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第27届中国控制与决策会议

作者： Liang Peng Zeng-Guang Hou Nikola Kasabov Long Peng Jin Hu Weiqun Wang The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Knowledge Engineering and Discovery Research Institute Auckland University of Technology

Many rehabilitation robots have been designed to alleviate the conflict between increasing number of poststroke patients and shortage of *** training is the main feature of advanced rehabilitation robots,which has been proved to be more effective than simple passive movement *** paper presents the implementation of active training on a 2-DOF upper-limb rehabilitation robot,which can assist the shoulder and elbow joint rehabilitation training of post-stroke *** controller is built based on impedance control,which can provide a compliant human-robot *** implementation of active training is combined with a virtual reality game,and the average error between the actual and target reaction force is 1.41 ± 0.79 N in the X axis,and 1.22 ± 0.91 N in the Y axis.

关键词： Active Training Rehabilitation Robot Force Feedback Impedance control

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Cloud operating system for industrial application

Cloud operating system for industrial application

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Gang Xiong Tongkai Ji Xipeng Zhang Fenghua Zhu Wenjing Liu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Cloud Computing Center Chinese Academy of Sciences Guangdong China

ISBN: (纸本)9781467384810

With the rapid development of latest information technology, it is inevitable to apply IoT (Internet of Things), cloud computing and big data into the industrial fields of national key sectors including transportation, electricity, metallurgy, petroleum, chemical, manufacturing, military and so on. Wireless sensor network, industrial Internet, embedded system, software for industrial control and management, and smart terminal are gradually introduced into the industrial systems, which would make the past relatively closed industrial systems more open and intelligent, and contribute to the coming forth industrial revolution. In this paper, the authors mainly discuss issues about cloud Operating System (OS) for industrial application, including cloud computing and cloud operating system introduction, current status analysis of cloud OS and the transformation trend to industrial 4.0. Then, we independently design the main content of this cloud OS, and its application prospect and expected result are given. The study provides theoretical guidance and practical challenge for the development of cloud OS oriented to industrial area.

关键词： Cloud computing Security Industries Hardware Operating systems Manufacturing Servers

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Nearly Optimal Tracking control for Continuous Time Nonlinear systems Using a Policy Iteration Based HJB Approach

Nearly Optimal Tracking Control for Continuous Time Nonlinea...

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第三十四届中国控制会议

作者： Ruizhuo Song Qinglai Wei Wendong Xiao Zanzan Du School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467374439

A policy iteration method is proposed to solve the optimal tracking control of continuous-time systems based on HJB equation. The performance index function is composed by the state tracking error and the tracking control error. The iterative performance index function and the iterative control are obtained by the presented policy iteration. It is proven that the iterative control makes the system asymptotic stability, and the iterative performance index function is convergent. Simulation study demonstrates that the effectiveness of the proposed optimal tracking control method.

关键词： Adaptive dynamic programming,Approximate dynamic programming,Optimal tracking control,Policy Iteration

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Paragraph Vector Based Retrieval Model for Similar Cases Recommendation

Paragraph Vector Based Retrieval Model for Similar Cases Rec...

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第六届全国语言动力系统研讨会

作者： Yifei Zhao Jing Wang Fei-Yue Wang Xiaobo Shi The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chine Institute of Smart Healthcare System Qingdao Academy of Intelligent Industries Qingdao China

Internet inquiry is playing an increasingly important role as the complement of the traditional medical service system,especially the similar cases *** can not only save the patients' waiting time,but also make use of the historical resources,for many cases with the same purpose have been solved ***,because of the diversity and non-standard of the patients' descriptions,the inquiry platform cannot find the cases with similar semantic *** traditional retrieval methods require the overlap of two sentences,and this is not suitable with the diversity and non-standard *** this paper,we try to utilize the sentences' semantic representation in a continuous space to understand the cases,and then recommend the similar *** also incorporate it into query likelihood language models,trying to get better *** experimental data are all collected from a real internet inquiry platform,and the results show that our methods significantly outperform the state-of-the-art translation based methods for similar cases recommendation.

