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Building GIS for Unmanned Ground Vehicles in the Urban Traffic Environment 33

Building GIS for Unmanned Ground Vehicles in the Urban Traff...

引用

第三十三届中国控制会议

作者： WANG Xinping WANG Meiling ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

ISBN: (纸本)9789881563842

As an important research field of intelligent Transport system(ITS),Unmanned Ground Vehicles(UGV)can lessen traffic accidents and relieve traffic congestion by high intelligence,thereby improving the efficiency of the entire *** and more complex urban traffic environment forces UGV to perceive a lot of environmental information,and the Geographic Information system(GIS)has strong capabilities of storage and management for geographic ***,a new method for constructing GIS database is proposed in this paper,which combines the characteristics of urban traffic and needs for perceiving the environment of UGV,to assist UGV in moving in the urban traffic environment ***,Google Earth is used to create the city ***,an urban road network model is proposed and the GIS database of urban traffic environment is constructed based on the ***,the GIS database is used to achieve the least-time route based on improved Dijkstra ***,the GIS database can provide the attributive information of roads in the real vehicle experiment,which guides UGV to perceive the environment *** have shown that the proposed GIS database performs well in assisting UGV to move autonomously in the urban traffic environment.

关键词： GIS,UGV,Urban traffic environment,Database,Road network model

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Visualisation of the Early-Stage Vibration of the Automatic-Gauge-control Hydraulic Cylinder Based on the Acoustic Emission Hits-Density Imaging

Visualisation of the Early-Stage Vibration of the Automatic-...

引用

2015年中国智能自动化学术会议

作者： Hongzhi Chen Yongli Zhao Jie Huang Chang Cheng State Key Laboratory of Hybrid Process Industry Automation System and Equipment Technology Automation Research and Design Institute of Metallurgical Industry Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Fujian Institute of Education

By taking into account the hits-density imaging technique that has been introduced by authors' previous publications, the acoustic emission bursts emitted from the automatic-gauge-control hydraulic cylinder under normal loading and early-stage vibration were investigated. First, six acoustic emission descriptors that showed significance regarding the cumulative probability distribution were visualised, followed by the reconstruction of the hits-density images using these features;Through the visual examination of the hits-density images regarding the cylinders' normal loading and early-stage vibration, apparent visual differences between normal and early-stage vibration under the same loading can be observed;By projecting the hits-density images onto the principal component space, a trajectory which represents the condition developments was observed, which shows a visual-based resolution for dealing with vast transient bursts data reduction,reconstruction and visualisation.

关键词： Visualisation Hits-density imaging Early-stage vibration Acoustic emission

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Improved ICCP Algorithm and Its Application in Gravity Matching Aided Inertial Navigation system 33

Improved ICCP Algorithm and Its Application in Gravity Match...

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第三十三届中国控制会议

作者： LIU Meiqi WANG Bo DENG Zhihong FU Mengyin School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563842

Considering two disadvantages in traditional gravity matching aided inertial navigation system,low matching accuracy and error accumulation,we propose an improved gravity matching algorithm and aided method for inertial navigation *** of using the sequence sampling,the single point sampling is applied to improve the structure of proposed algorithm,enhancing the matching speed and *** the aided navigation system method,we use combination of Sage-Husa adaptive filter and strong-tracked Kalman filter to make further optimal estimation of the matching *** results show the effectiveness of the real-time ICCP algorithm and the combined filter *** to the traditional methods,proposed method provides higher matching and navigation accuracy.

关键词： gravity aided navigation,single-point sampling,combined filter

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Research on Standardized Development Method of Scenario for Combat Information Simulation system 33

Research on Standardized Development Method of Scenario for ...

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第三十三届中国控制会议

作者： SUN Zhen DING Shuxin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479947249

Analysis and design of simulation scenario, design and application of scenario system are problems needed to be solved in the development and performance verification of simulation system. Consequently, a standardized development method for developing scenario based on a kind of combat information simulation system is proposed in this paper. Firstly, according to the requirements for generation of scenario which are decided by simulation system, the combining of military conceptual model and the entity oriented modeling method(EATI method) is used to build scenario structure model accurately and without distortion. Secondly, description of content and realizing form for scenario are constrained and standardized by extensible markup language(XML). Finally, a visualized and flexible scenario system model is built based on former theory analysis, which is independent of simulation system. This paper not only solves the problem existed in scenario and scenario system, but also implements rapid development of scenario, which provides important theory guiding meaning.

