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Adaptive Tracking control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties

IFAC Proceedings Volumes 2011年第1期44卷 10300-10306页

作者： Chao Liu Xianbo Xiang Philippe Poignet LIRMM French Nation Center for Scientific Research (C.N.R.S.) Montpellier 34095 France Key Laboratory for Image Processing and Intelligent Control Huazhong University of Science and Technology 430074 P.R.China

Abstract Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the rigid-link flexible-joint (RLFJ) robot system. Adaptive observers are designed to avoid acceleration measurements due to the fourth-order overall system dynamics. Convergence of both end-effector tracking errors and observing errors are proven and sufficient conditions are presented to guarantee system's asymptotic stability.

关键词： Robot manipulator flexible joint adaptive control observer

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Breaking DES in tile assembly models

Breaking DES in tile assembly models

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Zhihua Chen Jin Xu Xiaolong Shi Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China School of Electronics Engineering and Computer Science Peking University Beijing China

The potential use of molecular computation in attacking the Data Encryption Standard (DES) is already known, but the used computing models are not autonomous and require many tedious laboratory steps to execute. In this paper, a description of attacking DES using tile self assembly models in Θ(1) distinct tile types is given theoretically. The computation takes advantage of tiles' autonomy and the characteristic of highly distributed parallel computation. Each assembly configuration yields the ciphertext in linear time with respect to the times of the round function included in DES. The feasibility of finding the main key of DES in tile assembly models has been discussed. Analysis indicates that the tile assembly models might succeed by using a little of DNA under low error rate.

关键词： Tiles Assembly Computational modeling Encryption Self-assembly IP networks Mathematical model

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An effective document image deblurring algorithm

An effective document image deblurring algorithm

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Xiaogang Chen Xiangjian He Jie Yang Qiang Wu Key Laboratory of System Control and Information Processing Ministry of Education China Institute of Image Processing and Pattern Recognition Shanghai Jiaotong University China Centre of Innovation in IT Services and Applications University of Technology Sydney Australia

Deblurring camera-based document image is an important task in digital document processing, since it can improve both the accuracy of optical character recognition systems and the visual quality of document images. Traditional deblurring algorithms have been proposed to work for natural-scene images. However the natural-scene images are not consistent with document images. In this paper, the distinct characteristics of document images are investigated. We propose a content-aware prior for document image deblurring. It is based on document image foreground segmentation. Besides, an upper-bound constraint combined with total variation based method is proposed to suppress the rings in the deblurred image. Comparing with the traditional general purpose deblurring methods, the proposed deblurring algorithm can produce more pleasing results on document images. Encouraging experimental results demonstrate the efficacy of the proposed method.

关键词： image restoration Histograms TV Object segmentation Deconvolution Estimation image segmentation

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Tuning of Auto-Disturbance Rejection controller Based on the Invasive Weed Optimization

Tuning of Auto-Disturbance Rejection Controller Based on the...

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Zhihua Chen Shuo Wang Zhonghua Deng Xuncai Zhang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China School of Electrical and Electronic Engineering Zhengzhou University of Light Industry Zhengzhou China

Auto-Disturbance Rejection controller (ADRC) has been proved to be a capable replacement of PID with unmistakable advantage in performance and practicality. But it is difficult to obtain a set of optimal parameters, for ADRC controller has too many parameters and has no deterministic rules to compute the parameters. In this paper, Objective function is constructed based on the control system performance indexes. Combined with experienced parameters of ADRC, an invasive weed optimization algorithm (IWO) is employed to obtain a set of key parameters. The simulation results show the validity of the IWO algorithm.

关键词： Tuning Optimization Mathematical model control systems Robustness Search problems Simulation

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Notice of Retraction: A Wearable System for Epidural Spinal Cord Stimulation in Freely Moving Rats

Notice of Retraction: A Wearable System for Epidural Spinal ...

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International Conference on Bioinformatics and Biomedical Engineering (ICBBE)

作者： Hui Zhou Qi Xu Jiping He Hangkong Ren Houlun Zhou Kejia Zheng Key Laboratory of Image Processing and Intelligent Control Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan China Department of Anatomy Tongji medical college Huazhong University of Science and Technology Wuhan China

This article has been retracted by the publisher.

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A Uniform Solution to Common Algorithmic Problem by Tissue P Systems with Cell Division

A Uniform Solution to Common Algorithmic Problem by Tissue P...

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Yunyun Niu Linqiang Pan Mario J. Perez-Jimenez Key Laboratory on Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China Research Group on Natural Computing Department of Computer Science and Artificial Intelligence University of Sevilla Sevilla Spain

Common algorithmic problem is an optimization problem, which has the nice property that several other NP-complete problems can be reduced to it in linear time. A tissue P system with cell division is a computing model which has two basic characters: intercellular communication and the ability of cell division. The ability of cell division allows us to obtain an exponential amount of cells in linear time and to design cellular solutions to computationally hard problems in polynomial time. We here present an effective solution to the common algorithmic decision problem using a family of recognizer tissue P systems with cell division.

