检索结果-内蒙古大学图书馆

International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Longbin Zhang Yingbai Hu Hang Su Jiehao Li Salih Ertug Ovur KTH MoveAbility Lab and KTH BioMEx Center KTH Royal Institute of Technology Stockholm Sweden Technical University of Munich Munich Germany Politecnico di Milano Milano Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Lower-limb exoskeletons are increasingly used in gait assistance applications to assist patients with locomotive disorders in rehabilitation and daily life. To provide assistance based on the user's variable joint stiffness with human-like characteristics is a growing and challenging field. This paper proposed an adaptive controller for a lower-limb exoskeleton with time-varying delay using variable stiffness transferring strategy. Neural network compensation was applied to estimate the nonlinearity caused by the time-varying delay and the model uncertainties in the lower-limb exoskeleton systems. To compensate for the delay, an integral Lyapunov function was introduced and an adaptive Lyapunov-based control structure was constructed. In the controller design, a variable stiffness transferring strategy was integrated and the stiffness was transferred from an able-bodied individual estimated with muscle forces and musclotendinous stiffness. By utilizing the proposed adaptive neural network control strategy and adaptive Lyapunov-based control structure, the global stability of lower-limb exoskeleton system was guaranteed and the tracking errors converged to the zero. The proposed control strategy was validated on 2-DOFs knee and ankle lower limb exoskeleton in simulation, demonstrating effective results in trajectories tracking, and thus is crucial for determining strategies for exoskeleton control.

关键词： Exoskeletons Robots Muscles Adaptive systems Force Mathematical model Mechatronics

来源：评论

学校读者我要写书评

暂无评论

Learning Hidden Markov Models for Linear Gaussian systems with Applications to Event-based state Estimation

arXiv

引用

arXiv 2020年

作者： Zheng, Kaikai Shi, Dawei Shi, Ling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong

This work attempts to approximate a linear Gaussian system with a finite-state hidden Markov model (HMM), which is found useful in solving sophisticated event-based state estimation problems. An indirect modeling approach is developed, wherein a state space model (SSM) is firstly identified for a Gaussian system and the SSM is then used as an emulator for learning an HMM. In the proposed method, the training data for the HMM are obtained from the data generated by the SSM through building a quantization mapping. Parameter learning algorithms are designed to learn the parameters of the HMM, through exploiting the periodical structural characteristics of the HMM. The convergence and asymptotic properties of the proposed algorithms are analyzed. The HMM learned using the proposed algorithms is applied to event-triggered state estimation, and numerical results on model learning and state estimation demonstrate the validity of the proposed algorithms. Copyright © 2020, The Authors. All rights reserved.

关键词： Hidden Markov models

来源：评论

学校读者我要写书评

暂无评论

A Fast Image/Video Dehazing Algorithm Based on Modified Atmospheric Veil

A Fast Image/Video Dehazing Algorithm Based on Modified Atmo...

引用

第三十八届中国控制会议

作者： Kang Liu Yongqiang Bai Zhenwei Gao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

In this paper, we propose a fast image/video dehazing algorithm based on modified atmospheric veil. For a single image, the coarse atmospheric veil is quickly estimated by the minimum and maximum channels. We take the depth image estimated by the color attenuation prior as the guided image to refine the coarse atmospheric veil and use down sampling technique to speed up the process. In addition, a fast Fourier enhancement method is used to improve the high frequency details. Based on the image dehazing, we design an atmospheric light adjustment strategy and a transmission optimized framework for video dehazing, which can effectively reduce flickering artifacts. Experimental results demonstrate that the proposed algorithm can achieve a very good dehazing effect while keeping a comparable processing speed with state-of-the-art algorithms.

关键词： image/video dehazing atmospheric veil flickering artifacts optimized framework

来源：评论

学校读者我要写书评

暂无评论

Glucose Regulation for Subjects with Type 1 Diabetes Using Active Disturbance Rejection control

Glucose Regulation for Subjects with Type 1 Diabetes Using A...

引用

第三十八届中国控制会议

作者： Deheng Cai Jiliang Song Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In artificial pancreas(AP) systems, control algorithms play an important role in the blood glucose(BG) *** ability of active disturbance rejection control(ADRC), which can deal with various disturbances, enables it to become a promising approach in the control algorithm design for BG regulation when facing many disturbances(e.g. glucose fluctuation caused by meal intakes and exercises). In this paper, an ADRC controller is proposed for the AP systems. To ensure the safety,the insulin on board(IOB) constraints and the insulin delivery constraints are introduced to the ADRC controller. The controller is evaluated on the FDA-accepted UVA/Padova T1 DM simulator with the 10-adult cohort. For both announced and unannounced meals, the controller achieves satisfactory performance in terms of mean glucose(139.9 mg/dl for announced meals, 157.9 mg/dl for unannounced meals) and percentage time in [70, 180] mg/dl(91.5% for announced meal, 68.9% for unannounced meals)without having the risk of hypoglycemia.

关键词： Glucose Regulation Type 1 Diabetes Artificial Pancreas Active Disturbance Rejection control

来源：评论

学校读者我要写书评

暂无评论

Optimal Blood Glucose Prediction based on Intermittent Data from Wearable Glucose Monitoring Sensors

Optimal Blood Glucose Prediction based on Intermittent Data ...

