To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detectin...
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ISBN:
(纸本)9781467374439
To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detecting the mark on the racket in real-time, the racket pose could be obtained. The experimental results show that the proposed method has a great advantage on the robustness of corner extraction of the rectangle on the racket.
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication ...
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ISBN:
(纸本)9781479947249
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication noises).A dynamic output-feedback based protocol is proposed to solve the stochastic output consensus problem in this *** is proved that the mathematical expectations of relative outputs between agents are convergent to zero,and the second-order moments of relative outputs between agents are uniformly ***,some simulation examples are presented to demonstrate this phenomenon.
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM...
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ISBN:
(纸本)9781467374439
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM, we design a new structure of such mechanisms. The designed 4-DOF ASM can perform yaw and pitch movement actively while roll movement passively. To work efficiently, the ASM is designed to operate in three different modes: "float" mode, "lock" mode, and "active control" mode. Then we deduce the kinematics of articulated vehicle and analyze the workspace of the front vehicle with respect to the rear vehicle to demonstrate the motion performance of the designed ASM. With the elongation and shortening of hydraulic cylinders, the maximum steer angle is beyond 0.4 rad, the range of the rear pitch angle is(-0.22, 0.27) rad, and the range of the front pitch angle is(-0.45, 0.5) rad.
In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an...
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ISBN:
(纸本)9781467374439
In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an optimal control problem under some proper conditions. Then, in order to deal with the transformed optimal control problem, the discrete-time generalized HamiltonJacobi-Bellman equation is introduced and solved by employing the successive approximation method. The convergence proof of the iterative algorithm and the design procedure of the neural network implementation are developed as well. A numerical simulation is also provided to illustrate the effectiveness of the control strategy.
Precision management of agricultural systems, aiming at optimizing profitability, productivity and sustainability, comprises a set of technologies including sensors, information systems, and informed management, etc. ...
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Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment...
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Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper ...
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Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.
作者：
ZENG JieDOU LihuaXIN BinSchool of Automation
State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology
This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing...
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This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.
The assumption widely used in the user equilibrium model for stochastic network was that the probability distributions of the travel time were known explicitly by travelers. However, this distribution may be unavailab...
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The assumption widely used in the user equilibrium model for stochastic network was that the probability distributions of the travel time were known explicitly by travelers. However, this distribution may be unavailable in reality. By relaxing the restrictive assumption, a robust user equilibrium model based on cumulative prospect theory under distribution-free travel time was presented. In the absence of the cumulative distribution function of the travel time, the exact cumulative prospect value(CPV) for each route cannot be obtained. However, the upper and lower bounds on the CPV can be calculated by probability *** were assumed to choose the routes with the best worst-case CPVs. The proposed model was formulated as a variational inequality problem and solved via a heuristic solution algorithm. A numerical example was also provided to illustrate the application of the proposed model and the efficiency of the solution algorithm.
This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection contr...
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This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.
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