关键词： Manganese Polynomials Biomembranes Computer science Bismuth Radiation detectors Educational institutions

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Improving strategies on PSO for suborbit launch vehicle trajectory optimization

Improving strategies on PSO for suborbit launch vehicle traj...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Fuqiang Xie Ye Yang Songtao Chang Yongji Wang School of Electric Engineering University of South China Hengyang China Beijing AeroSpace Automatic Control Institute Beijing China Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

Solving the optimal control problem with a free final time, such as suborbital launch vehicle (SLV) trajectory optimization with two control variables and multi-constraints ones based on particle swarm optimization (PSO), the smoothness of control variable can not be satisfied by linear interpolation method. A novel method including some improving strategies based on PSO for trajectory optimization is proposed, named LCPSO which is a kind of Cooperate PSO based on Legendre orthogonal polynomials. An additional control variable is introduced and transcribes the original optimal problem to a problem with fixed final time, and one dimension searching method based on interval analysis is used to optimize the additional control variable. Furthermore, a theorem on how to find the boundaries of the coefficient of polynomials is proved. Compared with basic PSO, LCPSO has traits of lower dimensions and smoother control variable. An example of trajectory optimization shows the effectiveness of the LCPSO algorithm.

关键词： Polynomials Optimization Switches Trajectory Optimal control Vehicles Approximation methods

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Quantum Immune Clonal Selection Algorithm for Multi-objective 0/1 Knapsack Problems

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Chinese Physics Letters 2010年第1期27卷 37-40页

作者：尚荣华焦李成李阳阳吴建设 Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education Institute of Intelligent Information Processing Xidian University Xi'an 710071

Based on the concept and principles of quantum computing and the principle of the immune clonal selection, a new algorithm for multi-objective 0/1 knapsack problems is introduced. In the algorithm, for the novel representation, qubit antibodies in the antibody population are updated by applying a new chaos update strategy. A quantitative metric is used for testing the convergence to the Pareto-optimal front. Simulation results on the 0/1 knapsack problems show that the new algorithm, in most cases, is more effective.

关键词： Chinese climate network complex systems small world community

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Analysis of a memristor-based switching network

Analysis of a memristor-based switching network

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International Conference on information Science and Technology (ICIST)

作者： Ailong Wu Yi Shen Zhigang Zeng Jine Zhang Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan China School of Basic Science East China Jiao Tong University Nanchang China

ISBN: (纸本)9781424494408

In this paper, we formulate and investigate a memristor-based switching network which is directly extended from Itoh and Chua's chaotic circuit. Conditions are derived which ensure the existence of an equilibrium point and the uniformly stable for state trajectories of the memristor-based switching network. The analysis in the paper employs results from the theory of differential equations with discontinuous right-hand side as introduced by Filippov. It is believed that the criteria in this paper is also valuable in the design of memristor-based switching network which can be used to solve efficiently classes of optimization problems arising in practical engineering applications.

关键词： Chaos Switches

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An immune memory clonal algorithm for numerical and combinatorial optimization

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中国计算机科学前沿 2010年第4期4卷 536-559页

作者： Ruochen LIU Licheng JIAO Yangyang LI Jing LIU Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information ProcessingXidian UniversityXi'an 710071China

Inspired by the clonal selection theory together with the immune network model, we present a new artificial immune algorithm named the immune memory clonai algorithm (IMCA). The clonal operator,inspired by the immune system, is discussed first. The IMCA includes two versions based on different immune memory mechanisms; they are the adaptive immune memory clonal algorithm (AIMCA) and the immune memory clonal strategy (IMCS). In the AIMCA, the mutation rate and memory unit size of each antibody is adjusted dynamically. The IMCS realizes the evolution of both the antibody population and the memory unit at the same time. By using the clonal selection operator, global searching is effectively combined with local *** to the antibody-antibody (Ab-Ab) affinity and the antibody-antigen (Ab-Ag) affinity, The IMCA can adaptively allocate the scale of the memory units and the antibody population. In the experiments, 18 multimodal functions ranging in dimensionality from two, to one thousand and combinatorial optimization problems such as the traveling salesman and knapsack problems (KPs)are used to validate the performance of the IMCA. The computational cost per iteration is presented. Experimental results show that the IMCA has a high convergence speed and a strong ability in enhancing the diversity of the population and avoiding premature convergence to some degree. Theoretical roof is provided that the IMCA is convergent with probability 1.

关键词： artificial immune system (AIS) clonal selection immune memory immune network model evolutionary computation knapsack problem(KP) traveling salesman problem(TSP)

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