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Parameter estimation survey for multi-joint robot dynamic calibration case study

Science China(Information Sciences) 2019年第10期62卷 102-116页

作者： Shaolin ZHANG Shuo WANG Fengshui JING Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint ***, methods of choosing a model and calculating its parameters still have few summaries. This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic *** simulations, the features of different methods are analyzed, including torque error, parameter error, model adaptability, solution time, and anti-interference ability of the calibration results. Finally, an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot. These comparisons and experiments provide references for the parameter calibration of multi-joint robots.

关键词： dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models

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Air pollution characteristics and their relationship with emissions and meteorology in the Yangtze River Delta region during 2014–2016

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Journal of Environmental Sciences 2019年第9期31卷 8-20页

作者： Tao Ma Fengkui Duan Kebin He Yu Qin Dan Tong Guannan Geng Xuyan Liu Hui Li Shuo Yang Siqi Ye Beiyao Xu Qiang Zhang Yongliang Ma State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing Key Laboratory of Indoor Air Quality Evaluation and Control Tsinghua University Beijing 100084 China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System Science Tsinghua University Beijing 100084 China National Satellite Meteorological Center Beijing 100081 China College of Resources and Environmental Sciences China Agricultural University Beijing 100094 China

With rapid economic growth and urbanization, the Yangtze River Delta(YRD) region in China has experienced serious air pollution challenges. In this study, we analyzed the air pollution characteristics and their relationship with emissions and meteorology in the YRD region during 2014–2016. In recent years, the concentrations of all air pollutants, except O3,decreased. Spatially, the PM2.5, PM10, SO2, and CO concentrations were higher in the northern YRD region, and NO2 and O3 were higher in the central YRD region. Based on the number of non-attainment days(i.e., days with air quality index greater than 100), PM2.5 was the largest contributor to air pollution in the YRD region, followed by O3, PM10, and ***, particulate matter pollution has declined gradually, while O3 pollution *** conditions mainly influenced day-to-day variations in pollutant concentrations. PM2.5 concentration was inversely related to wind speed, while O3 concentration was positively correlated with temperature and negatively correlated with relative *** air quality improvement in recent years was mainly attributed to emission *** 2014–2016, PM2.5, PM10, SO2, NOx, CO, NH3, and volatile organic compound(VOC)emissions in the YRD region were reduced by 26.3%, 29.2%, 32.4%, 8.1%, 15.9%, 4.5%, and0.3%, respectively. Regional transport also contributed to the air pollution. During regional haze periods, pollutants from North China and East China aggravated the pollution in the YRD region. Our findings suggest that emission reduction and regional joint prevention and control helped to improve the air quality in the YRD region.

关键词： Air pollution Spatiotemporal variation Meteorological condition Emission inventory Regional transport Yangtze River Delta

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Multi-scale Graph-matching Based Kernel for Character Recognition from Natural Scenes

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自动化学报 2014年第4期40卷 751-756页

作者： Cun-Zhao SHI[a]Author Vitae Chun-Heng WANG[a]Author Vitae Bai-Hua XIAO[a]Author Vitae Yang ZHANG[b]Author Vitae Song GAO[a]Author Vitae [a]The State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China[b]Kuyun Interactive Technology Limited Beijing 100007 China

认出从自然景色图象提取的字符由于 intraclass 变化的高度是相当挑战性的。在这份报纸，我们为景色特性识别建议一个多尺度的匹配图的基于的核。以便捕获人物的内在地特殊的结构，每幅图象被与多尺度的图象格子联系的几张图代表。当也... 详细信息

认出从自然景色图象提取的字符由于 intraclass 变化的高度是相当挑战性的。在这份报纸，我们为景色特性识别建议一个多尺度的匹配图的基于的核。以便捕获人物的内在地特殊的结构，每幅图象被与多尺度的图象格子联系的几张图代表。当也越过邻近的节点保存空间一致性时，二幅图象的类似被匹配二张图(图象) 因此定义为最佳精力，它在图为每个节点发现最好的火柴。计算类似是合适的为支持向量机器(SVM ) 构造一个核。与多尺度的格子匹配图获得的多重核被联合以便最后的核是更柔韧的。挑战性的 Chars74k 和 ICDAR03-CH 数据集上的试验性的结果证明建议方法比现状方法更好表现。

