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IEEE International Conference on Robotics and Automation (ICRA)

作者： Kang Xu Shoukun Wang Xiuwen Wang Junzheng Wang Zhihua Chen Daohe Liu Key Laboratory of Drive and Control of Servo Motion System Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we propose a parallel six-wheel-legged robot that can traverse irregular terrain while carrying objectives to do heavy-duty work. This robot is equipped with six Stewart platforms as legs and tightly integrates the additional degrees of freedom introduced by the wheels. The presented control strategy with physical system used to adapt the diverse degrees of each leg to irregular terrain such that robot increases the traversability, and simultaneously to maintain the horizontal whole-torso pose. This strategy makes use of Contact Scheduler (CS) and Whole-Torso control (WTC) to control the multiple degrees of freedom (DOF) leg for performing high-flexibility locomotion and adapting the rough terrain like actively parallel suspension system. We conducted experiments on flat, slope, soft and sand-gravel surface, which validate the proposed control method and physical system. Especially, we attempt to traverse over sand-gravel terrain with 3 people about 240kg payload.

关键词： Legged locomotion Wheels Torso Force Kinematics

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control of Spatially Interconnected systems with Random Communication Losses

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自动化学报 2010年第2期36卷 258-266页

作者： LI Hui WU Qing-He HUANG Huang School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 P.R. China

This paper deals with analysis and synthesis problems of spatially interconnected systems where communicated information may get lost between subsystems. Spatial shift operator and temporal forward shift operator are introduced to model the interconnected systems as discrete time-space multidimensional linear systems with Markovian jumping parameters which reflect the state of communication channels. To ensure the whole system＇s well-posedness and mean square stability for a given packet loss rate, a condition is derived through analysis. Then a procedure of designing distributed dynamic output feedback controllers is proposed. The controllers have the same structure as the plants and are solved within the linear matrix inequality （LMI） framework. Finally, we apply these results to study the effect of communication losses on the multiple vehicle platoon control system, which further illustrates the effectiveness of the proposed model and method.

关键词： Spatially interconnected system communication loss Markovian jump linear system linear matrix inequality （LMI）

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Adaptive optimal control for a class of uncertain systems with saturating actuators and external disturbance using integral reinforcement learning

Adaptive optimal control for a class of uncertain systems wi...

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Asian control Conference

作者： Jingang Zhao Minggang Gan Jie Chen Dongyang Hou Meng Zhang Yongqiang Bai State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing

ISBN: (纸本)9781509015740;9781509015733

The problem of adaptive optimal control for a class of nonlinear uncertain systems with saturating actuators and external disturbance is investigated in this paper. Considering the saturating actuators, a non-quadratic cost function is adopted. The key of this optimal control problem is to find the solution to the Hamilton Jacobi Bellman equation (HJB). An online intergral reinforcement learning (IRL) algorithm based-Neural Network (NN) is given to approximate the solution. Unlike traditional integral reinforcement learning algorithms, data onto a period of time stored together with current data are used to update the neural network weights in place of persistence of excitation (PE) condition. This method overcomes the shortcomings of the PE condition which is not easy to be checked online. Finally, numerical examples are given to show the effectiveness of the proposed methods.

关键词： Optimal control Actuators Nonlinear systems Approximation algorithms Artificial neural networks system dynamics

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Friction compensation using dual observer for 3-axis turntable servo system

Friction compensation using dual observer for 3-axis turntab...

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IEEE International Conference on Automation and Logistics

作者： Zhigang Liu Junzheng Wang Jiangbo Zhao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China

Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.

关键词： Friction Servomechanisms Mathematical model Torque Parameter estimation control systems Mathematics Servomotors Lyapunov method Adaptive control

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Dynamically Optimized Sensor Deployment Based on Game Theory

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Journal of systems Science and complexity 2018年第1期31卷 276-286页

作者： Zhang Fan Zheng Zhi Jiao Lei School of Automation Beijing Institute of Technology Beijing 100081 Decision of Complex Systems State Key Laboratory of Intelligent Control Beijing 100081

Sensor network deployment is the key for sensors to play an important performance. Based on game theory, first, the authors propose a multi-type sensor target allocation method for the autonomous deployment of sensors, considering exploration cost, target detection value, exploration ability and other factors. Then, aiming at the unfavorable environment, e.g., obstacles and enemy interference, the authors design a method to maintain the connectivity of sensor network, under the conditions of effective detection of the targets. Simulation result shows that the proposed deployment strategy can achieve the dynamic optimization deployment under complex conditions.

关键词： Connectivity dynamic deployment game theory target allocation

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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IEEE International Conference on Mechatronics and Automation

作者： Xinyue Xu Xiaoming Liu Yuqing Lin Pengyun Li Fengyu Liu Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation.

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Information stream based effectiveness evaluation of air defense networked fire control system

Information stream based effectiveness evaluation of air def...

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作者： Dong, Shike Zhang, Juan Chen, Chen School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Department of Automation Tsinghua University Beijing 100084 China

ISBN: (纸本)9789881725592

An efficient evaluation index system and evaluation model is crucial for effectiveness evaluation of the air defense networked fire control system. This paper, based on pre-research for functions and characteristics of the system, put forth a comprehensive evaluation index system which includes four layers of index hierarchy. Aiming at the characters of some indexes, several evaluation methods are adopted for giving their corresponding evaluation results. Under the condition of networking, the key effect of information stream for exerting system effectiveness is highlighted in this paper. Fuzzy comprehensive evaluation method is employed to establish effectiveness evaluation model for the system. Moreover, to identify the validity of the proposed methods and model, a case study is discussed. The evaluation case shows that the model of effectiveness evaluation is feasible, and capable to carry out objective and reasonable effectiveness evaluation for the system. © 2011 Chinese Assoc of Automati.

关键词： Fire control systems

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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Differential Evolution Based Receding Horizon controlfor UAV Motion Planning in Dynamic Environments

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机器人 2013年第1期 107-114页

作者： ZHANG Xing BAI YongQiang XIN Bin CHEN Jie School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Decision and Cognitive Sciences Research Centre Manchester Business SchoolUniversity of Manchester

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词： unmanned aerial vehicle motion planning receding horizon control differential evolution

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decision-making and Planning Framework with Prediction-Guided Strategy Tree Search Algorithm for Uncontrolled Intersections 25

Decision-making and Planning Framework with Prediction-Guide...

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25th IEEE International Conference on intelligent Transportation systems, ITSC 2022

作者： Zhang, Ting Fu, Mengyin Song, Wenjie Yang, Yi Wang, Meiling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China Nanjing University of Science and Technology Nanjing 210014 China

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468817

Uncontrolled intersections are important and challenging traffic scenarios for autonomous vehicles. Vehicles not only need to avoid collisions with dynamic vehicles instantaneously but also predict their behavior then make long-term decisions in reaction. To solve this problem, we propose a cooperative framework composed of a Primary Driver (PD) for motion planning and a Subordinate Driver (SD) for decision-making. SD is essentially the combination of a prediction module and a high-level behavior planner, which develops a prediction-guided strategy tree to determine the optimal action sequence. Especially, under the guidance of the prediction results, the tree branches are evaluated in security metrics, then get trimmed in action and observation space to reduce the dimensional complexity. With the assistance of SD, PD works as a collision checker and a low-level motion planner to generate a safe and smooth trajectory. We use the INTERACTION dataset to validate our method and achieve more than 90% success rate with efficiency improvement in various situations. © 2022 IEEE.

关键词： Uncertainty decision making Prediction algorithms Planning Trajectory complexity theory Behavioral sciences

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