关键词： Scenario,Military Conceptual Model,EATI Method,XML Schema,Combat Information Simulation system

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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第六届全国语言动力系统研讨会

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chine Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries Qingdao China

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system,especially the similar cases *** can not only save the patients' waiting time,but also make use of the historical resources,for many cases with the same purpose have been solved ***,because of the diversity and non-standard of the patients' descriptions,the inquiry platform cannot find the cases with similar semantic *** traditional retrieval methods require the overlap of two sentences,and this is not suitable with the diversity and non-standard *** this paper,we try to utilize the sentences' semantic representation in a continuous space to understand the cases,and then recommend the similar *** also incorporate it into query likelihood language models,trying to get better *** experimental data are all collected from a real internet inquiry platform,and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： internet inquiry similar cases recommendation distributed representation data mining

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Development of hydraulically driven shaking table for damping experiments on shock absorbers

Development of hydraulically driven shaking table for dampin...

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作者： Wang, Shou-Kun Wang, Jun-Zheng Xie, Wen Zhao, Jiang-Bo Key Laboratory of Intelligent Control and Decision for Complex System Beijing Institute of Technology Beijing100081 China

The hydraulically driven shaking table has been developed for damping characteristic experiments on shock absorbers in this paper. The damping characteristics and corresponding experiments on the double-tube hydraulic absorber are analyzed firstly, and its damping force model is also built. Then the working principle is introduced, and the structure and components of the physical shaking table are described, especially the hydraulic actuator, composed of servo valve controlled asymmetric cylinder with damping load, is analyzed. Considering parameter uncertainty, nonlinearity, asymmetry and time-variation of such hydraulic system, as well as repeatability of desired trajectory, an open-closed-loop ILC scheme is designed to solve the challenging control issue. The simulation and experiments are developed to verify the feasibility of working principle and the superiority of proposed control method. The hydraulically driven shaking table developed by discussed electro-hydraulic control technology has been applied in actual damping characteristic experiments for a serial of shock absorbers, and achieved satisfactory testing performance. © 2014 Elsevier Ltd.

关键词： Shock absorbers

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A novel GIS platform for UGV application in the unknown environment

A novel GIS platform for UGV application in the unknown envi...

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International Conference on Geoinformatics

作者： Qiangrong Yang Meiling Wang Mei-po Kwan Yi Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing China School of Automation Beijing institute of Technology Beijing China Department of Geography and Geographic Information Science University of Illinois at Urbana Champaign Champaign IL USA

ISBN: (纸本)9781467376648

Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.

关键词： Navigation Vehicles Robots

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Gait planning and compliance control of a biped robot on stairs with desired ZMP 19

Gait planning and compliance control of a biped robot on sta...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Chen, Guangrong Wang, Junzheng Wang, Lipeng Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology BeijingCO 100081 China

ISBN: (纸本)9783902823625

For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples. © IFAC.

关键词： Compliance control

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Event-based state Estimation of a Discrete-state Hidden Markov Model through a Reliable Communication Channel

Event-based State Estimation of a Discrete-State Hidden Mark...

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第三十四届中国控制会议

作者： Dawei Shi Robert J.Elliott Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology School of Mathematical Sciences University of Adelaide SA 5005 Australia the Haskayne School of Business University of Calgary

ISBN: (纸本)9781467374439

In this work, a state estimation problem is considered for a hidden Markov model subject to event-based sensor measurement updates sent through a reliable communication channel. The change of probability approach is utilized to consider the estimation problem, and an analytical expression for the probability distributions of the states conditioned on all the past hybrid point- and set-valued measurement information caused by the event-triggering scheme is obtained. Also, it is shown that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results,and thus can be solved by applying the proposed results.

关键词： Event-based estimation,Hidden Markov models,Optimal estimation

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