关键词：字符识别自然场景多尺度内核配基场景图图形表示最佳匹配

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Hydrodynamic Analysis and Verification of an Innovative Whale Shark-like Underwater Glider

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Journal of Bionic Engineering 2020年第1期17卷 123-133页

作者： Huijie Dong Zhengxing Wu Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents an innovative design for a biomimetic whale shark-like underwater glider aiming at the combination of high maneuverability and long *** a hybrid of the underwater glider and the robotic fish,its pectoral fins and tail can serve as not only the external control surfaces for attitude regulation during gliding but also the propellers for agile fish-like swimming *** verify the gliding capability of the whale shark-like glider and prepare for future dynamic analysis,the hydrodynamic coefficients,including drag,lift,sliding force,and corresponding moments are estimated through computational fluid dynamics *** addition,the hydrodynamic analyses of the proposed glider and an equivalent conventional glider during steady gliding motion are executed for *** experiments are performed to verify the downward gliding *** results reveal that the whale shark-like glider has less drag as well as higher lift-to-drag ratio and a markable gliding capability in *** may offer important inspiration for improving the gliding efficiency and performance of an underwater glider in biomimetic shape design.

关键词： biomimetic robot CFD hydrodynamic analysis underwater glider

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Automated Silicon-Substrate Ultra-Microtome for Automating the Collection of Brain Sections in Array Tomography

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 389-401页

作者： Long Cheng Weizhou Liu Chao Zhou Yongxiang Zou Zeng-Guang Hou the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China

Understanding the structure and working principle of brain neural networks requires three-dimensional reconstruction of brain tissue samples using array tomography *** order to improve the reconstruction performance,the sequence of brain sections should be collected with silicon wafers for subsequent electron microscopic ***,the current collection of brain sections based on silicon substrate involve mainly manual collection,which requires the involvement of automation techniques to increase collection *** paper presents the design of an automatic collection device for brain ***,a novel mechanism based on circular silicon substrates is proposed for collection of brain sections;second,an automatic collection system based on microscopic object detection and feedback control strategy is *** results verify the function of the proposed collection *** objects(brain section,left baffle,right baffle)can be detected from microscopic images by the proposed detection *** efficiency can be further improved with position feedback of brain sections *** has been experimentally verified that the proposed device can well fulfill the task of automatic collection of brain *** the help of the proposed automatic collection device,human operators can be partially liberated from the tedious manual collection process and collection efficiency can be improved.

关键词： Array tomography automatic collection system brain sections microscopic object detection serial section

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The DAO to Metacontrol for Metasystems in Metaverses:The system of Parallel control systems for Knowledge Automation and control Intelligence in CPSS

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IEEE/CAA Journal of Automatica Sinica 2022年第11期9卷 1899-1908页

作者： Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing100190Chi the Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

An investigation and outline of Metacontrol and Decontrol in Metaverses for control intelligence and knowledge automation are *** control with prescriptive knowledge and parallel philosophy is proposed as the starting point for the new control philosophy and technology,especially for computational control of metasystems in cyberphysical-social *** argue that circular causality,the generalized feedback mechanism for complex and purposive systems,should be adapted as the fundamental principle for control and management of metasystems with metacomplexity in ***,an interdisciplinary approach is suggested for Metacontrol and Decontrol as a new form of intelligent control based on five control metaverses:MetaVerses,MultiVerses,InterVerses,TransVerse,and DeepVerses.

关键词： Metacontrol Metasystems Metaverses CPSS DAO Decontrol Prescriptive control Parallel control Computational control Knowledge Automation control Intelligence Parallel Intelligence

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Development of database of real-world diesel vehicle emission factors for China

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Journal of Environmental Sciences 2015年第5期27卷 209-220页

作者： Xianbao Shen Zhiliang Yao Qiang Zhang David Vance Wagner Hong Huo Yingzhi Zhang Bo Zheng Kebin He State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University School of Food and Chemical Engineering Beijing Technology and Business University Ministry of Education Key Laboratory for Earth System Modeling Center for Earth System Science Tsinghua University International Council on Clean Transportation (ICCT) Institute of Energy Environment and Economy Tsinghua University State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Tsinghua University

