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Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

Journal of systems Engineering and Electronics 2013年第4期24卷 655-665页

作者： Fang Deng Jie Chen Chen Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.

关键词： parameter estimation state estimation unscented Kalman filter （UKF） strong tracking filter wavelet transform.

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Event-Triggered Networked Predictive controller Design for Linear systems with Communication Delay

Event-Triggered Networked Predictive Controller Design for L...

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第三十三届中国控制会议

作者： Di Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479947249

This paper is concerned with the controller design for networked control systems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.

关键词： Networked control system,Networked predictive control,Event-triggered control,Lyapunov function

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Further Improvements in Stability Analysis of Linear systems with Interval Time-varying Delay

Further Improvements in Stability Analysis of Linear Systems...

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第25届中国过程控制会议

作者： Jian Sun Sheng-Lan Xiao School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.

关键词： Time-delay system,Delay-dependent stability,Interval delay,Linear matrix inequality

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sEMG-based single-joint active training with iLeg—A horizontal exoskeleton for lower limb rehabilitation

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Lecture Notes in Computer Science

作者： Hu, Jin Hou, Zeng-Guang Peng, Liang Peng, Long Gu, Nong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Centre for Intelligent Systems Research Deakin University 75 Pigdons Road Waurn PondsVIC3216 Australia

ISBN: (纸本)9783319126425

In this paper, surface electromyography (sEMG) from muscles of the lower limb is acquired and processed to estimate the singlejoint voluntary motion intention, based on which, two single-joint active training strategies are proposed with iLeg, a horizontal exoskeleton for lower limb rehabilitation newly developed at our laboratory. In damping active training, the joint angular velocity is proportionally controlled by the voluntary effort derived from sEMG, performing as an ideal damper, while spring active training aims to create a spring-like environment where the joint angular displacement from the constant reference is proportionally controlled by the voluntary effort. Experiments are conducted with iLeg and one healthy male subject to validate the feasibility of the two single-joint active training strategies. © Springer International Publishing Switzerland 2014.

关键词： Exoskeleton (Robotics)

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An adaptive unimodal and hysteresis thresholding method

Communications in Computer and Information Science

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Communications in Computer and Information Science 2014年 472卷 552-556页

作者： Yu, Yin Li, Zhen Liu, Bing Liu, Xiangdong School of Automation Beijing Institute of Technology Beijing China Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9783662450482

This paper addresses the unimodal and hysteresis thresholding, where a pair of low and high thresholds is under investigation targeted with the unimodal image histogram. The novel bowstring is introduced to make an accurate priori -measurement of the overall tendency of the histogram. The dual-threshold is further computed by adaptively searching two tangent points corresponding to the properly defined transitional characteristics over the whole histogram. The effectiveness of this proposed algorithm is evaluated using the Baddeley’s discrepancy. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Graphic methods

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Cooperative Adaptive Fuzzy control of High-Order Nonlinear Multi-Agent systems with Unknown Dynamics

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IFAC Proceedings Volumes 2014年第3期47卷 9774-9779页

作者： Jie Huang Hao Fang Jie Chen Lihua Dou Fang Deng School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China Fujian Institute of Education Fuzhou 350025 China

This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.

关键词： Multi-agent systems Distributed control Consensus High-order Backstepping Fuzzy logic systems

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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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HCLC integration design and high-precision control of a joint for space manipulator 20

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20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

作者： Jiang, Zhihong Li, Hui Dong, Que Zhang, Xiaodong Tang, Zixing Rao, Wei Mo, Yang Ji, Chenjun Huang, Qiang IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9783319070575

A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for space manipulator joint with high-cohesion and low-coupling (HCLC) performance. Moreover, the mechanical and electrical interfaces of designed joint are especially suitable for space manipulator. First, To achieve higher system performance, the joint is designed as a whole for perfect match among components including permanent magnet synchronous motor (PMSM), motor controller and driver, sensors, space environment controller, reducer, routing and other mechanisms, which could eliminate redundant shell packages and mounting surfaces existed in traditional manipulator joint. Second, a new method is presented to design the rotors of two resolvers as joint sensors at the same axis shared with motor rotor, this kind of design has the advantages of redundant and high-precision sensing for the positions of motor rotor and joint, and joint position signal is differential sensing and has high robustness. Then, a kind of high-precision controller is presented for space manipulator based on a new PMSM model with model difference, and this controller is robust to joint nonlinear factors, such as friction and other disturbance torque. Finally, the experimental results showed the designed joint had fine performances with high power density, high controlling precision and high operation stability and so on, and it is suitable for the application of space manipulator. © Springer International Publishing Switzerland 2014.

关键词： controllers

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An Approach of Bayesian Filtering for Stochastic Boolean Dynamic systems

An Approach of Bayesian Filtering for Stochastic Boolean Dyn...

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第26届中国控制与决策会议

作者： Hongbin MA Dong WANG Hongsheng QI Mengyin FU School of Automation Beijing Institute of Technology the State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences

This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measurement is an arbitrary function of the state yet with additive binary measurement *** problem of figuring out the true state using the only available noisy outputs is crucial for practical applications of Boolean dynamic system models, however, for such Boolean systems with wide background, there are no ready-to-use convenient tools like Kalman filter for linear systems. To resolve this challenging problem, an approach based on Bayesian filtering called Boolean Bayesian Filter(BBF) is put forward to estimate the true states of SBDS, and an efficient algorithm is presented for their exact computation. An index to evaluate the filtering performance,named estimation error rate, is put forward in this paper as well. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed algorithm based on BBF.

关键词： Stochastic Boolean dynamic systems,Bayesian filtering,estimation algorithm,estimation error rate

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Fluorescence and SEM correlative microscopy for nanomanipulation of subcellular structures

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Light(Science & Applications) 2014年第1期3卷 13-19页

作者： Zheng Gong Brandon K Chen Jun Liu Chao Zhou Dave Anchel Xiao Li Ji Ge David P Bazett-Jones Yu Sun Advanced Micro and Nanosystems Laboratory University of TorontoTorontoON M5S 3G8Canada State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China The Genetics and Genome Biology Program the Hospital for Sick ChildrenTorontoON M5G 1X8Canada

Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within sub-nuclear locations of a single cell *** nanomanipulation of sub-cellular structures,a key step is to identify targets of interest through correlating fluorescence and SEM *** DNA extraction task must be conducted with low accelerating voltages resulting in low imaging *** is imposed by the necessity of preserving the biochemical integrity of the *** poor imaging conditions make the identification of nanometer-sized fiducial marks *** paper presents an affine scale-invariant feature transform(ASIFT)based method for correlating SEM images and fluorescence microscopy *** performance of the image correlation approach under different noise levels and imaging magnifications was quantitatively *** optimal mean absolute error(MAE)of correlation results is 68634 nm under standard *** with manual correlation by skilled operators,the automated correlation approach demonstrates a speed that is higher by an order of *** the SEM-fluorescence image correlation approach,targeted DNA was successfully extracted via nanomanipulation under SEM conditions.

关键词： correlative microscopy fluorescence image correlation nanomanipulation SEM subcellular structures

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