检索结果-内蒙古大学图书馆

Hybrid dynamic model of polymer electrolyte membrane fuel cell stack using variable neural network

Journal of Beijing Institute of Technology 2012年第3期21卷 354-361页

作者：李鹏陈杰蔡涛王光辉 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of EducationBeijing Institute of Technology

The polymer electrolyte membrane（PEM） fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,which combines the advantages of mechanism model and black-box model,is proposed in this *** improve the performance,the static neural network and variable neural network are used to build the black-box *** static neural network can significantly improve the static performance of the hybrid model,and the variable neural network makes the hybrid dynamic model predict the real PEM fuel cell behavior with required ***,the hybrid dynamic model is validated with a 500 W PEM fuel *** static and transient experiment results show that the hybrid dynamic model can predict the behavior of the fuel cell stack accurately and therefore can be effectively utilized in practical application.

关键词： PEM fuel cell variable neural network hybrid dynamic model

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Investigation of Best Robot Kicking

Investigation of Best Robot Kicking

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第三十二届中国控制会议

作者： Theophile Boue Chenguang Yang Hongbin Ma Phil Culverhouse School of Computing and Mathematics University of PlymouthPlymouth PL4 8AAUnited Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

ISBN: (纸本)9781479900305

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

关键词： Football Robot Robot World Cup Best Kick Motion control Compliance control Inverse Dynamics

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Cycle-slip Detection of GPS Carrier Phase with Methodology of SA4 Multi-wavelet Transform

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Chinese Journal of Aeronautics 2012年第2期25卷 227-235页

作者： HUO Guoping MIAO Lingjuan School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system （GPS）. In this paper, an algorithm based on length-4 symmetric/anti-symmetric （SA4） orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust （GHM）, Chui-Lian （CL） and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties （GMPs）, it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform.

关键词： satellite navigation cycle-slip detection orthogonal multi-wavelet good multi-filter properties singularity detection

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Ballistic method based on improved particle swarm optimization algorithm

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2013年第SUPPL.I期43卷 215-218页

作者： Cui, Jing Deng, Fang Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

In order to improve real-time performance of the fire control system, a ballistic resolving method based on the improved particle swarm optimization (PSO) algorithm is proposed, which improves the response speed of the system and provides a convenient extension to parallel computing on multicore platforms. First, particles are generated and initialized around the pre-estimated aiming angle. Then each particle is evaluated by an objective function composed of the ballistic differential equation etc. Finally, the position and velocity of particle swarm are updated. In order to accelerate the convergence speed, the correction angle of the global best particle obtained by Zhou's iterative and correction formula is used to guide the update of particle swarm. Experimental results show that the calculation speed is twice that of the iterative and correction method, and the convergence speed of particle swarm is 1.5 times that of the conventional PSO algorithm. Moreover, the proposed method is fully compatible with parallel computing and can further shorten execution time on multicore platforms.

关键词： Ballistics

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Unsupervised robust adaptive filtering against impulsive noise

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Journal of systems Engineering and Electronics 2012年第1期23卷 32-39页

作者： Tao Ma Jie Chen Wenjie Chen Zhihong Peng School of Automation Beijing Institute of Technology Beijing 100081 R R. China Key Laboratory of Complex System Intelligent Control and Decision （Ministry of Education） Beijing Institute of Technology Beijing 100081 P. R. China

An implementation of adaptive filtering, composed of an unsupervised adaptive filter （UAF）, a multi-step forward linear predictor （FLP）, and an unsupervised multi-step adaptive predictor （UMAP）, is built for suppressing impulsive noise in unknown circumstances. This filtering scheme, called unsupervised robust adaptive filter （URAF）, possesses a switching structure, which ensures the robustness against impulsive noise. The FLP is used to detect the possible impulsive noise added to the signal, if the signal is ＂impulse-free＂, the filter UAF can estimate the clean sig- nal. If there exists impulsive noise, the impulse corrupted samples are replaced by predicted ones from the FLP, and then the UMAP estimates the clean signal. Both the simulation and experimental results show that the URAF has a better rate of convergence than the most recent universal filter, and is effective to restrict large disturbance like impulsive noise when the universal filter fails.

关键词： adaptive filtering unsupervised form impulse insen- sitive switching structure.

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Disturbance observer based time-varying sliding mode control for uncertain mechanical system

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Journal of systems Engineering and Electronics 2012年第1期23卷 108-118页

作者： Binglong Cong Xiangdong Liu Zhen Chen School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory for Intelligent Control ＆ Decision on Complex Systems Beijing Institute of Technology Beijing 100081 P. R. China

It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.

关键词： mechanical system time-varying sliding mode control （TVSMC） global sliding phase global chattering disturbance observer.

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Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuv...

引用

2012 UKACC International Conference on control, control 2012

作者： Cong, Binglong Liu, Xiangdong Chen, Zhen Key Laboratory for Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781467315609

This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy. © 2012 IEEE.

关键词： Sliding mode control

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Backstepping based adaptive sliding mode control for spacecraft attitude maneuvers

Backstepping based adaptive sliding mode control for spacecr...

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2012 UKACC International Conference on control, control 2012

作者： Cong, Binglong Liu, Xiangdong Chen, Zhen Key Laboratory for Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781467315609

This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control (B-ASMC) design is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Compared to current adaptive sliding mode control (ASMC) design, the B-ASMC design has two advantages. Theoretically, the asymptotical stability of the attitude states rather than the sliding function is guaranteed. Practically, the over-adaptation problem in current ASMC design is alleviated and the system performance is improved. Detailed design principle and rigorous closed-loop system stability analysis are provided. A large angle attitude maneuver is employed in the numerical simulation to verify the effectiveness of the proposed algorithm. © 2012 IEEE.

关键词： Backstepping

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

引用

IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning system of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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