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International Conference on Information and automation (ICIA)

作者： Jiebao Zhu Yu Sun Peng Gao Kailin Ma Ying Hu Yong Cao Department of Mechanical Engineering and Automation Shenzhen Graduate School Guangdong Provincial Key Laboratory of Robotics and Intelligent System Harbin Institutes of Technology Shenzhen Graduate School CAS The Chinese University of Hong Kong Jiaotong University

ISBN: (纸本)9781509041039

The accuracy of registration is one of the key issues in surgical navigation, which directly affects the result of operation. In this paper, we proposed a new registration algorithm, Tetrahedral Framework (TF), to improve precision and computing speed and conducted a calibration experiment by using the wax model with markers. The image data are obtained by Micro-CT scanning and loaded in VTK to gain the coordinate of the markers, while the tracking data in real space are collected from NDI equipment. The proposed TF algorithm can be described as follow. Firstly, the two point-sets are respectively divided into a tetrahedral framework part and a few of particles; secondly, the scale coefficient is calculated for mapping the image data into the real space; finally, the particle swarm optimization (PSO) is used to adjust the positions and attitude of image framework to acquire a maximal projection on the tracking framework planes. In order to improve the precision of registration, we combined the particles information in an optimization process. Besides, the experimental results show that the algorithm can satisfy the requirement in surgical navigation.

关键词： Navigation Mathematical model Robot kinematics Algorithm design and analysis Surgery Heuristic algorithms

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Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism

Design, modeling and control of a novel amphibious robot wit...

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IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2015

作者： Yi, Yang Geng, Zhou Zhang, Jianqing Cheng, Siyuan Fu, Mengyin School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781479999941

This paper describes a novel amphibious robot, which adopts a dual-swing-legs propulsion mechanism, proposing a new locomotion mode. The robot is called FroBot, since its structure and locomotion are similar to frogs. Our inspiration comes from the frog scooter and breaststroke. Based on its swing leg mechanism, an unusual universal wheel structure is used to generate propulsion on land, while a pair of flexible caudal fins functions like the foot flippers of a frog to generate similar propulsion underwater. On the basis of the prototype design and the dynamic model of the robot, some locomotion control simulations and experiments were conducted for the purpose of adjusting the parameters that affect the propulsion of the robot. Finally, a series of underwater experiments were performed to verify the design feasibility of FroBot and the rationality of the control algorithm. © 2015 IEEE.

关键词： Propulsion

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Analysis of Class Group Distinguishing Based Conceptual Models for Multiple Fault Diagnosis 34

Analysis of Class Group Distinguishing Based Conceptual Mode...

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第三十四届中国控制会议

作者： ZHANG Ke CHAI Yi LIU Jianhuan FENG Xiaohui State Key Laboratory of Power Transmission Equipment & System Security and New Technology College of Automation Chongqing University Department of Automation Tsinghua University

ISBN: (纸本)9781467374439

It is common that multiple fault exists in actual engineering and complex systems. Due to parameters in multiple faults tightly coupled, relationship between the fault mode and known mono-fault features is non-linear. Thus, it is hard to see how distinguish in mapping set for "fault to symptom". In this case, there is no guarantee that traditional diagnosis methods for mono-fault meet the demands. With the requirement, an analysis of the traits of multiple faults is made. A summarization is given to class group distinguishing(CGD) based methods that applied in fault diagnosis. Major defects in the methods that applied in multiple fault diagnosis are analyzed. On that basis, fault modes and symptoms are taken as key points. Conceptual models for multiple fault diagnosis based on CGD are gradually explored. By the models, actual faults can be mapped to one or more known mono-faults via distinguishing analysis, and therefore multiple faults can be diagnosed. There are 4 kinds of flow chart and construction for the models are established. Each of these models presents advantages and disadvantages are separately presented at the end of the chapter.

关键词： Multiple Fault,Fault Diagnosis,Class Group Distinguishing,Conceptual Models,Cluster,Classification

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Distributed H∞-Consensus Estimation for Moving Target using Constant Gain 34

Distributed H∞-Consensus Estimation for Moving Target using...

