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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima 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 Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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Secure analysis of dynamic networks under pinning attacks against synchronization

arXiv

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arXiv 2019年

作者： Li, Yuzhe Shi, Dawei Chen, Tongwen State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110004 State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

In this paper, we first consider a pinning node selection and control gain co-design problem for complex networks. A necessary and sufficient condition for the synchronization of the pinning controlled networks at a homogeneous state is provided. A quantitative model is built to describe the pinning costs and to formulate the pinning node selection and control gain design problem for different scenarios into the corresponding optimization problems. Algorithms to solve these problems efficiently are presented. Based on the developed results, we take the existence of a malicious attacker into consideration and a resource allocation model for the defender and the malicious attacker is described. We set up a leader-follower Stackelberg game framework to study the behaviour of both sides and the equilibrium of this security game is investigated. Numerical examples and simulations are presented to demonstrate the main results. Copyright © 2019, The Authors. All rights reserved.

关键词： complex networks

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A class of uncertain chaotic systems using the fast terminal sliding mode control

A class of uncertain chaotic systems using the fast terminal...

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Chinese control Conference (CCC)

作者： Bai Yongqiang A Lata Li Xiaofang School of Automation Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing China Institute of State 157 factory Chendu China

ISBN: (纸本)9781467325813

Problems of uncertain chaotic systems with fast terminal sliding mode control are discoursed. Aim at the uncertainty parameters of chaotic systems, proposed a fast terminal sliding mode control method, and the corresponding sliding surface and controller are designed, which make the state variables of the system fast convergence to the equilibrium point in the limited time. And the examples are given to verify the feasibility of the system.

关键词： Sliding mode control Electronic mail Synchronization Chaotic communication Uncertainty Educational institutions

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Enhanced Data Augmentation for Bearing Fault Diagnosis by Using a Spectral Flow Model

Enhanced Data Augmentation for Bearing Fault Diagnosis by Us...

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Prognostics and system Health Management Conference (PHM)

作者： Xiaoyun Gong Mengxuan Hao Chuan Li Wenliao Du Yixiang Huang Henan International Joint Laboratory of Complex Mechanical Equipment Intelligent Monitoring and Control Zhengzhou University of Light Industry Zhengzhou China Research Center for System Health Maintenance Chongqing Technology and Business University Chongqing China The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350360585

ISBN: (纸本)9798350360592

While existing flow-based models have the potential for data enhancement and intelligent fault diagnosis of bearings, these methods are mainly based on the time domain to learn features. In general, time-domain and frequency-domain features are important for recognizing faults. Especially, the spectral features in the frequency domain can reveal highly distinct patterns associated with fault types. Therefore, learning spectral feature helps to obtain comprehensive fault information and achieve high fault diagnosis accuracy. In this work, a spectral flow model framework is developed to learn and generate realistic data from mechanical sensor signals. The performance of fault diagnosis under unbalanced data is improved by learning the information contained in the spectral features, which are utilized to generate insufficient fault data. Experimental results show that the present method can generate a large number of samples with higher similarity and better diversity on the bearing dataset. The generated samples may be used to expand the limited dataset and significantly improve the accuracy of the bearing fault diagnosis task.

关键词： Fault diagnosis Mechanical sensors Vibrations Training Accuracy Frequency-domain analysis Training data

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state Estimation of Finite-state Hidden Markov Models Subject to Stochastically Event-triggered Measurements

State Estimation of Finite-State Hidden Markov Models Subjec...

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IEEE Annual Conference on decision and control

作者： Wentao Chen Junzheng Wang Ling Shi Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 P.R. China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

ISBN: (纸本)9781479978878

We consider the event-triggered state estimation of a finite-state hidden Markov model with a general stochastic event-triggering condition. Utilizing the change of probability measure approach and the event-triggered measurement information available to the estimator, analytical expressions for the conditional probability distributions of the states are obtained, based on which the minimum mean square error event-based state estimates are further calculated. We show that the results also cover the case of packet dropout, under a special parameterization of the event-triggering conditions. With the results on state estimation, a closed-form expression of the average sensor-to-estimator communication rate is also presented. The effectiveness of the proposed results is illustrated by a numerical example and comparative simulations.

