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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Mingbo Yang Guodong Yang En Li Zize Liang Hao Lin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467351942

A wireless power transmission technique based robotic power management system for prolonging continuous working time of one transmission line inspection robot is introduced in this paper. Magnetic resonance coupled WPT (wireless power transmission) unit is designed and analyzed in form of electrical circuit mode theory. Impedance matching is introduced and a special matching method for four coils resonance coupled based WPT is given. The output power of WPT unit is modeled and relationship between coupled coefficient, angular frequency and amount of output power is given and energy consumption of each unit in power management system is quantified. Experiment shows that models can precisely describe the character of WPT system and it performs to be applicable for charging the inspection robot wirelessly.

关键词： Coils Robots Inspection Wireless communication Power transmission Impedance matching Resonant frequency

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A multi-body mass-spring model for virtual reality training simulators based on a robotic guide wire operating system

A multi-body mass-spring model for virtual reality training ...

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IEEE International Conference on Robotics and Biomimetics

作者： Shao-Hua Mi Zeng-Guang Hou Fan Yang Xiao-Liang Xie Gui-Bin Bian State Key Laboratory of Management and Control for Complex Systems the Institute of Automation Chinese Academy of Science Beijing China

ISBN: (纸本)9781479927456

Generally, surgeons of minimally invasive surgery should possess good ability to coordinate their both hands. The manipulation of guide wire is considered a core skill. Obtaining that core skill to perform minimally invasive surgery requires training. In minimally invasive surgery, a surgical robot can assist doctors to position precisely and provide stable operation platform. Therefore, to develop a virtual reality simulators for training purpose based on a robotic guide wire operating system is an important and challenging subject. In this paper, a multi-body mass-spring model for simulating guide wire is presented and evaluated. In order to overcome the disadvantage of using mass-spring approach to model the guide wire, we propose a new collision detection algorithm and a new collision response algorithm. Finally, we test our guide wire with a complex and realistic 3D vascular model, which is selected from computer tomography database of real patients. The result shows that the virtual reality training simulators is effective and promising.

关键词： Wires Solid modeling Force Computational modeling Training Robots Virtual reality

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Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism

Design and implementation of a biomimetic robotic jellyfish ...

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Chinese control Conference (CCC)

作者： Jundong Xiao Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479900305

Inspired by the characteristics of high agility and stability of live jellyfish, a novel biomimetic robotic jellyfish based on multi-linkage mechanism is developed in this paper. The robotic jellyfish consists of a streamlined head, a cavity shell, four driving devices with bevel gears, four actuators based on multi-linkage mechanism, a regulating mechanism for adjusting barycenter and a skin. The four centrosymmetric actuators is used to imitate the locomotion of jellyfish, including the relaxation phase and the contraction phase. The mutually independent and coordinated control of the four actuators is able to achieve diversified movements such as swimming forward, pitching and yawing. As a new type of bio-inspired robots, the robotic jellyfish with high agility, stability and low noise, will serve as a platform for underwater reconnaissance and environmental monitoring.

关键词： Robot kinematics Actuators Electronic mail Laboratories Automation

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Bezier curve based path planning for a mobile manipulator in unknown environments

Bezier curve based path planning for a mobile manipulator in...

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IEEE International Conference on Robotics and Biomimetics

作者： Jile Jiao Zhiqiang Cao Peng Zhao Xilong Liu Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

This paper presents a collision-free path planning approach based on Bezier curve for a mobile manipulator with the endpoints restricted by the manipulator. Based on these candidate endpoints and the initial posture of mobile manipulator, a series of feasible Bezier paths are obtained with the constraints from velocity, acceleration and environment. And then the optimal collision-free path is determined according to the related information of the path as well as obstacles. The mobile manipulator has the ability to adapt to the environment and the optimal path will be updated once the new detected obstacles block this path. The path planning approach is verified by simulations.

关键词： Manipulators Mobile communication Path planning Sensors Robot kinematics Acceleration

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A general robot environment understanding approach inspired by biological visual cortex

A general robot environment understanding approach inspired ...

