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Chinese Control and Decision Conference, CCDC

作者： Lei Dai Chong Wu Juntong Qi Janda Han Graduate School of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

The Kalman filter has characteristics of the noise-sensitive. This paper analyzes the adaptive Kalman filter algorithms which are based on Sage-Husae, neural network and fuzzy logic method. And an adaptive Kalman filter based on fuzzy logic is designed to estimate the attitude, heading and velocity of the RUAV. Combining the characteristics of RUAV platform and analyzing the real flight data, the fuzzy inference rules are designed to change the filtering parameters. With the actual flight data, the simulation verifies the validity of this algorithm. The experiments prove that this method can improve the navigation precision of RUAV.

关键词： Noise Noise measurement Kalman filters Mathematical model Equations Global Positioning system

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An online stair-climbing control method for a transformable tracked robot

An online stair-climbing control method for a transformable ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nan Li Shugen Ma Bin Li Minghui Wang Yuechao Wang Graduate School of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Robotics Ritsumeikan University Kusatsu Japan

Stair-climbing is a necessary capacity for mobile robots. This paper presents an online control method for the stair-climbing of a transformable tracked robot, Amoeba-II, and this robot is also an isomerism-modules robot with different mechanism modules. Based on the reasonable compartmentalization and kinematics analysis of the stair-climbing process, the coordination of the rotations of modules can reduce the slippage between tracks and terrain. To ensure that the robot can climb stairs with enough capability and stability, the stair-climbing criterion for the robot has been established based on the force analysis of each stage of the stair-climbing procedure. Meanwhile, the interference-avoiding criterion has been set up to avoid the interference between the non-tracked module of the robot and the stair. The experiment for the stair-climbing of the robot has been implemented to certify the validity of the online stair-climbing control method for a transformable tracked robot.

关键词： Force Robot kinematics Joining processes Neodymium Tracking Mobile robots

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New self-calibration approach to space robots based on hand-eye vision

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Journal of Central South University 2011年第4期18卷 1087-1096页

作者：刘宇刘宏倪风雷徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was *** the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration *** particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space *** above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye *** results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the *** the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.

关键词： space robot self-calibration cost function hand-eye vision particle swarm optimization algorithm

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A model reference adaptive PID control for electromagnetic actuated micro-positioning stage

A model reference adaptive PID control for electromagnetic a...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Shunli Xiao Yangmin Li Jinguo Liu Department of Electromechanical Engineering University of Macau Taipa Macao China State Key Laboratory Robotics of Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

This paper presents a model reference adaptive PID controller for controlling a novel compliant flexures-based XY micro-positioning stage driven by electromagnetic actuators. The stage is specially designed by employing double four-bar parallelogram flexures and four non-contact electromagnetic force actuators to realize the kinematic decoupling and force decoupling respectively. Based on preliminary open loop experiments and simple PID controller based close-loop experiments, we found that the system is with typical hysteresis and nonlinear characteristics. As model reference adaptive control techniques possess great advantages to tackle robustness issues of nonlinear and model uncertainty systems, it is designed and adopted to control the micro-manipulator system. At first, a model reference adaptive PID controller design process is introduced. Then control parameters are systematically tuned based on intuitive desired performance and robustness. At last, experimental results verify the process for controlling the micro-positioning stage, which shows that the adopted controller can drive the mobile stage to track the desired reference path exactly.

关键词： Adaptation models Actuators Electromagnetics Hysteresis Mathematical model Force Robustness

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Development and Experiments of the Sea-Wing Underwater Glider

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China Ocean Engineering 2011年第4期25卷 721-736页

作者：俞建成张艾群金文明陈琦田宇刘崇杰 State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.

关键词： underwater glider A UV underwater vehicles ocean environment observatory

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Point stabilization of mobile robots by genetic sliding mode approach with neural dynamics model on uneven surface

Point stabilization of mobile robots by genetic sliding mode...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Zhengcai Cao Yingtao Zhao Yili Fu College of Information Science and Technology Beijing University of Chemical and Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition, we utilize genetic algorithm (GA) to optimize the controller parameters for obtaining better stabilization performance. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.

