检索结果-内蒙古大学图书馆

第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

来源：评论

学校读者我要写书评

暂无评论

Damage evaluation model and simulation study on functional systems of ultra low altitude aircraft 32

Damage evaluation model and simulation study on functional s...

引用

32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017

作者： Xiaochen, Wu Chen, Chen School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing100081 China

ISBN: (纸本)9781538629017

The assessment of aircraft damage is a key technology in modern flight missions. For a kind of ultra low altitude aircraft, simulation study of the damage caused by the prefabricated fragments is carried out, which is based on the functional systems contained in the different components of the aircraft. In addition, the corresponding aircraft damage assessment simulation system is developed, which can complete the real-time damage calculation and quantify and classify the damage degree of the functional system. A new modeling idea and important research platform is provided for vulnerability assessment and damage assessment of specific targets. © 2017 IEEE.

关键词： Aircraft

来源：评论

学校读者我要写书评

暂无评论

Augmented Marker Tracking for Peri-acetabular Osteotomy Surgery 39

Augmented Marker Tracking for Peri-acetabular Osteotomy Surg...

引用

39th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)

作者： Pflugi, Silvio Vasireddy, Rakesh Lerch, Till Ecker, Timo M. Tannast, Moritz Boemke, Nane Siebenrock, Klaus Zheng, Guoyan State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China Universitat Bern Bern BE CH

ISBN: (纸本)9781509028092

We developed and validated a small, easy to use and cost-effective augmented marker-based hybrid navigation system for peri-acetabular osteotomy (PAO) surgery. The hybrid system consists of a tracking unit directly placed on the patient's pelvis, an augmented marker with an integrated inertial measurement unit (IMU) attached to the patient's acetabular fragment and the host computer. The tracking unit sends a live video stream of the marker to the host computer where the marker's pose is estimated. The augmented marker with the IMU sends its pose estimate to the host computer where we apply sensor fusion to compute the final marker pose estimate. The host computer then tracks the orientation of the acetabular fragment during peri-acetabular osteotomy surgery. Anatomy registration is done using a previously developed registration device. A Kalman filter-based sensor fusion was added to complete the system. A plastic bone study was performed for validation between an optical tracking-based navigation system and our proposed system. Mean absolute difference for inclination and anteversion was 1.63 degrees and 1.55 degrees, respectively. The results show that our system is able to accurately measure the orientation of the acetabular fragment.

关键词： Surgery Navigation Sensor fusion Cameras Pelvis Calibration Streaming media

来源：评论

学校读者我要写书评

暂无评论

Liquid-Circular Angular Accelerometer: A Review

Liquid-Circular Angular Accelerometer: A Review

引用

Chinese control Conference

作者： Ke Ning Meiling Wang Siyuan Cheng Li Ming Xin Zheng Beijing Institute of Technology Key Laboratory of Complex system Intelligent Control and Decision Beijing P. R. China The Third Academic of Aerospace and Technology Group of China Beijing P. R. China

This article reviews the mainstream angular acceleration measurement techniques. Varieties of direct measurements, including rotational, solid mechanical inertial, fluid mechanical inertial, and microelectromechanical system angular accelerometer, are expanding in the practical applications of measurement and control systems. Recently researchers focus on microelec-tromechanical system and fluid-based sensors in light of increasing requirements for the measurement. In this review, we first investigated developments of angular acceleration measurements. Then we introduced one of the fluid-based sensors, a liquid-circular angular accelerometer, which is a novel angular sensor consisting of a porous transducer and an electrolyte solution chiefly. Eventually, we detailed recent works on this sensor's mechanism and the other aspects, e.g. significant properties of components and major research methodologies, and discussed its trade-off on performance with wide frequency, large dynamic range and high accuracy relatively, to show this sensor could bring advantages compared with other measurement methods.

关键词： Accelerometers Acceleration Mechanical sensors Solids Bandwidth Sensor phenomena and characterization

来源：评论

学校读者我要写书评

暂无评论

Event-triggered consensus for linear continuous-time multi-agent systems based on a predictor

引用

Information Sciences 2018年 459卷 278-289页

作者： Jian Sun Qiuling Yang Xiaoyu Liu Jie Chen School of Automation Beijing Institute of Technology Beijing 100081 PR China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China China North Industrial Group Corporation Limited China Ordnance Industry Navigation and Control Technology Institute Beijing 100089 PR China

In this paper, the problem of an event-triggered consensus for a linear continuous-time multi-agent system is investigated. A new event-triggered consensus protocol based on a predictor is proposed to achieve consensus while not requiring continuous communication among agents. The predictor utilizes an artificial closed-loop system to predict the future state of each agent. With the proposed consensus protocol, each agent only needs to monitor its own states to determine its event-triggered instants. When an event of an agent is triggered, the agent immediately updates its consensus protocol and sends its state information to its neighbors. When an agent receives state information from its neighbors, the agent immediately updates its consensus protocol and predictor. A necessary and sufficient condition that solves the consensus problem is derived. Moreover, it is proved that Zeno behaviors are excluded. Finally, some numerical examples are given to illustrate that, with the proposed protocol, a multi-agent system can achieve consensus while greatly reducing event-triggered times.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A NSGA-Ⅱ based Peak Load Shifting Optimization Method for Customers with Distributed Generators Considering Time-of-use Price

A NSGA-Ⅱ based Peak Load Shifting Optimization Method for C...

