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检索条件"机构=The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems"

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Multi Constellation Fast Selection Method Based on Equivalent Distance Error

Multi Constellation Fast Selection Method Based on Equivalen...

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Chinese control Conference

作者： Guangjun Wang Yutao Cheng Shaohui Yang School of Automatic China University of Geosciences Wuhan Hubei Key Laboratory of Advance Control and Intelligent Automation for Complex Systems State Grid Puyang Electric Power Supply Company

A single satellite navigation system can get high accuracy in general environment, but when the ground satellite navigation receiver is in complex environment, single system navigation often results in poor location results due to the visible satellite less than four. If multiple constellation fusion navigation is used, the number of visible satellites can be increased, thus improving the positioning results. However, the use of all visible satellites in location calculation will bring a huge amount of calculation, which seriously affects the real-time performance of navigation and positioning. Therefore, a reasonable selection of star selection method is urgently needed in the integrated navigation system. Based on the two performance indexes of balanced geometric accuracy factor (GDOP) and star selection efficiency, fast star selection algorithm based on equivalent distance error is proposed in this paper. The experimental results show that the method can effectively improve the efficiency of multi constellation star selection of the premise of high precision.

关键词： Satellites Satellite navigation systems Receivers Extraterrestrial measurements Measurement uncertainty Clocks Space vehicles

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Robust Disturbance Rejection in Repetitive-control System Based on Improved Equivalent-Input-Disturbance Approach 36

Robust Disturbance Rejection in Repetitive-Control System Ba...

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第36届中国控制会议

作者： Lan Zhou Jinhua She Changzhong Pan School of Information and Electrical Engineering Hunan University of Science and Technology School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

ISBN: (纸本)9781538629185

This paper concerns disturbance rejection for a repetitive-control system（RCS） with unknown time-varying uncertainties and nonlinearity. The design of the RCS is based on the concept of equivalent input disturbance（EID）. First, an EID estimator is constructed through a state observer with dynamic coefficient matrix that effectively estimates the total effect of the uncertainties and nonlinearity on the output of the plant. Next, a robust globally uniformly ultimately bounded stability condition for the EID-based RCS is derived in the form of a linear matrix inequality. Then, the methods of designing a modified repetitive controller, a state-feedback controller, and an EID estimator are explained. Finally, simulation results demonstrate the validity of the method.

关键词： Repetitive control Equivalent Input Disturbance Disturbance Rejecting Two-dimensional System Linear Matrix Inequality

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Model Predictive control for Human Following Rehabilitation Robot

Model Predictive Control for Human Following Rehabilitation ...

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IEEE Workshop on advanced Robotics and its Social Impacts, ARSO

作者： Shihao Yan Jing Tao Jian Huang Anshun Xue the Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Ministry of Civil Affairs of the People's Republic of China National Research Center for Rehabilitation Technical Aids Beijing China the Beijing Advanced Innovation Center of Intelligent Robots and Systems Beijing China

A new type of rehabilitation robot that can follow the user side-by-side is designed for aiding the elderly and disabled. The Human Following Rehabilitation Robot (HFRR) consists of a metal armrest, a set of sensors and a differential mobile base. By predicting the user's speed in the future through the user's current walking speed and the preset path, the problem of human following side-by-side is converted to a problem of keeping a certain lateral distance from the predicted trajectory. Linearizing the tracking error model, the nonholonomic mobile robot (NMR) can maintain a certain lateral distance from the trajectory by using Model Predictive control (MPC) and then follow the user side-by-side. The simulation and experimental results show the proposed controller can obtain good performance in this problem.

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An improved tiny SLAM method for simultaneous localization and mapping 5

An improved tiny SLAM method for simultaneous localization a...