关键词： Mobile robots Robot kinematics Genetic algorithms Mathematical model Silicon Simulation

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Active drift correction template tracking algorithm

Active drift correction template tracking algorithm

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IEEE International Conference on Image Processing

作者： Baojie Fan Yingkui Du Yang Cong Yandong Tang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China College of Automation Nanjing University of Posts and Telecommunications Naning China

This paper presents a novel active drift correction template tracking algorithm. Compared to Matthews' algorithm in [8], the proposed algorithm achieves synchronously object tracking and drift correction, and save half running time. For the template drift problem during long sequential object tracking, we introduce the active drift correction term into inverse compositional affine image alignment algorithm. This operation can avoid the template drift before it occurs, or reduce the drift after it happens. The total energy function consists of two terms: the tracking term and the active drift correction term. By minimizing the total energy function with the steepest descent algorithm, the proposed algorithm can decrease the accumulative tracking error, and prevent the drift during the tracking process effectively. Various object tracking experiments show that our method has super performance than the passive drift correction algorithm in [8].

关键词： Target tracking Algorithm design and analysis Object tracking Robustness Active appearance model Cameras

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Design of a spherical robot based on novel double ballast masses principle

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高技术通讯（英文版） 2011年第2期17卷 180-185页

作者： Zhao Bo Wang Pengfei Hu Haiyan Sun Lining State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the two ballast masses are placed symmnetrically on the major *** with the traditional ballast mass principle,the robot has featured high speed,the abil-ity of slope climbing and obstacle overcoming in linear *** robot has two inputs and three DOF,which is a nonholonomic and underactuated *** dynamic model of the robot is con-structed,and the linear motion performance of robot in theory is proved by Adams *** control system is briefly introduced,and the performance of the prototype is tested by experiments at last.

关键词： spherical robot double ballast masses dynamic model

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Research on ZnO nanowire manipulation method in scanning electron microscope

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ICIC Express Letters, Part B: Applications 2012年第5期3卷 1077-1084页

作者： Li, Dongjie Wang, Jinyu You, Bo Rong, Weibin Zou, Jiaou School of Automation Harbin University of Science and Technology No. 52 Xuefu Road Nangang Dist. Harbin 150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

In order to realize nano-component manipulation, the contacting mechanism and operating methods during ZnO nanowire manipulation process are researched both in theory and experiments in scanning electron microscope (SEM). Models of manipulation objects are built in nano scale combined with tribology. The adhesion phenomenon and influence of manipulation angle and point are analyzed according to the simulation results and experiments. Then, method of moving ZnO nanowire by fixed operating angle and suitable operating point is proposed. At the same time, the influence of operating distance and the roughness of the substrate are analyzed. Finally, experiments of ZnO nanowire moving, positioning and picking up are carried out with the new method. © 2012 ICIC International.

关键词： Scanning electron microscopy

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The selection algorithm of precedence rows based task assignment solution for vehicle-target pursuit system

The selection algorithm of precedence rows based task assign...

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2012 International Conference on Modelling,Identification and Control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Liying Yang Juntong Qi Jianda Han State Key Laboratory of Robotics Shenyang Institute of Automation (SIA)Chinese Academy of Sciences State Key Laboratory of Robotics SIACAS

ISBN: (纸本)9781467315241

In this paper the task assignment for multi-target pursuit (MTP) problem with non-equal number of vehicle and target is studied.A mixed-inter programming (MILP) based minimax assignment criterion is formed, and a solution method called the Selection Algorithm of Precedence Rows (SAPR) originated from Operation on Matrix is *** simulations with less number and more number of targets being pursued are designed respectively to testify the efficiency of the proposed method.

关键词： task assignment, multi-target pursuit (MTP) Selection Algorithm of Precedence Rows (SAPR) Operation on Matrix

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