A database of real-world diesel vehicle emission factors, based on type and technology, has been developed following tests on more than 300 diesel vehicles in China using a portable emission measurement system. The database provides better understanding of diesel vehicle emissions under actual driving conditions. We found that although new regulations have reduced real-world emission levels of diesel trucks and buses significantly for most pollutants in China, NOx emissions have been inadequately controlled by the current standards, especially for diesel buses, because of bad driving conditions in the real world. We also compared the emission factors in the database with those calculated by emission factor models and used in inventory studies. The emission factors derived from COPERT（Computer Programmer to calculate Emissions from Road Transport） and MOBILE may both underestimate real emission factors, whereas the updated COPERT and PART5（Highway Vehicle Particulate Emission Modeling Software） models may overestimate emission factors in China. Real-world measurement results and emission factors used in recent emission inventory studies are inconsistent,which has led to inaccurate estimates of emissions from diesel trucks and buses over recent years. This suggests that emission factors derived from European or US-based models will not truly represent real-world emissions in China. Therefore, it is useful and necessary to conduct systematic real-world measurements of vehicle emissions in China in order to obtain the optimum inputs for emission inventory models.

关键词： Diesel vehicle Emission factor Portable emission measurement system Database China

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A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery

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Science China(Information Sciences) 2018年第10期61卷 250-252页

作者： Xiaoran CHENG Xiaoliang XIE Guibin BIAN Zengguang HOU Shiqi LIU Zhanjie GAO State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Simulators play an important role in minimally invasive vascular surgery training. A challenging task for the simulator is to model an elastic guidewire and an elastic vascular system, both of which are important aspects for vascular ***, many simulators treat the virtual vascular system as a rigid object, which reduces the immersion of operators. In this study, a virtual guidewire is first modeled based on Cosserat rod

关键词： Pi Figure A simulator with an elastic guidewire and vascular system for minimally invasive vascular surgery

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Convergence Rate of Leader-Following Consensus of Networks of Discrete-Time Linear Agents in Noisy Environments 35

Convergence Rate of Leader-Following Consensus of Networks o...

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第35届中国控制会议

作者： Cheng Long Wang Yunpeng Hou Zeng-Guang Tan Min State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Beijing Institute of Control Engineering

ISBN: (纸本)9781509009107

A mean square leader-following consensus protocol is proposed for discrete-time linear multi-agent systems with communication *** attenuate the noise's effect,a specific class of time-varying consensus gains are applied to the noisecorrupted relative states between *** distinguished feature of the proposed protocol is that each agent can have its own noise-attenuation *** the steady-state performance and the transient performance of the closed-loop multi-agent system are *** convergence rates of the mathematical expectation and the second-moment of the leader-following consensus error are explicitly presented.

关键词： Multi-agent systems convergence rate mean square noises leader-following consensus

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Parallel Reinforcement Learning:A Framework and Case Study

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IEEE/CAA Journal of Automatica Sinica 2018年第4期5卷 827-835页

作者： Teng Liu Bin Tian Yunfeng Ai Li Li Dongpu Cao Fei-Yue Wang State Key Laboratory of Management and Control for Complex System Institute of AutomationChinese Academy of SciencesBeijing 100190China State Key Lab.of Management and Control for Complex System Institute of AutomationChinese Academy of SciencesBeijing 100190China Cloud Computing Center Chinese Academy of SciencesDongguan 523808China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190China Department of Automation Tsinghua UniversityBeijing 100190China Driver Cognition and Automated Driving Laboratory University of WaterlooWaterloo N2L 3G1Canada IEEE

In this paper, a new machine learning framework is developed for complex system control, called parallel reinforcement learning. To overcome data deficiency of current data-driven algorithms, a parallel system is built to improve complex learning system by self-guidance. Based on the Markov chain(MC) theory, we combine the transfer learning, predictive learning, deep learning and reinforcement learning to tackle the data and action processes and to express the knowledge. Parallel reinforcement learning framework is formulated and several case studies for real-world problems are finally introduced.

关键词： Deep learning machine learning parallel reinforcement learning parallel system predictive learning transfer learning

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