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International Conference on Information and Automation (ICIA)

作者： Lin Bi Jian Guo Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan

ISBN: (纸本)9781467391054

The amphibious robot, which has favourable adaptability to the practical environment and good stability to move, is applied to a large number of areas such as rescue realm, mine countermeasures, pipeline inspections and underwater archaeology. In this paper, we present a novel amphibious spherical robot system, and the dynamic simulation is made by virtual prototyping technology. The design structure and research significance of amphibious robot in this thesis are put forward. According to the features of the motion of the amphibious robot, the Lagrange dynamic model is established, which offers theoretical foundation for the following simulation analysis based on virtual prototype technology. In order to improve design efficiency and reliability, the mechanical arm for the joint rotation angle, angular velocity and angular acceleration and moment kinetic parameters can be obtained in the ADAMS (Automatic Dynamic Analysis of Mechanical systems) model of dynamic simulation analysis. Finally, according to previous dynamics equation derived, we can calculate the joint torque through the equation. Compared with the measurement data by using ADAMS, the correctness of Lagrange dynamics equation can be verified. The results verify the rationality and exactness of design plan and structure design as well as provide valuable data information for further research on improving control quality of the amphibious robot.

关键词： Mathematical model Robot kinematics Joints Legged locomotion Vehicle dynamics Dynamics

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The predication of the adhesion rate based on NARX model

The predication of the adhesion rate based on NARX model

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2014 International Conference on Manufacturing Technology and Electronics applications, ICMTEA 2014

作者： Zhao, Yang Li, Jun Fang Gao, Qiang Tianjin key laboratory for Control Theory and Applications in Complicated System Tianjin University of technology Tianjin China

ISBN: (纸本)9783038353287

The scaling and corrosion of circulating cooling water have been a major concern in industry circulating cooling water system, severely affecting the production operation of the circulating cooling water system. In this paper, the circulating cooling water quality is investigated and analyzed. In addition, based on the water quality analysis of Petrochemical Industries Co, it is indicated that part of water quality parameters have great influence on the adhesion rate. In order to further forecast the adhesion rate, a NARX neural network prediction model is developed. Finally, the actual data sets are utilized to demonstrate the feasibility of proposed model. © (2014) Trans Tech Publications, Switzerland.

关键词： Water quality

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Robust adaptive fault tolerant control for a steering subsystem of unmanned underwater vehicles

Robust adaptive fault tolerant control for a steering subsys...

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第三十四届中国控制会议

作者： Li-Ying Hao Hui Li Xiang-Gui Guo Lijie Cao Qihua Wang the College of Information Engineering Dalian Ocean University Information Science and Technology College Dalian Maritime University Tianjin Key Laboratory for Control Theory & Applications in Complicated System School of Electrical EngineeringTianjin University of Technology

ISBN: (纸本)9781467374439

This paper deals with the robust adaptive fault-tolerant compensation control problem for steering subsystem of unmanned underwater vehicles(UUVs) with actuator time-varying faults, disturbances and parameter uncertainties. A sufficient condition for the existence of reduced-order sliding mode dynamics is derived in the case of actuator faults, and an explicit parametrization of the desired sliding surface is also given. Without the need for a fault detection and isolation(FDI) mechanism, an adaptive sliding mode controller is developed based on the online estimation of an eventual fault to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate the effects of actuator faults and exogenous disturbances. The simulation demonstrates the effectiveness of the proposed design method.

关键词： Unmanned underwater vehicles(UUVs),fault-tolerant control(FTC),sliding mode control(SMC),actuator time-varying faults

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Quantized H[infinity] Static Output control for Linear systems with Interval-Bounded Additive controller Coefficient Variations

Quantized H[infinity] Static Output Control for Linear Syste...

