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Chinese control Conference (CCC)

作者： Jing Li Junzheng Wang Jiali Mao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing Beijing CN

Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can't be described by simple gray information completely. In order to achieve automatic color moving object detection, the method based on automatic color clustering is especially proposed. Because the difference between adjacent pixels in an image is very small, the initial cluster center can be moved in the maximum distance. The proposed method can reduce the number of iterations and quicken convergence speed, meanwhile determine the number of color cluster and the location of the color object automatically. The proposed algorithm is validated in the actual system, experimental results show that the proposed method can automatically achieve color clustering for color image, while detect color objects.

关键词： Image color analysis Clustering algorithms Image segmentation Color Classification algorithms Object segmentation Object detection

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Active disturbance rejection control of servo platform using improved nonlinear control law

Active disturbance rejection control of servo platform using...

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International Conference on intelligent control and Information Processing (ICICIP)

作者： Hang Zhang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479936519

A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.

关键词： PD control Servomotors Tuning Mathematical model Observers Hardware

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Improved ICCP algorithm and its application in gravity matching aided inertial navigation system

Improved ICCP algorithm and its application in gravity match...

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Chinese control Conference (CCC)

作者： Meiqi Liu Bo Wang Zhihong Deng Mengyin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing Beijing CN

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 system. Instead of using the sequence sampling, the single point sampling is applied to improve the structure of proposed algorithm, enhancing the matching speed and efficiency. In 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 trajectory. Simulation results show the effectiveness of the real-time ICCP algorithm and the combined filter algorithm. Comparing to the traditional methods, proposed method provides higher matching and navigation accuracy.

关键词： Gravity Filtering algorithms Algorithm design and analysis Navigation Accuracy Filtering theory

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Human-like walking patterns with pelvic rotation for a humanoid robot

Human-like walking patterns with pelvic rotation for a human...

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World Congress on intelligent control and Automation (WCICA)

作者： Wen Zhang Qiang Huang Zhangguo Yu Gao Huang Xuechao Chen Jing Li Gan Ma Libo Meng Yan Liu Si Zhang Weimin Zhang Junyao Gao Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the transverse plane during human walking are studied. Second, the mechanism design of a humanoid robot waist for pelvic rotations is presented. Then, a walking trajectory planning with pelvic rotation to improve the stability margin is proposed. Finally, the effectiveness of the method is demonstrated through simulations and experiments on BHR-5.

关键词： Legged locomotion Humanoid robots Trajectory Joints Pelvis Stability analysis

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Fast trajectory planning of reactive operation considering manipulability for a humanoid

Fast trajectory planning of reactive operation considering m...

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World Congress on intelligent control and Automation (WCICA)

作者： Yan Liu Jing Li Zhangguo Yu Wen Zhang Qiang Huang Xuechao Chen Gan Ma Libo Meng Si Zhang Fei Meng Weimin Zhang Junyao Gao Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper, efforts are made to generate trajectory for these operations. Firstly, an extended manipulability index is proposed to optimize the key poses so that the humanoid robot has the manipulability considering joint limits at the key poses, which makes it convenient to adjust the trajectory. Secondly, a fast approach to generating the whole trajectory consisting of all the key poses and the strategies to realize the trajectory adjustment when specifications change are proposed. Finally, the ZMP (Zero Moment Point) displacement excited by the reactive operations is also given to decide whether the generated trajectory is feasible. The effectiveness of the method is demonstrated through simulations.

关键词： Trajectory Joints Humanoid robots Indexes Jacobian matrices Optimization

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complex Terrain Perception based on Hidden Markov Model

Complex Terrain Perception based on Hidden Markov Model

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IEEE International Conference on intelligent Transportation systems

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

Terrain perception in complex environment is important for Autonomous Land Vehicle to drive automatically. In 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 vision. On the basis of spatial fan-shaped model, terrain feature extraction is performed to acquire the observation model. Hidden markov models describe the vertical structure of the driving space and Viterbi algorithm is used for terrain classification. Then the navigation decision is given based on the perception of the complex environment. Experiment 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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Distributed Attitude Coordinated Tracking control for Multi-group Spacecrafts Based On Input Normalized Adaptive Neural Network

Distributed Attitude Coordinated Tracking Control for Multi-...

