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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Spatial batch optimal design based on self-learning Gaussian process models for LPCVD processes

Spatial batch optimal design based on self-learning Gaussian...

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作者： Sun, Pei Xie, Lei Chen, Junghui State Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

Low pressure chemical vapor deposition (LPCVD) is one of the most important processes during semiconductor manufacturing. However, the spatial distribution of internal temperature and extremely few samples makes it hard to build a good-quality model of this batch process. Besides, due to the properties of this process, the reliability of the model must be taken into consideration when optimizing the MVs. In this work, an optimal design strategy based on the self-learning Gaussian process model (GPM) is proposed to control this kind of spatial batch process. The GPM is utilized as the internal model to predict the thicknesses of thin films on all spatial-distributed wafers using the limited data. Unlike the conventional model based design, the uncertainties of predictions provided by GPM are taken into consideration to guide the optimal design of manipulated variables so that the designing can be more prudent. Besides, the GPM is also actively enhanced using as little data as possible based on the predictive uncertainties. The effectiveness of the proposed strategy is successfully demonstrated in an LPCVD process. © 2015 Elsevier B.V.

关键词： Low pressure chemical vapor deposition

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Towards an Esox lucius inspired multimodal robotic fish

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Science China(Information Sciences) 2015年第5期58卷 182-194页

作者： WU ZhengXing YU JunZhi SU ZongShuai TAN Min LI ZhenLong State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Electronic Information and Control Engineering Beijing University of Technology

In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and *** found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.

关键词： bio-inspired robot robotic fish CPG multimodal swimming motion control

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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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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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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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Mining scheduling knowledge for job shop scheduling problem

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IFAC-PapersOnLine 2015年第3期28卷 800-805页

作者： Wang, C.L. Rong, G. Weng, W. Feng, Y.P. State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Graduate School of Information Production and Systems Waseda University 2-7 Hibikino Wakamatsu-ku Kitakyushu Fukuoka808-0135 Japan

The optimal or near-optimal schedules generated by traditional optimization or approximation methods for job shop scheduling problems (JSSP) contain valuable scheduling patterns about this kind of scheduling problems. These patterns could be used to improve the dispatching performance and provide insights into the corresponding scheduling problems. This paper uses timed Petri nets to describe the dispatching processes of the job shop scheduling scenarios. On this basis, a data mining based scheduling knowledge extraction framework is developed to mine the expected scheduling knowledge from the solutions generated by traditional optimization or approximation method for JSSP. Based on this, we show how to use the extracted knowledge as a new dispatching rule to generate complete schedules. A novel method is further developed to combine the extracted knowledge with traditional heuristics to construct new composite dispatching rules which could gain better performance. Besides, we propose a novel approach to utilize the extracted knowledge to improve a Petri net based branch and bound algorithm used in this paper. A series of experiments is carried out to evaluate the performance of the proposed methods. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Job shop scheduling Approximation theory Branch and bound method Data mining Heuristic methods Machine shops Petri nets Scheduling Approximation methods Branch and bound algorithms Composite dispatching rules Dispatching rules Job shop scheduling problems Scheduling knowledge Scheduling problem Timed Petri Net

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Experimental study on f-ω regulation model under abnormal methane emission

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International Journal of Mining Science and technology 2016年第6期26卷 1153-1159页

作者： Wu Zhengyan Jiang Shuguang Wang Kai Shao Hao Zhou Song He Xinjian Han Jing Cui Chuanbo Pei Xiaodong Key Laboratory of Coal Methane and Fire Control Ministry of Education China University of Mining and Technology Xuzhou 221116 China School of Safety Engineering China University of Mining and Technology Xuzhou 221116 China State Key Laboratory of Cool Resources and Safe Mining China University of Mining and Technology Xuzhou 221116 China Department of Chemical Engineering Engineering Faculty Monash University Melbourne Victoria 3800 Australia Department of Industrial Management and Systems Engineering Statler College of Engineering and Mineral Resources West Virginia University Morgantown WV 26506 USA School of Mining and Safety Engineering Anhui University of Science and Technology Huainan 232001 China

In view of the difficulty of automatic adjustment, the recovery lag and the major accident potential of the mine ventilation system, an experimental model of the pipe net was established according to the typical one mine and one working face ventilation system of Daliuta coal mine. Using the best uniform approximation method of Chebyshev interpolation to fit the fan performance curve, we experimentally determined fan characteristics with different frequencies and establish the data base for the curves. Based on ventilation network monitoring theory, we designed a monitoring system for ventilation network parameter monitoring and fan operating frequency automatic control. Using the absolute methane emission quantity to predict the air quantity requirement of branch and fan frequency, we established a f-ω regulation model based on fan frequency and absolute methane emission quantity. After analysing methane emission and distribution characteristics, using CO_2 to simulate the methane emission characteristics from a working face, we verified the correctness and rationality of the f-ω regulation model. The fan operation frequency is adjusted by the method of air adjustment change with methane emission quantity and the curve searching method after determining air quantity requirements. The results show that the air quantity in a branch strictly changes according to the f-ω regulation model, in the airincreasing dilution by fan frequency regulation, the CO_2 concentration is limited to the set threshold value. The paper verifies the practicability of a frequency regulation system and the feasibility of the frequency adjustment scheme and provides guidance for the construction of automatic frequency conversion control system in coal mine ventilation networks.

关键词： Pipe network model Frequency regulation f-ω regulation model Prediction of air quantity requirement Air-increasing dilution

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A Novel Current control Strategy for Three-Phase Gird-Connected Inverters

A Novel Current Control Strategy for Three-Phase Gird-Connec...

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第35届中国控制会议

作者： Xingda Yan Zhan Shu Suleiman M.Sharkh Zhengguang Wu Michael Z.Q.Chen Electro-Mechanical Research Group University of Southampton National Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityYuquan Campus Department of Mechanical Engineering The University of Hong Kong

ISBN: (纸本)9781509009107

In this paper,a three-phase grid-connected inverter is modelled as a switched affine system with both continuous and discrete *** on the model,a novel switching control law,which can track reference current generated by power reference and grid voltage,is proposed by using the switched Lyapunov theory and the matrix inequality technique.A main advantage of this method is that the switching states of the inverter are determined by the controller without *** addition,the switching law can be obtained off-line,thus reducing the online computational *** the meantime,the active power and reactive power can be regulated to achieve unity power *** results confirm the feasibility and performance of the proposed control scheme.

关键词： Grid-Connected Inverter LMI Lyapunov Stability Power Factor

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