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第三十四届中国控制会议

作者： HU Chen HE Bing MA Xi LIU Gang Department of Automation Xian Institute of High-Tech State Key Laboratory of Intelligence Technology and System Department of Computer Science and Technology Tsinghua University

ISBN: (纸本)9781467374439

This paper studies the H∞-consensus estimation problem for a moving target using constant gain under local communication and stochastic noises, where the communication topology is assumed to be switched. To solve this problem, we propose a recursive H∞-consensus estimation algorithm using constant gain, which based on the solution of algebraic Riccati equation（ARE）. The stability properties of the proposed algorithm and a lower bound for estimation errors are investigated by using Lyapunov method and a common H∞ filter. The effectiveness of the proposed estimation algorithm are illustrated by simulations.

关键词： Multi-agent systems distributed estimation H∞ filter switching topology

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Application and Exploration of Big Data Mining in Clinical Medicine

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Chinese Medical Journal 2016年第6期129卷 731-738页

作者： Yue Zhang Shu-Li Guo Li-Na Han Tie-Ling Li Department of Cardiovascular Internal Medicine Nanlou Branch of Chinese People's Liberation Army General Hospital Beijing 100853 China State Key Laboratory of Intelligent Control and Decision Schoot of Automation Beijing Institute of Technology Beijing 100081 China Department of Cadre Physiotherapy Chinese People's Liberation Army General Hospital Beijing 100853 China

Objective： To review theories and technologies of big data mining and their application in clinical medicine. Data Sources： Literatures published in English or Chinese regarding theories and technologies of big data mining and the concrete applications of data mining technology in clinical medicine were obtained from PubMed and Chinese Hospital Knowledge Database from 1975 to 2015. Study Selection： Original articles regarding big data mining theory/technology and big data mining＇s application in the medical field were selected. Results： This review characterized the basic theories and technologies of big data mining including fuzzy theory, rough set theory, cloud theory, Dempster-Shafer theory, artificial neural network, genetic algorithm, inductive learning theory, Bayesian network, decision tree, pattern recognition, high-performance computing, and statistical analysis. The application of big data mining in clinical medicine was analyzed in the fields of disease risk assessment, clinical decision support, prediction of disease development, guidance of rational use of drugs, medical management, and evidence-based medicine. Conclusion： Big data mining has the potential to play an important role in clinical medicine.

关键词： Big Data Clinical Medicine Data Mining

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Matched Filter Based Spectrum Sensing When Primary User Has Multiple Power Levels

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China Communications 2015年第2期12卷 21-31页

作者： ZHANG Xinzhi GAO Feifei CHAI Rong JIANG Tao Key Lab of Mobile Communication Technology Chongqing University of Posts and Telecommunications Department of Automation Tsinghua UniversityState Key Lab of Intelligent Technologies and SystemsTsinghua National Laboratory for Information Science and Technology(TNList) Beijing Wuhan National Laboratory for Optoelectronics Department of Electronic and InformationHuazhong University of Science and Technology

In this paper,we investigate the matched filter based spectrum sensing in a more reasonable cognitive radio(CR) scenario when the primary user(PU) has more than one transmit power levels,as regulated in most standards,i.e.,IEEE 802.11 Series,GSM,LTE,LTE-A,*** new multiple primary transmit power(MPTP) scenario is specialized by two different targets:detecting the presence of PU and identifying the power *** to the traditional binary sensing where only the presence of PU is checked,SU may attain more information about the primary network(making CR more "intelligent") and design the subsequent optimization *** key technology is the multiple hypothesis testing as opposed to the traditional binary hypothesis *** discuss two situations under whether the channel phase is known or not,and we derive the closed form solutions for decision regions and several performance metrics,from which some interesting phenomenons are observed and the related discussions are *** examples are provided to corroborate the proposed studies.

关键词： spectrum sensing power recognition matched filter multiple primary transmit power multiple hypothesis testing power mask

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Rehabilitation with lower limb exoskeleton robot joint load adaptive server control

Rehabilitation with lower limb exoskeleton robot joint load ...