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International Conference on Artificial Intelligence, Modelling and Simulation (AIMS)

作者： Xianggui Guo Jianliang Wang Fang Liao Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Temasek Laboratories National University of Singapore Singapore Singapore

ISBN: (纸本)9781467386760

This paper investigates insensitive H ∞ control problems for linear continuous-time systems with input and measurement quantization via static output feedback (SOF). The designed controllers are insensitive to additive interval-bounded controller coefficient variations and are made up of two parts as linear and nonlinear parts. The former is used to achieve the H ∞ performance against external disturbances, unknown initial states and controller coefficient variations. The latter is used to attenuate the effect of input and measurement quantization simultaneously. It should be mentioned that three novel linear matrix inequality (LMI) conditions by using three different methods without introducing a matrix equality constraint as many existing results are obtained. Finally, a numerical example is presented to show the effectiveness and advantages of the proposed methods.

关键词： Quantization (signal) Symmetric matrices control systems Uncertainty Linear matrix inequalities Additives Artificial intelligence

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Kinematic analysis on land of an amphibious spherical robot system

Kinematic analysis on land of an amphibious spherical robot ...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Bi Jian Guo Shuxiang Guo Zhendong Zhong Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan

ISBN: (纸本)9781479970995

The amphibious robots have been widely applied in kinds of fields, such as fishery industry, data collecting, submarine salvage and military etc. In this paper, we focus on a novel amphibious spherical robot system. In order to verify the kinematics characteristics of the amphibious robot, the Jacobian matrix based on the Denavit-Hartenberg parameters method, which can reflect the relation between velocity and angular velocity of the joint, can be obtained. The Jacobian matrix offers theoretical foundation for the following simulation analysis based on virtual prototype. We use 3D mechanical modelling software Solidworks to establish a model and import it into dynamics simulation software ADAMS (Automatic Dynamic Analysis of Mechanical systems). And then the joint simulation experimental data, such as the position, velocity and acceleration which can validate the feasibility of the walking gait planning. In the course of carrying on simulation we can carry on simulation course observing model altering and result treating. And get the walking speed of amphibious robot at the same time. Lastly, some experiments demonstrate that simulation results coincide with the result of kinematic analysis. The results prove that the simulation in ADAMS can be accurate to describe the kinematic characteristics of the robot.

关键词： Legged locomotion Robot kinematics Joints Kinematics Robot sensing systems Solid modeling

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Non-fragile H∞ consensus of linear multi-agent systems with interval-bounded variations

Non-fragile H∞ consensus of linear multi-agent systems with...

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Mediterranean Conference on control and Automation (MED)

作者： Xiang-Gui Guo Jian-Liang Wang Fang Liao Tianjin Key Laboratory for Control Theory & Applications in Complicated System Nanyang Technological University Tianjin Singapore China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Temasek Laboratories National University of Singapore Singapore

ISBN: (纸本)9781479999378

This paper studies the distributed non-fragile H ∞ consensus problems for linear multi-agent systems with external disturbances and unknown initial disturbances under switching weighted balanced directed topologies. The designed controllers are insensitive to multiplicative controller coefficient variations. Sufficient conditions for the existence of the proposed control strategy are also obtained by using linear matrix inequality (LMI) technique. It is worth mentioning that instead of requiring the coupling strength among neighboring agents to be larger than a threshold value as in previous literature, the coupling strength in this paper can be determined by solving some LMIs. Finally, a numerical example is presented to show the effectiveness of the proposed method.

关键词： Multi-agent systems Protocols Switches Topology Uncertainty Couplings

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Fuzzy PID algorithm-based motion control for the spherical amphibious robot

Fuzzy PID algorithm-based motion control for the spherical a...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Guoqiang Wu Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Japan

ISBN: (纸本)9781479970995

Fuzzy control and PID control are often used in control area. However, a single Fuzzy control or PID control can not satisfy the need of the rising complexity and precision of control systems. Considering the disturbance in amphibious spherical robot, it is difficult to solve the control problem for a complex system of an amphibious spherical robot. This paper deeply analyzed the advantages and the disadvantages of Fuzzy control and PID control, and proposed a new Fuzzy PID control combined Fuzzy control and PID control. The simulation results show that the method of Fuzzy PID can effectively reduce the overshoot of the control system, accelerate the response speed, and shorten the adjustment time, In this way, The system can reduce the shock of amphibious spherical robot, and improve the stability, thus, the method can enhance the dynamic performance of the amphibious spherical robot.

