检索结果-内蒙古大学图书馆

Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

Journal of Beijing Institute of technology 2013年第4期22卷 497-503页

作者：王立鹏王军政赵江波吴江丰 Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

关键词： line element adaptively segment linear variable differential transformer （LVDT） non-linear compensation correction

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Distributed stereoscopic rotating formation control of networks of second-order agents

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Journal of systems Engineering and Electronics 2013年第3期24卷 480-487页

作者： Li Song Qinghe Wu Di Yu Yinqiu Wang Key Laboratory of Complex System Intelligent Control and Decision(Ministry of Education) School of AutomationBeijing Institute of Technology School of Automation Beijing Institute of Technology

Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.

关键词： multi-agent system collective motion stereoscopic rotating formation control.

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An improved RSSI localisation algorithm in coal tunnel based on beacon nodes

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International Journal of Wireless and Mobile Computing 2014年第3期7卷 270-274页

作者： Qiao, Gang-Zhu Qi, Jin-Song Hu, Chun-Fu Zeng, Jian-Chao Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Taiyuan Shanxi 030024 China CNGC North Automatic Control Technology Institute Taiyuan Shanxi 030006 China

Since the coal mine tunnels are always very long and narrow, multipath effects of radio signal in tunnels are produced and low positioning accuracy of Received Signal Strength Indicator (RSSI) location algorithm is achieved. According to the research on the special environment of coal mine and combining the arrangement of beacon nodes in mine tunnels, an improved RSSI localisation algorithm based on beacon nodes is proposed in this paper. The method of beacon nodes' ID number, coordinate information and hop counts broadcasting to network in DV-HOP was introduced in this algorithm, to exclude the effects of disturbed RSSI values on personnel location. And the hop counts and coordinate information were used to correct location error. As a result, the noise immunity and location accuracy of RSSI were improved. The simulation shows that the effect of proposed method is more precise than RSSI under the same environment and can meet the requirements of underground person position. Copyright © 2014 Inderscience Enterprises Ltd.

关键词： Coal mines

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Unsupervised robust recursive least-squares algorithm for impulsive noise filtering

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science China(Information sciences) 2013年第4期56卷 203-212页

作者： CHEN Jie MA Tao CHEN WenJie PENG ZhiHong School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision(Beijing Institute of Technology) Ministry of Education

A robust recursive least-squares(RLS) adaptive filter against impulsive noise is proposed for the situation of an unknown desired *** minimizing a saturable nonlinear constrained unsupervised cost function instead of the conventional least-squares function,a possible impulse-corrupted signal is prevented from entering the filter’s weight updating ***,a multi-step adaptive filter is devised to reconstruct the observed "impulse-free" noisy sequence,and whenever impulsive noise is detected,the impulse contaminated samples are replaced by predictive *** on simulation and experimental results,the proposed unsupervised robust recursive least-square adaptive filter performs as well as conventional RLS filters in "impulse-free" circumstances,and is effective in restricting large disturbances such as impulsive noise when the RLS and the more recent unsupervised adaptive filter fails.

关键词： unsupervised adaptive filtering impulsive noise suppression recursive least-squares algorithm

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Chlor-alkali industry production scheduling algorithm research based on adaptive weight PSO

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Journal of Chemical and Pharmaceutical Research 2014年第5期6卷 34-41页

作者： Gao, Shuzhi Luan, Liangliang Gao, Xianwen Research Office of Intelligent Control and Optimization of Complex Industrial Shenyang University of Chemical Technology Shenyang China School of Information Science and Engineering Northeastern University Shenyang China

First of all, in view of the process industry production scheduling system, the mathematical model of the process industry production scheduling was established. Secondly, the shortest maximum completion time was taken as the goal, process industrial production scheduling algorithms based on particle swarm optimization (PSO) was proposed. Finally, the specific production tasks of propylene oxide (PO) and polyvinyl chloride (PVC) of a chlor-alkali enterprises was taken as the research background, four production scheduling tasks of two products was realized. The simulation results demonstrate the effectiveness and superiority of the proposed algorithm, and it provided a certain reference value for improving the production efficiency and resources utilization, also for further improving the profit of enterprise. © 2014, Journal of Chemical and Pharmaceutical Research. All rights reserved.

