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2016 IEEE International Conference on Advanced intelligent Mechatronics, AIM 2016

作者： Yi, Yang Jianqing, Zhang Han, Xu Maokuan, Chen Lu, Zhang Zhongjing, Zhu School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Electronic Engineering School of Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9781509020652

The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot. © 2016 IEEE.

关键词： Propulsion

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Single image haze removal algorithm using pixel-based airlight constraints

Single image haze removal algorithm using pixel-based airlig...

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International Conference on Automation and Computing (ICAC)

作者： Zhenwei Gao Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Fast single image dehazing has been a challenging problem in many fields, such as computer vision and real-time applications. The existing image dehazing algorithms cannot achieve a trade-off between the dehazing performance and the computational complexity. The proposed approach first applies the mean filter twice to estimate airlight, which include pixel-based dark channel and bright channel constraints. And then the relationship between channel values of the restored image and atmospheric light is qualitatively analyzed to give the optimum estimate of atmospheric light. Using the airlight and atmospheric light, we can easily restore the scene radiance via the atmospheric scattering model. Compared with others, the main advantage of the proposed approach is its high speed and significant visibility improvement even in the sky and white areas. This speed allows the enhanced haze image to be applied in real-time processing applications. A comparative study and quantitative evaluation are proposed with a few other state of the art algorithms which demonstrates that similar or better quality results are obtained.

关键词： Atmospheric modeling Image restoration Real-time systems Channel estimation Scattering Filtering Computational modeling

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Motion Planning Method for Obstacle Avoidance of 6-DOF Manipulator Based on Improved A* Algorithm

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Journal of Donghua University(English Edition) 2015年第1期32卷 79-85页

作者：汪首坤朱磊 Key Laboratory of Intelligent Control and Decision for Complex System Beijing Institute of Technology

The conventional A* algorithm may suffer from the infinite loop and a large number of search data in the process of motion planning for manipulator. To solve the problem,an improved A* algorithm is proposed in this paper by the means of selecting middle points and applying variable step segments searching during the searching process. In addition,a new method is proposed for collision detection in the workspace. In this paper,the MOTOMAN MH6 manipulator with 6-DOF is applied for motion plan. The algorithm is based on the basis of the simplification for the manipulator and obstacles by cylinder enveloping. Based on the analysis of collision detection,the free space can be achieved which makes it possible for the entire body to avoid collisions with obstacles. Compared with the Conventional A*,the improved algorithm deals with less searching points and performs more efficiently. The simulation developed in VC + + with OpenGL and the actual system experiments prove effectiveness and feasibility of this improved method.

关键词： manipulator collision detection A* algorithm variable step segments searching OpenGL

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A Navigation Map Building Algorithm using Refined RBPF-SLAM

A Navigation Map Building Algorithm using Refined RBPF-SLAM

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Mengyin Fu Hao Zhu Yi Yang Meiling Wang Zhihong Deng State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology

ISBN: (纸本)9781467383196

This paper proposes a map building algorithm for navigation task of autonomous vehicle.A local 2D grid map is designed to convey three types of information(free space,obstacle and unknown).A refined RBPF-SLAM algorithm is established to build a large scale,accurate navigation *** obstacle information is excluded in the final map,which provides better performance in vehicle's online *** sets of experiments are carried out in two driving conditions,with one in urban traffic environment and the other in unstructured *** mapping and localization result testify the effectiveness of our algorithm.

关键词： frame A Navigation Map Building Algorithm using Refined RBPF-SLAM

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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

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Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Optimal Innovation-Based Deception Attack on Remote state Estimation

Optimal Innovation-Based Deception Attack on Remote State Es...

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American control Conference

作者： Shuang Wu Ziyang Guo Dawei Shi Karl Henrik Johansson Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 China ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781509045839

The security issue in cyber-physical systems has attracted growing interests in the last decades. This paper considers how false data injection attack can degrade the estimation quality of a remote state estimation system. In this system, smart sensors measure a dynamic process and send preprocessed data through a communication network to a remote estimator to estimate the process. It is assumed that there are malicious attackers in the communication network, who are able to obtain and falsify all the data sent by the sensors. It is common that the remote estimator is equipped with a residue-based detector to detect potential attacks. We propose a class of deception attack and analyze its feasibility. We show that the proposed attack enables the attacker to inject false data into the remote estimator without being detected. We derive a criterion to judge the optimality of performance of this type of attack in the sense of maximizing the estimation error covariance. Furthermore, we find that a simple linear attack strategy, which flips the sign of intercepted signal, satisfies the optimality criterion. We present numerical examples to illustrate our theoretical results.

关键词： Cyber-physical systems (CPS) deception attack remote state estimation

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Energy consumption analysis in multi-legged robots based on gait planning

Energy consumption analysis in multi-legged robots based on ...

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Chinese control Conference (CCC)

作者： Xiaolong Du Shoukun Wang Xiaoyan Zong Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509009107

Currently, the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of robots. Aimed at the problem of energy consumption for mobile robots, this paper provides the analysis in terms of the gait planning. Firstly, two kinds of gait curves Respectively, cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction (SLR). The length of step (S), the height of step (H) and the duty ratio of gait cycle (β) are set as the primary research points about the gait of mobile robot. In this work, we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait parameters. Finally, the results provide some recommendations for the gait planning of the quadruped robot, that is, the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Three-dimensional displays

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LAR Routing Stability Protocol Based on Mobility Prediction

LAR Routing Stability Protocol Based on Mobility Prediction

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第35届中国控制会议

作者： Tang Chao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.

关键词： Ad Hoc high-relative velocity motion model link lifetime

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An Improved Part-based Compressive Tracking Method

An Improved Part-based Compressive Tracking Method

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第35届中国控制会议

作者： Qiwen Hou Wenjie Chen HuiLin Gao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our part-based method,the occluded image patches which are selected by K-means are not able to participate in determining the location of the target in order to increase tracking *** solve the problem of scale variation,an algorithm is proposed to estimate the size of target with the information of the whole *** addition,we also use the positions of every part to help us to get a precise size of the *** the combination of two methods,the scale of the target is *** compared with five state-of-the-arts have been done to prove the effectiveness and robustness of our method.

关键词： compressive sensing part-based tracking occlusion handling scale estimation

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Disturbance prediction based active disturbance rejection control approach

Disturbance prediction based active disturbance rejection co...

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第35届中国控制会议

作者： Chongling Li Tao Cai Zeyu Han School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.

关键词： disturbance discrete ADRC LESO predictive linear extended state observer

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