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Three-dimensional modeling of simulation scene in campus navigation system

Journal of Chemical and Pharmaceutical Research 2013年第12期5卷 103-107页

作者： Qin, Lijuan Li, Ying Yao, Chen School of Information Science and Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China

Virtual reality technology has many applications in the field of digital city, virtual assembly and virtual building. Campus navigation system is one issue of virtual reality technology. Virtual campus navigation system could play an important role in decision-making, predicting the future of the whole campus development plan and school management. Campus navigation system is the basis of digital campus and platform. Three-dimensional models in scene affect the sense of immersion for campus navigation system. This paper discusses the modeling technology of simulation scene in campus navigation system, which includes data preparation and layered structure determination and so on. At last, we give the scene model roaming in Lynx environment.

关键词： Navigation systems

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Reduced-order observer design for one-sided lipschitz nonlinear systems with unknown inputs

Reduced-order observer design for one-sided lipschitz nonlin...

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Chinese Control Conference (CCC)

作者： Wei Zhang Jian Li Housheng Su Fanglai Zhu Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai P. R. China School of Automation Huazhong University of Science and Technology Wuhan P. R. China College of Electronics and Information Engineering Tongji University Shanghai P. R. China

This paper considers the reduced-order observer design problem for one-sided Lipschitz nonlinear systems with unknown inputs. The systems under consideration are a larger class of nonlinear systems than the well-studied Lipschitz systems and have inherent advantages with respect to conservativeness. For such systems, we propose a reduced-order unknown input observer (UIO) by using the linear matrix inequality (LMI) technique. Sufficient conditions that guarantee the existence of the reduced-order UIO are established and transformed into the format of LMIs via using the matrix generalized inverse technique. Simulation results are finally given to illustrate the effectiveness of the proposed design.

关键词： Observers Nonlinear systems Educational institutions Linear systems Trajectory Linear matrix inequalities Servers

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Traffic sign recognition technology based on BOW model

Journal of Software

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Journal of Software 2013年第10期8卷 2652-2659页

作者： Gao, Hongwei Liu, Zhe Jiang, Yueqiu Li, Bin School of Information Science and Engineering Shenyang Ligong University Shenyang 110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

According to several key technologies in automatic identification technology of traffic signs, this paper makes a detailed study. First of all, from traffic signs segmentation algorithm, a segmentation algorithm based on iterative segmentation and maximum variance between clusters of traffic signs is studied. Secondly, with feature extraction of traffic signs based on SIFT studied, the codebook is generated by these feature clustering and images are described by histograms using Bag of Words (BOW) model. Finally, multi-class classifier based on SVM is designed to classify traffic signs. The experimental results demonstrate the effectiveness and practicality of the BOW model classification algorithm based on the traffic sign images collected in the natural environment. © 2013 ACADEMY PUBLISHER.

关键词： Image segmentation

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Trajectory tracking control of Quadrotor Aerial Vehicle

Trajectory tracking control of Quadrotor Aerial Vehicle

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Tran, Trong-Toan Han, Thanh-Trung Ge, Shuzhi Sam Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute University of Electronic Science and Technology of China Chengdu 611731 China

ISBN: (纸本)9783902823458

We address the trajectory tracking control problem of a Quadrotor Aerial Vehicle (QAV) in the presence of the input constraints. To this purpose we propose a passivity-based control strategy to separate the handling constraints. Then, a nonlinear control law is designed by suitably combining the nested saturation technique, barrier Lyapunov function and passivitybased control. In the results, the designed controller ensures that the tracking error converges to the origin, the constraints are satisfied and the QAV will not overturn. Simulation results are provided to illustrate the effectiveness of our proposed approach. Copyright © 2013 IFAC.

关键词： Lyapunov functions

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Design of control system of gemstone processing machine based on CAN-bus

Design of control system of gemstone processing machine base...