关键词： Scheduling algorithms

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High-efficiency, broad-band and wide-angle optical absorption in ultra-thin organic photovoltaic devices

High-efficiency, broad-band and wide-angle optical absorptio...

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作者： Wang, Wenyan Hao, Yuying Cui, Yanxia Tian, Ximin Zhang, Ye Wang, Hua Shi, Fang Wei, Bin Huang, Wei Key Lab. of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China Key Laboratory of Interface Science and Engineering in Advanced Materials Taiyuan University of Technology Taiyuan 030024 China Key Laboratory of Advanced Display and System Applications Ministry of Education Shanghai University Yanchang Road 149 Shanghai 200072 China Nanjing 210046 China

Metal nanogratings as one of the promising architectures for effective light trapping in organic photovoltaics (OPVs) have been actively studied over the past decade. Here we designed a novel metal nanowall grating with ultra-small period and ultra-high aspect-ratio as the back electrode of the OPV device. Such grating results in the strong hot spot effect in-between the neighboring nanowalls and the localized surface plasmon effect at the corners of nanowalls. These combined effects make the integrated absorption efficiency of light over the wavelength range from 400 to 650 nm in the active layer for the proposed structure, with respect to the equivalent planar structure, increases by 102% at TM polarization and by 36.5% at the TM/TE hybrid polarization, respectively. Moreover, it is noted that the hot spot effect in the proposed structure is more effective for ultra-thin active layers, which is very favorable for the exciton dissociation and charge collection. Therefore such a nanowall grating is expected to improve the overall performance of OPV devices. © 2014 Optical Society of America.

关键词： Light absorption

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Slip prevention of a humanoid robot by coordinating acceleration vector

Slip prevention of a humanoid robot by coordinating accelera...

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International Conference on Information and Automation (ICIA)

作者： Zhangguo Yu Jing Li Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Yan Liu Wen Zhang Weimin Zhang Xiaopeng Chen Junyao Gao Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.

关键词： Acceleration Robot kinematics Vectors Humanoid robots Mathematical model Equations

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Research of networked fire control system simulation based on component technology

Research of networked fire control system simulation based o...

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Chinese control Conference (CCC)

作者： Chunlei Sun Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing School of Automation Beijing Institute of Technology Beijing

The research of networked fire control system simulation plays an important role in modern warfare. Federates of simulation systems based on High Level Architecture (HLA) have a poor reusability. In order to improve their reusability, the idea of componentization was used to divide federates into several smaller reusable modules by analyzing the internal information flow of the federates. By component technology, three types of small components which have better reusability were designed, including common components, special components and communication components. These components can be used to build a multiple complex models which can be combined with new simulation frameworks to form defense simulation systems for different attacking targets. A simulation task was designed to verify the flexibility and reusability of the designed components and to improve the function of the federates, which effectively improved development efficiency of simulation systems.

关键词： Fires control systems Target tracking Load modeling Process control Analytical models Object oriented modeling

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Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

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第三十二届中国控制会议

作者： HAO Renjian WANG Junzheng ZHAO Jiangbo Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563835

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process.A torque decoupling approach for electric linear actuator is proposed to achieve respective *** improve the speed of time varying parameters estimating,a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust *** adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric *** modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded *** co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Adaptive robust control Electric linear actuator LuGre model Fast estimation

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Development of an anthropomorphic flute robot for the application in science and technology museum

Development of an anthropomorphic flute robot for the applic...

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IEEE International Conference on Robotics and Biomimetics

作者： Gao Huang Weimin Zhang Fei Meng Ye Tian Qing Shi Klaus Petersen Atsuo Takanishi Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Faculty of Science and Engineering Waseda University Tokyo Japan Key Laboratory of Intelligent Control and Decision of Complex System China

ISBN: (纸本)9781479973989

To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.

关键词： Robot kinematics Robot sensing systems Lungs Joints Legged locomotion control systems

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