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5th International Workshop on advanced Computational Intelligence and intelligent Informatics, IWACIII 2017

作者： Li, Dan-Yun Liu, Cong-Jun Liu, Zhen-Tao Feng, Zhi-Yong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Hubei Key Laboratory of Advanced Technology of Automotive Parts Wuhan University of Technology Wuhan430070 China

TinySLAM algorithm is a simple 2D laser SLAM algorithm. However, in practical applications, it has higher error rate of mapping because of its simple filter. In this paper, an improved TinySLAM algorithm is proposed for simultaneous location and mapping. By adding a simple filter before the Monte Carlo simulation and then fusing the information from the odometer, the error in the positioning process can be reduced. Moreover, the introduced hybrid map cell model that can be compatible with ROS system, improves the response to dynamic obstacles, and reduces the mapping error rate further. Simulation using ROS system and Stage software is performed, from which the results show that the proposal has good effects comparing with TinySLAM, and the error rate is reduced so that the map built is closer to the actual environment.

关键词： Mapping

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A probabilistic learning algorithm for the shortest path problem 11th

A probabilistic learning algorithm for the shortest path pro...

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11th International Conference on Simulated Evolution and Learning, SEAL 2017

作者： Diao, Yiya Li, Changhe Ma, Yebin Wang, Junchen Zhou, Xingang School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan China Communication Security Group of Eastern Theater Command Nanjing China

ISBN: (纸本)9783319687582

Ant colony optimization (ACO) has been shown effectiveness for solving combinatorial optimization problems. Inspired by the basic principles of ACO, this paper proposes a novel evolutionary algorithm, called probabilistic learning (PL). In the algorithm, a probability matrix is created based on weighted information of the population and a novel random search operator is proposed to adapt the PL to dynamic environments. The algorithm is tested on the shortest path problem (SPP) in both static and dynamic environments. Experimental results on a set of carefully designed 3D-problems show that the PL algorithm is effective for solve SPPs and outperforms several popular ACO variants. © Springer International Publishing AG 2017.

关键词： Ant colony optimization

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Development of A Customizable Real-time Monitoring System for Networked control systems

Development of A Customizable Real-time Monitoring System fo...

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Chinese control Conference

作者： Haoran Tan Zhiwu Huang Min Wu School of Information Science and Engineering Central South University Changsha P. R. China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan P. R. China

The design and implementation of a monitoring system for networked control systems (NCSs) are introduced in this paper. The monitoring system is developed in the .NET framework using C# according to the C/S architecture which allows the user to monitor network nodes without geographical limitations. The widgets used to display come from the National Instruments (NI) suit and are integrated in the system by reconstructing it. The user is able to design a monitoring interface freely by creating and customizing widgets dynamically. During the monitoring, the display value of the widget is synchronized with parameters and signals of NCSs through receiving data asynchronously from network notes. In particular, all elements of the matrix widely used in NCSs are supported for monitoring. The functionality and feasibility of the designed monitoring system are demonstrated via a networked control experiment. In addition, the saved data can be used in data driven control and model identification.

关键词： Monitoring Graphical user interfaces control systems Communication channels Mice Protocols Real-time systems

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Stability Analysis of Discrete T-S Fuzzy systems with Time-Varying Delay Using an Extended Reciprocally Convex Matrix Inequality

Stability Analysis of Discrete T-S Fuzzy Systems with Time-V...

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Chinese control Conference (CCC)

作者： Bi-Ying Chen Fei Long Chuan-Ke Zhang Yong He Hui-Qin Xiao Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China College of Electrical and Information Engineering Hunan University of Technology Zhuzhou P. R. China

This paper concerns the stability analysis of discrete Takagi-Sugeno fuzzy systems with time-varying delays. A suitable Lyapunov-Krasovskii functional is constructed, and an extended reciprocally convex matrix inequality is used to estimate the forward difference of the functional. As a result, a less conservative stability criterion is obtained. Finally, a numerical example is given to demonstrate the advantage of the proposed method.