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2013 International Conference on Mechatronic Systems and Materials Application, ICMSMA 2013

作者： Li, Da Zhai Jiang, Zhe Yang, Chun Wei Robotics Institute School of Mechanical Engineering and Automation BeiHang University No. 37 Xueyuan Road Haidian District Beijing City China

ISBN: (纸本)9783037858158

Aimed at protecting synthetic gemstone processing workers from silicosis that caused by continuously working along machines, a remote-control machine based on CAN-bus is designed. This paper focuses on introducing the hardware and software of its control system. ARM processor STM32F103VET6 with Cortex-M3 core is selected as the MCU, and with the application of motor driver, touch screen and special software, the system can implement auto-operation and manual-operation flexibly. Test data indicates that the control system is stable, easy to operate and suitable to be promoted in factory. © (2013) Trans Tech Publications, Switzerland.

关键词： Touch screens

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Virtual stretched string: An optimal path planning technique over polygonal obstacles 13

Virtual stretched string: An optimal path planning technique...

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1st International Conference on Advances in robotics, AIR 2013

作者： Sengupta, Agniva Ray, Ranjit Shome, S.N. School of Mechatronics CSIR-Central Mechanical Engineering Research Institute Durgapur India Robotics and Automation Group CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (纸本)9781450323475

This paper describes an algorithm for path planning among polygonal obstacles that is safe and optimal in the 2D plane. The algorithm is a computational geometry based path planner but unlike existing path planners, the proposed approach works by simulating the physical property of an inextensible, frictionless string. The string has been modeled with certain constraints which lead to the determination of the shortest safe path between origin and goal points. This paper deals with the details of the proposed mechanism. The proposed technique has been successfully simulated and tested with suitable experiments. © 2013 ACM.

关键词： Graph theory

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Adaptive control of unmanned surface vessels matching an optimized reference model

Adaptive control of unmanned surface vessels matching an opt...

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IEEE International Conference on robotics and Biomimetics

作者： Chenguang Yang Rongxin Cui Zhijun Li Sanjay Sharma Xingang Zhao Center for Robotics and Neural Systems Plymouth University Ply-mouth UK The MOE Key Lab of Autonomous System and Network Control South China University of Technology Guangzhou China School of Marine Science and Technology Northwestern Polytechnical University Xi'an China School of Marine Science and Engineering University of Plymouth Plymouth UK Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781479973989

In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

关键词： Tracking Acceleration Trajectory Adaptation models Performance analysis Mathematical model Dynamics

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Single-robot odor source localization in a ventilated indoor environment using simulated annealing algorithm

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Jiqiren/Robot 2013年第3期35卷 283-291页

作者： Wang, Yang Meng, Qinghao Li, Teng Zeng, Ming Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

Aiming at the odor source localization in a ventilated indoor environment, a simulated annealing based odor source localization algorithm for a single robot is proposed. Dominated by the flow field, the plume released from an odor source in the room is meandering and intermittent. Moreover, the local concentration maxima may appear in the eddy areas. In this paper, the odor source localization is regarded as a dynamic function optimization problem. The simulated annealing strategy is used to obtain the optimal solution of the concentration distribution function, namely the location of the odor source. The algorithm doesn't need the wind information, so the influence of the flow-field fluctuation is reduced. The relationship between odor concentration and odor-source distance is also studied, and an objective function for simulated annealing that is approximately linear with the odor source distance is presented. The experiments in an actual ventilated indoor environment show that the robot using the proposed method can trace the dynamic odor plume and eventually declare the odor source in an 8 m×6 m region, and the average localization time is about 10 min. In the search process, the robot is able to jump out of the local maxima effectively.

关键词： Flow fields

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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Learning control for a robotic manipulator with input saturation

Learning control for a robotic manipulator with input satura...

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： He, Wei Xiao, Shengtao Yu, Sijia Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783902823458

In this paper, adaptive neural-network control is designed for an n-DOF robotic manipulator system. In the tracking control design, both uncertainties and input saturation are considered. Stability of the closed-loop system is analyzed via the Lyapunov's direct method. The uncertain system is approximated by the radial basis function neural-networks (RBFNN) and the input saturation is solved by adding an auxiliary signal. Simulation studies are conducted to examine the effectiveness of the proposed model-based and RBFNN control. Copyright © 2013 IFAC.

关键词： Radial basis function networks

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