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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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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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A Positioning Algorithm of Autonomous Car Based on Map-matching and Environmental Perception 33

A Positioning Algorithm of Autonomous Car Based on Map-match...

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第三十三届中国控制会议

作者： XU Qian WANG Meiling DU Zhifang ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System Chongqing Jialing Huaguang Photoelectric Technology Co.Ltd.

ISBN: (纸本)9789881563842

Autonomous car is an important tool for transportation and military in the future,and its precise positioning is the basis of autonomous *** positioning algorithms based on map-matching for autonomous car make little use of environmental perception *** solve this problem,a positioning algorithm is proposed in this paper,which is based on map-matching and environmental perception for autonomous *** algorithm includes macroscopic road matching and microscopic precise *** for macroscopic road matching,the algorithm makes use of computational geometry to match the position of autonomous car to the corresponding road,based on GPS point and map information of the road *** for microscopic precise positioning,the algorithm makes use of the environmental perception,which is detected by the autonomous car to make precise *** road matching provides matching road to microscopic precise positioning,and microscopic precise positioning eliminates gross error produced in macroscopic road *** real car tests,the algorithm can match map quickly,improving the positioning precision with strong real-time.

关键词： Autonomous car,Map-matching,Environmental perception,Computational geometry

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Design and Implementation of the Knowledge Base for Battlefield Task Management system 33

Design and Implementation of the Knowledge Base for Battlefi...

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第三十三届中国控制会议

作者： Zhang Jia Wang Xiang School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education

ISBN: (纸本)9781479947249

In order to reduce the operators on the battlefield, and obtain adequate knowledge and improve reaction speed to enhance combat efficiency, the paper builds a knowledge base of battlefield mission management system to manage a variety of required knowledge on the battlefield and supervise each mission profile. Knowledge is presented by production method and is reasoned by forward reasoning method. According to different levels of battlefield tasks, task links are used to organize knowledge. Take combat preparation mission profile as an example, we design every data sheet of the knowledge base. The knowledge base of the battlefield management system could enhance the reusability, sharing and timeliness of knowledge on the battlefield.

关键词： Battlefield Task Management Knowledge Base Task Links Mission Profile

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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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A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

A new control method of quadruped robot walking on rough ter...

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IEEE International Conference on Robotics and Biomimetics

作者： Xin Li Junyao Gao Qiang Huang Haojian Lu Zhe Xu Yi Liu Intelligent Robotics Institute Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.

关键词： Legged locomotion Foot Trajectory Mathematical model Robot sensing systems

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Data yard based system effectiveness evaluation and decision support method

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Guofang Keji Daxue Xuebao/Journal of National University of Defense Technology 2014年第1期36卷 124-130页

作者： Chen, Chen Wang, Yun 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

With the development of information technology, the increase of system information brings new problems to the military system effectiveness evaluation. Aiming at nonlinear, high dimension and strong coupling data of system effectiveness analysis, a data yard based system effectiveness evaluation and decision support method was proposed. Data recovery, subtraction, refinement and reconstruction operations were applied to the simulation data processing, then a data yard cube was built up to meet the multiple demands for system analysis of different levels and data dependency were reduced. Taking task-oriented networked fire control system for example, its system effectiveness evaluation, timeliness evaluation and indices analysis were carried out, and practicability and validity of the method were verified in three levels. Applying data mining technology to the simulation system effectiveness evaluation decision-making, makes it get more extensive application.

关键词： Data mining

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A Map Matching Algorithm for Inertial Navigation systems Based on the Adaptive Projection Method

A Map Matching Algorithm for Inertial Navigation Systems Bas...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Hao Luo Zhihong Deng Mengyin Fu Bo Wang National Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing China

ISBN: (纸本)9781479970063

In this paper, it studies the various elements of map-matching algorithm, in order to achieve better real-time and accuracy for vehicle navigation systems. This paper uses two-stage staggered mesh, combined with the second round screening domain. Using of vehicle location, direction, road geometric and topological relations with the angular rate of change, this paper proposes a new map matching algorithm, angle and distance segment dominated approach. The results show that the map-matching algorithm in this paper can achieve vehicle navigation and positioning functions accurately and quickly.

关键词： Roads Vehicles Navigation Accuracy Real-time systems Network topology Adaptive algorithms

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complex Terrain Perception based on Hidden Markov Model

Complex Terrain Perception based on Hidden Markov Model

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Meiling WANG Liang ZUO Yi YANG Qiangrong YANG Tong LIU School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex System

Terrain perception in complex environment is important for Autonomous Land Vehicle to drive *** order to access the terrain information,in this paper,we present a terrain perception method based on Hidden Markov Model(HMM) which combines LIDAR with machine *** the basis of spatial fan-shaped model,terrain feature extraction is performed to acquire the observation *** markov models describe the vertical structure of the driving space and Viterbi algorithm is used for terrain *** the navigation decision is given based on the perception of the complex *** results show that the method can give an accurate environment description for ALV.

关键词： terrain perception,sensor fusion,feature extraction,principal component analysis,multihidden markov models

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