关键词： state estimation Hidden Markov models Event trigger Probability distribution Mean square error numerical example

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T-S fuzzy observer for nonlinear magnetic levitation system with uncertain variable friction coefficient

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 114-118页

作者： Zhou, Li-Jie Guo, Shu-Li Gao, Zhe School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex system Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

An adaptive fuzzy observer for nonlinear magnetic levitation system with uncertain friction coefficient is proposed. First, a T-S fuzzy model of the nonlinear magnetic levitation system is proposed. An observer is given by LMI method and the Lyapunov method. Through adding an auxiliary variable, it relaxes the constraint of the design of observer. The proposed approach is a more relaxed condition than others. Simulation results show the effectiveness of this approach. The results show that the position of magnetic levitation system is estimated effectively with unknown friction coefficient. There is some reference value for a kind of nonlinear systems with unknown parameter.

关键词： Lyapunov methods

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An algorithm based on ODLLTSA and SVM classier for door plate number recognition

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 789-793页

作者： Ma, Li-Ling Ji, Li-Jun Wang, Jun-Zheng School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

A new method is proposed, through combining the algorithm of orthogonal discriminant linear local tangent space alignment (ODLLTSA) and the support vector machine (SVM), to improve the accuracy of recognizing door plate numbers. The feature of door plate characters is first extracted by the ODLLTSA and then this extracted feature is used to train the SVM classifier. Finally, the new plate characters are classified by the trained SVM. Using the algorithm, a high recognition rate can be achieved. Experimental results show that this method is effective and robust in the real applications.

关键词： Support vector machines

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Ballistic method based on improved particle swarm optimization algorithm

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2013年第SUPPL.I期43卷 215-218页

作者： Cui, Jing Deng, Fang Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

In order to improve real-time performance of the fire control system, a ballistic resolving method based on the improved particle swarm optimization (PSO) algorithm is proposed, which improves the response speed of the system and provides a convenient extension to parallel computing on multicore platforms. First, particles are generated and initialized around the pre-estimated aiming angle. Then each particle is evaluated by an objective function composed of the ballistic differential equation etc. Finally, the position and velocity of particle swarm are updated. In order to accelerate the convergence speed, the correction angle of the global best particle obtained by Zhou's iterative and correction formula is used to guide the update of particle swarm. Experimental results show that the calculation speed is twice that of the iterative and correction method, and the convergence speed of particle swarm is 1.5 times that of the conventional PSO algorithm. Moreover, the proposed method is fully compatible with parallel computing and can further shorten execution time on multicore platforms.

关键词： Ballistics

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Optical encoder fault diagnosis based on characteristics of data and fuzzy logic

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 876-882页

作者： Deng, Fang Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China

The fault diagnosis for a class of widely used digital parallel output optical encoder were focused. After definition of the optical encoder, the main features of the optical encoder's output data were analyzed. A fault diagnosis method which did not rely on the system model where optical encoder used was proposed. The changes of optical encoder's output data were analyzed. Then, the inherent characteristics were calculated. The fuzzy logic was utilized to determine the fault type and locate the fault location. Theoretical analysis and experimental results show that this method can diagnose and isolate optical encoder fault accurately without disassembly.

关键词： Fuzzy logic

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Robust controller Design for Networked control systems with Nonlinear Uncertainties

Robust Controller Design for Networked Control Systems with ...

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2009 American control Conference (ACC 2009)

作者： Junyan Yu Long Wang Mei Yu Jie Chen Yingmin Jia Intelligent Control Laboratory Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing 100871 P.R.China Department of Automation North China Electric Power University Zhuxinzhuang Dewai Beijing 102206 P.R.China Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 P.R.China Seventh Research Division Beihang University Beijing 100083 P.R. China

ISBN: (纸本)9781424445233

We address robust stabilization problem for networked control systems with nonlinear uncertainties and packet losses by modelling such systems as a class of uncertain switched systems. Based on theories on switched Lyapunov functions, we derive the robustly stabilizing conditions for state feedback stabilization and design packet-loss dependent controllers by solving some matrix inequalities. A numerical example and some simulations are worked out to demonstrate the effectiveness of the proposed design method.

关键词： Networked control systems robust controller design Packet loss control systems design approach Switched systems controller design state feedback Uncertainty nonlinearity

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