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American control Conference

作者： Xiangdong Liu Chao Gan Pingli Lu School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781479932757

In this paper, the distributed attitude coordinated tracking controller is presented for multi-group spacecrafts based on input normalized adaptive neural network. In contrast to the existing works about spacecraft formation flying(SFF), where all spacecrafts reach the same reference attitude asymptotically, we require that all spacecrafts track several leaders and each spacecraft only synchronize within its group leader, respectively. A distributed finite time observer is proposed for each spacecraft to obtain an accurate estimation of its corresponding reference attitude. A distributed attitude coordination controller based on input normalized neural network is proposed to guarantee that the whole spacecrafts track their corresponding reference attitude cooperatively. Based on Lyapunov theory, the stability of the overall closed-loop system is guaranteed, and numerical simulations are shown to demonstrate the effectiveness of the proposed controller.

关键词： SFF Distributed Attitude Coordinated Tracking control Multi-group Spacecrafts Based Spacecraft adaptive neural network tracking control Attitude ENTERING tracking controller Induction loop systems Distribute

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Robust Attitude Coordination control for Satellite Formation with Matched Perturbations and Measurement Noises

Robust Attitude Coordination Control for Satellite Formation...

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American control Conference

作者： Xiangdong Liu Yaohua Guo Pingli Lu School of Automation BIT and the National Key Laboratory of Complex System Intelligent Control and Decision (BIT) China School of Automation BIT

ISBN: (纸本)9781479932757

In this paper, robust attitude coordination control for satellite formation is addressed in the presence of matched perturbations and measurement noise based on the development of reference model. The reference model generates a smooth and coordinated attitude reference trajectory(ART) for each satellite, which is favorable for the design of attitude tracking and formation keeping control law. The sliding mode control is applied such that the satellite formation controller is global robust against matched perturbations. To attenuate the influence of measurement noise on formation-keeping(i.e., H_∞-type performance), linear matrix inequality(LMI) method is used to design sliding-mode parameters. Finally, a numerical example is introduced to illustrate the efficiency of the proposed method.

关键词： Satellites Noise Attitude control Noise measurement Subspace constraints Trajectory Robustness

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Teleoperation of a Virtual iCub Robot under Framework of Parallel system via Hand Gesture Recognition

Teleoperation of a Virtual iCub Robot under Framework of Par...

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IEEE International Conference on Fuzzy systems

作者： Chen Li Hongbin Ma Chenguang Yang Menyin Fu School of Automation as well as State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479920747

This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.

关键词： Solid modeling Mathematical model MATLAB Robot kinematics Gesture recognition Fuzzy logic

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Hybrid optimization of dynamic deployment for networked fire control system

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Journal of systems Engineering and Electronics 2013年第6期24卷 954-961页

作者： Chen Chen Jie Chen Bin Xin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

With applying the information technology to the military field, the advantages and importance of the networked combat are more and more obvious. In order to make full use of limited battlefield resources and maximally destroy enemy targets from arbitrary angle in a limited time, the research on firepower nodes dynamic deployment becomes a key problem of command and control. Considering a variety of tactical indexes and actual constraints in air defense, a mathematical model is formulated to minimize the enemy target penetration probability. Based on characteristics of the mathematical model and demands of the deployment problems, an assistance-based algorithm is put forward which combines the artificial potential field （APF） method with a memetic algorithm. The APF method is employed to solve the constraint handling problem and generate feasible solutions. The constrained optimization problem transforms into an optimization problem of APF parameters adjustment, and the dimension of the problem is reduced greatly. The dynamic deployment is accomplished by generation and refinement of feasible solutions. The simulation results show that the proposed algorithm is effective and feasible in dynamic situation.

关键词： deployment optimization artificial potential field （APF） constraint handling generation of feasible solutions memetic algorithm

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