关键词： internet inquiry similar cases recommendation distributed representation data mining

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Design of CASIA-ARM: A novel rehabilitation robot for upper limbs

Design of CASIA-ARM: A novel rehabilitation robot for upper ...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liang Peng Zeng-Guang Hou Long Peng Weiqun Wang Institute of Automation Chinese Academy of Sciences Beijing Beijing CN State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

The population of disabled stroke survivors is increasing sharply over the world, and robot-assisted training has been proved to be effective to help motor relearning and alleviate the shortage of physical therapists. This paper presents the design details of a novel upper limb rehabilitation robot named CASIA-ARM, which can assist poststroke patients to perform shoulder and elbow rehabilitation training in the horizontal plane, and provide both force and visual feedback to the patient: 1) A five-bar closed-chain structure is designed to realize a stiff and low-inertial mechanism. Workspace and singularity analysis is given, which guarantees that the workspace is large enough for upper limb moving and no singularity in the workspace. 2) Cable transmission, motor current controller and impedance control method guarantee the transparent and compliant interaction between the human and the robot. 3) Implementation examples of passive training based on position control and active training based on impedance control are presented in detail. 4) In order to evaluate the robot's applicability and performance, examples of trajectory tracking and active reaching tasks are used in this study, and the preliminary test results are also given (tracking error: 0.86±0:42 mm, force control error: 1.41±0.79 N in the X direction, and 1.22±0.91 N in the Y direction).

关键词： Robots Training DC motors Brakes Force Hysteresis motors Resistance

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Discrete-Time Nonlinear Generalized Policy Iteration for Optimal control Using Neural Networks

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8834卷 389-396页

作者： Wei, Qinglai Liu, Derong Yang, Xiong The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

In this paper, a new generalized policy iteration (GPI) based adaptive dynamic programming (ADP) algorithm is developed to solve optimal control problems for infinite horizon discrete-time nonlinear systems. The GPI algorithm is a general idea of interacting policy and value iteration algorithms of ADP. There are two iteration indices, which iterate for policy improvement and policy evaluation, respectively, in the GPI algorithm. The convergence properties of the GPI algorithm are developed. Finally, simulation results are presented to illustrate the performance of the developed algorithm. © Springer International Publishing Switzerland 2014.

关键词： Reinforcement learning

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A new approach of optimal control for a class of continuous-time chaotic systems by an online ADP algorithm

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Chinese Physics B 2014年第5期23卷 138-144页

作者：宋睿卓肖文栋魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an online adaptive dynamic programming （ADP） based optimal control scheme for continuous-time chaotic systems. The idea is to use the ADP algorithm to obtain the optimal control input that makes the performance index function reach an optimum. The expression of the performance index function for the chaotic system is first presented. The online ADP algorithm is presented to achieve optimal control. In the ADP structure, neural networks are used to construct a critic network and an action network, which can obtain an approximate performance index function and the control input, respectively. It is proven that the critic parameter error dynamics and the closed-loop chaotic systems are uniformly ultimately bounded exponentially. Our simulation results illustrate the performance of the established optimal control method.

关键词： adaptive dynamic programming adaptive critic designs optimal control continuous-time chaoticsystem

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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An Overview of Distributed High-order Multi-agent Coordination

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 1-9页

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

Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most previous research works on multi-agent systems studied the first- and second-order dynamics. However, in engineering, many systems are modeled by higher-order dynamics. This paper reviews the major results and progress in distributed high-order multi-agent *** the review, a short discussion section is included to summarize the existing research and propose several promising research directions along with some open problems that are deemed important for further investigations.

关键词： Multi-agent systems Protocols Linear systems Nonlinear systems Heuristic algorithms Laplace equations

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Study of control parameters tuning method for hydro-viscous driver system

Study of control parameters tuning method for hydro-viscous ...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Ligang Ma Deyang Zhang Shoukun Wang Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Chinese North Vehicle Research Institute Beijing China

ISBN: (纸本)9781479987719

Hydro-viscous speed clutch (HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance of the speed control system. This paper studies the HVC of a vehicle temperature control system, and analyzes the parameters tuning method of a PID controller for the closed-loop control system. By employing a two-storey optimized control framework, the resulting model from identification can be used to complete the control parameters auto-tuning. Simulation and experimental results have showed that this auto-tuning method can obtain a group of parameters in terms of a desired performance index, which guarantees the balance of dynamic characteristics, stability and anti-jamming in closed-loop system.

关键词： Mathematical model Vehicles Tuning Friction Velocity control Cooling Valves

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