关键词： Delays Linear matrix inequalities Fuzzy systems Time-varying systems Stability criteria Symmetric matrices

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Transaction Queuing Game in Bitcoin BlockChain

Transaction Queuing Game in Bitcoin BlockChain

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2018 IEEE intelligent Vehicles Symposium, IV 2018

作者： Li, Juanjuan Yuan, Yong Wang, Shuai Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China University of Chinese Academy of Sciences Beijing China Research Center of Military Computational Experiments and Parallel Systems National University of Defense Technology Changsha China

ISBN: (纸本)9781538644522

Bitcoin is a novel protocol with the potential of enabling a decentralized and trustless cryptographic currency, and its underlying technology named blockchain operates on a worldwide basis via a complex set of rules originally proposed by Nakomoto in 2008. In Bitcoin blockchain, miners provide computational services (i.e. mining) to get profits from the fixed rewards of newly found block and also transaction fees from recording the users' transactions to the blocks. With the decreasing of the fixed new block reward, transaction fees will play the role as the main profit source of miners, thus provide important supports for the sustainability and vitality of the Bitcoin system. Therefore, it is of great necessity to research transaction fees. In this paper, we investigate transaction fees in a queuing game with non-preemptive priority, in which both the miners' mining rewards and the users' time cost are highlighted. Then, we conduct theoretical analysis of the game, getting five types of Nash equilibria of the game. We also find that the over-long waiting time will bring negative marginal profits on transaction fees to some users with low time cost, therefore, they will not be willing to offer transaction fees. © 2018 IEEE.

关键词： Miners

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Qualitative Elemental Analysis of Minerals Based on Energy Dispersive X - ray Fluorescence Spectrometry

Qualitative Elemental Analysis of Minerals Based on Energy D...

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Chinese control Conference (CCC)

作者： JunLei Song ZhiHeng Yang Jing Cai XiaoYong Ni DianHong Wang Xing Jin WenQin Mo KaiFeng Dong Fang Jin Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China School of Mechanical and Electronic Information china University of Geosciences Wuhan P. R. China

The research of miniaturized XRF/XRD analyzers are carried out in this paper, especially the qualitative analysis based on EDXRF, a miniaturized energy dispersive X-ray fluorescence spectrometry platform is designed and a qualitative elemental analysis software based on Android operating system is developed. The elemental qualitative analysis software can preprocess the X-ray feature spectrum by background eliminationsmoothing and energy coefficient calibration, after these pretreatments, the main elements of the sample can be analyzed. The experimental results show that the qualitative elemental analysis platform proposed in this paper can measure the elements of Al to Au in the periodic table, besides, the detection accuracy of multiple samples is higher than 97%. The mineral qualitative elemental analysis software proposed in this paper can be applied to any portable analysis platform based on Android operating system, moreover, it will spur advances in the development of the miniaturization and intelligent X-ray fluorescence spectrometer.

关键词： Minerals Software Calibration Spectroscopy Instruments Detectors Smoothing methods

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An Automatic Labeling Strategy for Locomotion Mode Recognition with Robotic Transtibial Prosthesis

An Automatic Labeling Strategy for Locomotion Mode Recogniti...

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IEEE International Conference on Cyber Technology in automation, control, and intelligent systems

作者： Enhao Zheng Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China The Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT) Peking University Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Doffing and Donning the prosthetic socket seriously influenced the performances of the locomotion mode recognition. To make the recognition algorithm adaptive to the disturbances, labeling the new coming data without human intervene was a key step. In this study, we proposed an automatic labeling method with on-prosthesis mechanical signals. The strategy was designed based on the dynamic time warping (DTW) to measure the similarities between the data of a whole completed gait cycle and the pre-defined templates. The automatic labeling algorithm was validated on 6 unilateral transtibial subjects wearing the robotic prosthesis. 2 experimental sessions with 5 locomotion mode and 8 locomotion transition tasks were investigated. Between the sessions, donning and doffing the prosthetic socket were done by the subjects without expertise manual configuration. We evaluated two template generation methods, i.e. the fixed template and the sliding template. The average accuracy of the automatic labeling after re-wearing the socket achieved 96.2% across the subjects, which was comparable to existing sEMG-based studies. The strategy provided a promising tool to accumulate training with inertial signals for locomotion mode recognition.

关键词： Prosthetics Robot sensing systems Labeling Sockets Heuristic algorithms

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