引用

第三十八届中国控制会议

作者： Lijun Hou Huipeng Zhang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

Blood glucose prediction is to predict the glucose trend over time based on historical glucose data, and it plays a crucial role in the closed-loop control of artificial pancreas, which can reduce the risk of complications by regulating insulin dose and injection time. This paper proposes a Kalman-filter-based glucose prediction method through minimizing the mean square prediction error, which assumes that the data is sampled every 15 min from a wearable flash glucose monitoring sensor. This method calculates glucose estimates every 5 min and provides glucose predictions for the next 30 min. The method is evaluated on in-silico data generated from the 10-adult cohort of the US FDA-accepted UVA/Padova T1 DM simulator. The predicted results are compared with CGM data with 5-min sample-period through multiple metrics, including the mean square prediction error and the mean absolute relative deviation. The results show that the performance of the proposed approach with slow-rate glucose data(15 min) is close to that obtained based on fast-rate data(5 min).

关键词： Blood Glucose Prediction Wearable Devices Mean Square Prediction Error Sampled Data Kalman Filtering

来源：评论

学校读者我要写书评

暂无评论

Local Smooth Path Planning for Turning Around in Narrow Environment

Local Smooth Path Planning for Turning Around in Narrow Envi...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Xiaohui Tian Mengyin Fu Yi Yang Meiling Wang Dongyu Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781728136677

In this paper, we introduce a local smooth path planning algorithm for turning around in narrow environment. The algorithm uses a combination of the minimum turning radius arc and the Bezier curve to generate a near optimal smoothing turn-around path in narrow roads or cluttered environments. The algorithm will generate a smooth trajectory that conforms to the kinematic constraints of unmanned ground vehicle (UGV), by adjusting the heading to the target angle through several minimum-radius turns, and smoothly connecting to the global reference path via Bezier curve. We analyze the surrounding congestion and narrowness to choose appropriate turn-around area by integrating obstacle distribution and road edges before path planning. The algorithm was tested at IN 2 BOT UGV in our campus and 2018 Cross Dangers & obstacles. The experimental results indicated that the algorithm works efficiently with our previous work and shows good performance in accuracy and computational time.

关键词： Turning Roads Trajectory Planning Kinematics Land vehicles

来源：评论

学校读者我要写书评

暂无评论

Multi-agent system Motion Planning under Temporal Logic Specifications and control Barrier Function

Multi-agent System Motion Planning under Temporal Logic Spec...

引用

第三十九届中国控制会议

作者： Xinyuan Huang Li Li Jie Chen IEEE IFAC Chinese Academy of Engineering Tongji University the State Key Laboratory of Intelligent Control and Decision of Complex Systems the Chinese Association of Automation the Chinese Artificial Intelligence Society College of Electronics and Information Engineering Tongji University Shanghai Reserach Institute for Intelligent Autonomous Systems

In this paper, we provide a novel scheme to solve the motion planning problem of multi-agent systems under highlevel task specifications. First, linear temporal logic is applied to express the global task specification. Then an efficient and decentralization algorithm is proposed to decompose it into local tasks. Finally, we use control barrier function to synthesize the local controller for each agent under the LTL motion plan safety constraint. Simulation results prove the effectiveness and efficiency of our proposed method.

关键词： temporal logic multi-agent system formal methods control barrier function

来源：评论

学校读者我要写书评

暂无评论

Coarray Tensor Train Decomposition for Bistatic MIMO Radar with Uniform Planar Array

引用

IEEE Transactions on Antennas and Propagation 2025年

作者： Xie, Qianpeng Wang, Zhanling Wen, Fangqing He, Jin Truong, Trieu-Kien National University of Defense Technology State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System Changsha410073 China Hubei University of Automotive Technology Institute of Vehicle Information Control and Network Technology Shiyan442002 China China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering Yichang443002 China Shanghai Jiao Tong University Shanghai Key Laboratory of Navigation and Location Based Services School of Electronic Information and Electrical Engineering Shanghai200240 China

Recently, tensor network decomposition has attracted increasing attention due to its high efficacy in modeling multi-dimensional correlations in high-order tensors. Considering this advantage, this study employs tensor train decomposition (TTD) to achieve joint two-dimensional direction-of-departure (2D-DOD) and direction-of-arrival (2D-DOA) estimation in bistatic multiple-input multiple-output (MIMO) radar systems with uniform planar array (UPA) configurations. First, a five-dimensional (5D) tensor is defined to incorporate the two-dimensional (2D) spatial information from transmit and receive UPAs, which is then combined with temporal information. Next, a low-rank four-dimensional (4D) tensor is generated by performing an autocorrelation operation along the temporal dimension of the 5D tensor, forming a structure that encapsulates the difference coarrays of the transmit and receive UPAs. Then, a TTD framework is designed to decompose the 4D tensor into interconnected lower-order TT-cores. Furthermore, a precise bidirectional mapping is performed between the TT-cores and the original Vandermonde factor matrices. Finally, leveraging distinct combinations of TT-cores, two innovative methods are developed to recover the Vandermonde factor matrices. The proposed methods conduct automatic pairing of 2D-DOD and obtain 2D-DOA estimates by enforcing consistent permutation orders across all factor matrices. The proposed methods are verified by simulation experiments. The results confirm that the proposed methods can surpass the existing tensor-based methods in terms of estimation accuracy. © 1963-2012 IEEE.

关键词： Matrix algebra

来源：评论

学校读者我要写书评

暂无评论

A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

引用

第32届中国控制与决策会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

来源：评论

学校读者我要写书评

暂无评论

Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

引用

第三十九届中国控制会议

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：