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International Conference on Information and automation (ICIA)

作者： Shaomin Zhang Can Wang Ying Hu Duxin Liu Ting Zhang Xinyu Wu Key Laboratory of Human-Machine-Intelligence Synergic Systems Chinese Academy ot Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Department of Mechanical and Automation The Chinese University of Hong Kong

ISBN: (纸本)9781509041039

In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia, so driving joints was designed based on fuzzy control. Load adaptive servo controller makes the robot in rows, counter rotating torque moment of inertia of change and change has a better adaptability, and improves the smoothness of joint movement. This method was tested and the test on SIAT exoskeletons, verify the feasibility of joint adaptive control algorithm.

关键词： Servomotors Legged locomotion Exoskeletons Torque DC motors

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A Multi-dimensional Trust-aware Cloud Service Selection Mechanism Based on Evidential Reasoning Approach

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International Journal of automation and computing 2015年第2期12卷 208-219页

作者： Wen-Juan Fan Shan-Lin Yang Harry Perros Jun Pei School of Management Hefei University of Technology Department of Computer Science North Carolina State University The Ministry of Education Key Laboratory of Process Optimization and Intelligent Decision Making Department of Industry and System Engineering University of Florida

In the last few years, cloud computing as a new computing paradigm has gone through significant development, but it is also facing many problems. One of them is the cloud service selection problem. As increasingly boosting cloud services are offered through the internet and some of them may be not reliable or even malicious, how to select trustworthy cloud services for cloud users is a big challenge. In this paper, we propose a multi-dimensional trust-aware cloud service selection mechanism based on evidential reasoning(ER) approach that integrates both perception-based trust value and reputation based trust value, which are derived from direct and indirect trust evidence respectively, to identify trustworthy services. Here, multi-dimensional trust evidence, which reflects the trustworthiness of cloud services from different aspects, is elicited in the form of historical users feedback ratings. Then, the ER approach is applied to aggregate the multi-dimensional trust ratings to obtain the real-time trust value and select the most trustworthy cloud service of certain type for the active users. Finally, the fresh feedback from the active users will update the trust evidence for other service users in the future.

关键词： Cloud service selection multi-dimensional trust evidence trust and reputation evaluation evidential reasoning(ER) clond service

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Robust fault tolerant manoeuvring and rudder control of marine vehicles with state saturation

Robust fault tolerant manoeuvring and rudder control of mari...

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IEEE International Conference on Industrial technology (ICIT)

作者： Xiaozheng Jin Qiuhong Liu Yu Kang Jiahu Qin School of Electrical Engineering and Automation HeFei University of Technology HeFei AnHui China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Technology in Geo-Spatial Information Processing and Application System Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467380768

In this paper, the problem of rudder-roll damping control for a class of cruise keeping ships subject to both actuator fault and state saturation is investigated. A manoeuvring and rudder control model of marine vessels is firstly reviewed based on the existing literature. Actuator faults which including partial loss of rudder effectiveness and actuator-bias faults are considered in the model. Then a switching control strategy is developed to compensate for the actuator faults and to guarantee the stability of the rudder-roll damping control system. Moreover, some relationship regarding state saturation bounds, actuator fault limits and control parameters are analyzed in this paper. Finally, simulation results are given to illustrate the proposed procedures and their effectiveness.

关键词： Actuators Vehicles Damping Mathematical model Marine vehicles Vehicle dynamics

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Event-based state estimation of discrete-state hidden Markov models

Event-based state estimation of discrete-state hidden Markov...

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作者： Shi, Dawei Elliott, Robert J. Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Mathematical Sciences University of Adelaide SA5005 Australia Haskayne School of Business University of Calgary CalgaryAB Canada Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

The state estimation problem for hidden Markov models subject to event-based sensor measurement updates is considered in this work, using the change of probability approach. We assume the measurement updates are transmitted through wired or wireless communication networks. For the scenarios with reliable and unreliable communication channels, analytical expressions for the probability distributions of the states conditioned on all the past point- and set-valued measurement information are obtained. Also, we show that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results. Based on these results, closed-form expressions for the estimated communication rates under the original probability measure are presented, which are shown to be the ratio between a weighted 1-norm and the 1-norm of the unnormalized conditional probability distributions of the states under the new probability measures constructed. Implementation issues are discussed, and the effectiveness of the results is illustrated by numerical examples and comparative simulations. © 2015 Elsevier Ltd. All rights reserved.

关键词： Hidden Markov models

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