooperative Primitive (CCP) Dynamic Movement Primitive (DMP) Reinforcement Learning Physical Human-Robot Interaction

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Effects of initial temperature on the performances of free piston linear generator

Effects of initial temperature on the performances of free p...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Dequan Zeng Chi Zhang Shuai Guo Fei Zhao Jinhua Chen Peng Sun Lianlian Mao Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology CO China School of Mechatronic Engineering and Automation Shanghai University CO China

ISBN: (纸本)9781467386456

This paper investigates the influences of the initial temperature on the performance of free piston linear generator (FPLG). Based on multi-dimensional combustion model, the effects of initial temperature on in-cylinder pressure, in-cylinder temperature and NO x emissions are studied. The cause of NO x in internal combustion engine is introduced and the NO x formation mechanism of gasoline FPLG is explored. It is found that reducing initial temperature can rapidly increase in-cylinder pressure, including transient pressure, peak pressure and the maximum pressure rising rate. However, the in-cylinder temperature linearly rises up with the increasing initial temperature. And the NO x emissions increases accordingly. In order to improve output power and reduce emissions, it is feasible to decrease initial temperature properly.

关键词： Pistons Combustion Engines Temperature sensors Generators Transient analysis Petroleum

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A replica consistency detection method for text images based on multi-feature assessment

A replica consistency detection method for text images based...

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IEEE Instrumentation and Measurement Technology Conference

作者： Qianli Zhong Jiasheng Hao Lu Yang Yuanzhe Yao School of Automation Engineering Center for Robotics University of Electronic and Science Technology of China (UESTC) Chengdu Sichuan PR CHINA School of Information and Software Engineering University of electronic and Science Technology of China (UESTC) Chengdu Sichuan PR CHINA

ISBN: (纸本)9781467392211

The replica consistency detection of text images is of great significance in office automation. For example, it can be applied to detect the consistency of the printed documents of commercial contracts and the original electronic documents. In this paper, we propose a method for replica consistency detection of text images based on multi-feature assessment. Firstly, we make a photocopy of the printed document, then apply our method to detect the consistency between the photocopied text images and the original text images. Rather than recognizing each character, we only focus on the measurements of the likeness of these two text images, and no OCR techniques are required. The experiment results indicate that the method has high accuracy. Although the Chinese characters are the main research objects, the experiment results show that the method also can be used for detecting the consistency of Latin letters and Arabic numerals.

关键词： Decision support systems Office automation

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A Novel Extended Potential Field Controller for Use on Aerial Robots

A Novel Extended Potential Field Controller for Use on Aeria...

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IEEE International Conference on automation Science and engineering

作者： Alexander C. Woods Hung M. La Quang P. Ha Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada Reno 89557 USA School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024100

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

关键词： Drones Navigation Robot sensing systems Target tracking Stability analysis

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An H∞ performance allocation approach to distributed output regulation of linear heterogeneous multi-agent systems

An H∞ performance allocation approach to distributed output...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Xianwei Li Chai Soh Yeng Lihua Xie Frank. L. Lewis School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore SG Automation and Robotics Research Institute The University of Texas at Arlington Fort Worth TX USA

This paper is concerned with cooperative output regulation of heterogeneous multi-agent systems. Agents are allowed to be heterogeneous general linear time-invariant systems and the communication graph is not restricted to the acyclic type. New distributed state-feedback controllers with extra scalar parameters are constructed. A global sufficient solvability condition is first derived and simplified stability conditions for closed-loop poles in a specified region are then obtained in terms of an H ∞ -type performance of local sub-systems coupled through a matrix associated with the graph. Linear matrix inequality conditions are further presented for allocating the H ∞ -type performance levels and designing controllers for each sub-system. A numerical example is presented for illustrating the advantages of the proposed design method. Both continuous- and discrete-time multi-agent systems are investigated in a unified framework.

关键词： Multi-agent systems Stability criteria Resource management automation Robot kinematics Electronic mail

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