引用

第37届中国控制会议

作者： Hao Zhou Min Ding Bo Hu Qingyi Wang Zhili Tan Danyun li School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System State Grid Energy Research Institute Co. LTD.

With the extensive use of distributed generation, the traditional demand response analysis cannot meet the current *** paper proposes a NSGA-II based peak load shifting optimization method for customers with distributed generators considering time-of-use price. Firstly, a fuzzy classification method divides the daily power into three time segments,peak hours, flat hours and valley hours. Secondly, on the basis of the time-of-use price, a peak load shifting optimization model is built with constraints and the objectives of minimizing the peak load, maximizing the valley load, and minimizing the peakvalley difference. Then, a NSGA-II based optimization method solves the optimal model and obtains the optimal electricity prices of different time segments to shift the peak load and the valley load. Finally, the simulation results shows the effectiveness of the proposed method.

关键词： Distributed Generation Demand Respond Time-of-use Price Multi-objective Genetic Algorithm

来源：评论

学校读者我要写书评

暂无评论

Blockchain based Consensus Checking in Cloud Storage

Blockchain based Consensus Checking in Cloud Storage

引用

International Symposium on Autonomous Decentralized systems (ISADAS)

作者： Guanqiu Qi Zhiqin Zhu Matthew Haner Jaesung Sim Jian Sun Yi Chai Yinong Chen Li Yongfu Mathematics and Computer Information Science Mansfield University of Pennsylvania Mansfield PA 16933 USA College of Automation Chongqing University of Posts and Telecommunications Chongqing 400065 China School of Electronic and Information Engineering Southwest University Chongqing 400715 China Ministry of Education Key Laboratory of Complex System Safety and Control (Chongqing University) Chongqing 400044 China School of Computing Informatics and Decision Systems Engineering Arizona State University Tempe AZ 85287 USA

ISBN: (数字)9781728116723

ISBN: (纸本)9781728116730

In cloud computing, data is duplicated to prevent data loss. One way to achieve data consistency in such a distributed computing systems is to use a blockchain. Based on practical Byzantine fault tolerance (PBFT), a specific type of blockchain, this paper proposes a synchronous Byzantine fault tolerance (SBFT) algorithm that not only maintains data consistency, but also has much higher efficiency than other general blockchain algorithms. We provide experimental results that demonstrate the algorithm's data consistency, efficiency, and reliability.

关键词： Cloud computing Fault tolerance Fault tolerant systems Peer-to-peer computing

来源：评论

学校读者我要写书评

暂无评论

An efficient decision and planning method for high speed autonomous driving in dynamic environment 28

An efficient decision and planning method for high speed aut...

引用

28th IEEE intelligent Vehicles Symposium, IV 2017

作者： Zhang, Kai Fu, Mengyin Yang, Yi Shang, Songtian Wang, Meiling State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing 100081 China

ISBN: (纸本)9781509048052

This paper describes an improved decision and planning algorithm based on our previously proposed methods for unmanned ground vehicle (UGV). The new method can be applied to UGV driving both in structured environment and unstructured environment. In the improved method, the prospect of planning is extended from 40m to 100m for safe driving at high speed and some piecewise linear speed functions are designed for the new prospect. After this improvement our UGV now can drive at a maximum speed of 60km/h rather than 40km/h while avoiding obstacles safely. Besides, a velocity feedforward control is added to make the UGV overtake other cars driving at about 25km/h on the road. At last, the collision detection algorithm is improved to make the lane changing maneuver safer. The proposed decision and planning algorithm is implemented both on our old Polaris all terrain vehicle (ATV) and new FAW-H7 car, which exhibited good performance on Across Dangers & Obstacles 2016, Tahe, China and Future Challenge 2016, Changshu, China, respectively. © 2017 IEEE.

关键词： Planning Automobiles Laser radar Roads Feedforward neural networks Collision avoidance Cameras

来源：评论

学校读者我要写书评

暂无评论

Effective approach for outdoor obstacle detection by clustering LIDAR data context

引用

Journal of Beijing Institute of Technology 2016年第4期25卷 483-490页

作者：王军政乔佳楠李静 Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.

关键词： context modeling clustering algorithm based on fast search and discovery of densitypeaks（CBFD） Hull algorithm obstacle detection obstacle fusion

来源：评论

学校读者我要写书评

暂无评论

Distributed Full Order Sliding Mode control for Finite-Time Attitude Synchronization and Tracking of Spacecraft

Distributed Full Order Sliding Mode Control for Finite-Time ...

引用

Chinese control Conference (CCC)

作者： Nsubuga Latifu Zhuoyue Song Chao Duan Zhen Li Housheng Su Qinghe Wu Xiangdong Liu State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China School of Automation Huazhong University of Science and Technology Wuhan People's Republic of China

This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group members. Modified Rodrigues parameters are used for attitude representation. A two layer sliding mode surface with fast non-singular terminal sliding mode surface (FNTSMS) as the inner layer and terminal sliding mode surface (TSMS) as the outer layer is used to create a full order sliding mode surface. The proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader's time varying attitude. Finite-time stability of the closed loop system is guaranteed by Lyapunov-based stability method. Simulation results are presented to validate the performance of the proposed control strategy.

关键词： Space vehicles Attitude control Synchronization Sliding mode control Decentralized control Symmetric matrices Stability analysis

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：