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IEEE International Conference on Robotics and Biomimetics

作者： Xilong Liu Zhiqiang Cao Jile Jiao Kun Ai Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

A general vision approach for environment understanding of mobile robot is proposed, which is inspired by biological visual cortex. Gray level image from robot camera is firstly processed in the selective attention layer, and then in S and C layers for meaningful structure elements. With the help of the Sc layer designed for endpoints detection, the line segments map is generated to serve as the form of environment understanding results. Experiments on mobile robot are implemented by the task of avoiding obstacles with different sizes and shapes, pits, sharp cliffs, et al. The experimental results demonstrate the adaptability and versatility of the proposed approach.

关键词： Visualization Sensors Object segmentation Collision avoidance Image segmentation Mobile robots

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

Global output feedback stabilization for a class of nonlinea...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Wang, Xiangyu Qian, Chunjiang Li, Shihua School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9783902823458

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme. Copyright © 2013 IFAC.

关键词： Growth rate

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Particle swarm optimization and its application in multi-robot systems

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2013年第SUPPL.2期44卷 126-132页

作者： Ni, Chunbo Kong, Yifei Yang, Yuequan Cao, Zhiqiang Zhang, Tianping College of information Engineering Yangzhou University Yangzhou 225009 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Particle swarm optimization is a focus on queue control, path optimization, destination search, and so on in multiple robot systems, of which the main idea is that the optimization solution of swarm behaviors are to be obtained through iteration update of velocities and coordinate positions of particles. Based on analysis of particle swarm principle and of mechanism of its main parameters, comparative researches on particle swarm with genetic algorithm, ant colony algorithm, and neural network are given, respectively. Then a survey on research progresses of particle swarm optimization and relative modified new optimization algorithms applied in robot/multi-robot systems is given. Finally, the outlook of future work on particle swarm optimization applied in multi-robot systems under community perception networks is proposed.

关键词： Genetic algorithms

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Data-based vehicle adaptive cruise control: A review

Data-based vehicle adaptive cruise control: A review

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Chinese control Conference (CCC)

作者： Dongbin Zhao Bin Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Based on the conventional cruise control, vehicle adaptive cruise control (ACC) measures the distance and the relative velocity to the preceding vehicle real time via distance sensor, computes appropriate control output with respect to throttle or brake pedal, and control the velocity or headway automatically. Under the basically security guarantee, ACC could improve the comfort and reduce fuel consumption. This paper comprehensively investigates the theory and technology for ACC of last decades. We conclude the main approach of modeling, control and optimization of ACC, and note that data-based ACC system which conforms driver character and habit has been a new trend.

关键词： Vehicles Adaptation models control systems Adaptive systems Conferences Predictive models Electronic mail

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Time-Varying Sliding Mode Guidance with Impact Angle Constraints Against Nonmaneuvering Targets

Time-Varying Sliding Mode Guidance with Impact Angle Constra...

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第三十二届中国控制会议

作者： Yao Zhao Yongzhi Sheng Xiangdong Liu School of Automation Beijing Institute of Technology Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479900305

In this paper,a time-varying sliding model control(TVSMC) based guidance law against nonmaneuvering targets is proposed with impact angle *** algorithm is first designed for constant-speed interceptors to attack stationary and constant-velocity targets,and the global robustness of the system is ***,an adaptation strategy,adaptive time-varying sliding model control(ATVSMC),is adopted to deal with unknown but bounded disturbances by adjusting the switching gain *** analysis of the closed loop system is obtained through Lyapunov ***,numerical simulation results are presented to verify the effectiveness and robustness of the proposed guidance law.

关键词： Guidance Impact angle Time-varying sliding model control Robustness Adaptive

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The embedded image capture and processing system based on PC104 and FPGA

The embedded image capture and processing system based on PC...

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Chinese control Conference (CCC)

作者： Yu Wang Shuo Wang Chao Zhou State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

In this paper, an image capture and processing system based on PC104 and FPGA is designed. The communication between PC104 and FPGA is achieved by PC104-PLUS bus. The FPGA co-processor accomplishes the image capture of CMOS camera and image pretreatment. The PC104 controller, as an upper computer monitor,realizes feature point detection based on LSD line detector and Camshift target tracking algorithm based on the color. Based on the design of the image capture and processing system, the concrete implementation scheme of the image capture and processing system is proposed. And the practicability of our image capture and processing system is demonstrated by feature point detection of a color mark and target tracking algorithm.

关键词： Field programmable gate arrays CMOS integrated circuits Feature extraction Target tracking SDRAM Electronic mail Process control

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