关键词： PD control Fuzzy control Niobium Legged locomotion Process control

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Rub-impact fault diagnosis of rotating machinery based on Hilbert-Huang transform 12th

Rub-impact fault diagnosis of rotating machinery based on Hi...

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IEEE International Conference on Mechatronics and Automation

作者： Yan Zhao Enshu Liu Junchao Zhu Baofeng Zhang Juan Wang Huan Tian Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China Research Institute of Physical and Chemical Engineering of Nuclear Industry Tianjin China Dagang Oilfield Thermal Power Company Tianjin China

ISBN: (纸本)9781479970995

The rub-impact fault is one of the important faults of the rotating machinery. The rub-impact fault signal may be nonlinear and non-stationary. The Hilbert-Huang transform (HHT) is based on time-frequency signal processing technology, which is suitable for nonlinear and non-stationary signals. In this paper, the HHT transform is used to analyze the time-frequency characteristic of the rub-impact fault signal of a rotor test rig. The velocity sensor is used to measure the vibration signal of the rub-impact fault rotor. The experimental result shows that the HHT transform can effectively detect the rub-impact fault of the rotor, which implies great potential of the HHT transform in the fault diagnosis of rotor system.

关键词： Rotors Vibrations Transforms Time-frequency analysis Signal processing Fault diagnosis

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Microwave pulping process for rice straw in basic ionic liquid [NH-(C2H4OH)3]+

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Journal of Chemical and Pharmaceutical Research 2014年第8期6卷 260-263页

作者： Song, Wei Deng, Yu Xu, Ying Cui, Mingxian Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China School of Materials Science and Chemical Engineering Tianjin University of Science and Technology Tianjin China Tianjin Key Laboratory of Pulp and Paper Tianjin University of Science and Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China

This paper makes study of microwave pulping process for rice straw in basic ionic liquid [NH-(C2H4OH)3]+. Ionic liquid is synthesized and the experiments are carried out on pulping process. The pulp yields are close to 40%. It belongs to the high yield chemical pulp. The average recovery rate of ionic liquid is 94%, which makes pulping process no pollution, that is, no black liquor. Test results show that the paper properties satisfy the general requirements of paper. XRD result indicates that rice straw cellulose crystal type is no obvious change after ionic liquid microwave cooking pulping. The damage degree of rice straw fiber is small. SEM analysis shows that the basic ionic liquid has a strong penetration under the supplementary role of microwave radiation. There is nosignificant difference for pulp fiber morphology by microscope observation after cooking pulping as well as and fiber length&width detection. These results show that the microwave pulping process for rice straw in basic ionic liquid is in line with the grasses pulping characteristics. © 2014, Journal of Chemical and Pharmaceutical Research. All Rights Reserved.

关键词： Microwaves

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Research on Image Matching Technology for the Spherical Stereo Vision

Research on Image Matching Technology for the Spherical Ster...

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IEEE International Conference on Mechatronics and Automation

作者： Baofeng Zhang Na Liu Yingkui Jiao Yongchen Li Junchao Zhu Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384 China Key Laboratory of Computer Vision and System Ministry of Education of China School of Computer and Communication Engineering Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384 China

ISBN: (纸本)9781479970995

The technique of stereo matching is an important research goal of spherical stereo vision system, which is widely used in visual navigation, motion analysis and panoramic surveillance areas. Fisheye lens can get view images of large field, this paper uses two fisheye lens whose optical axis are perpendicular to construct spherical stereo vision system and does research in stereo matching of spherical stereo vision system. As the image that fish eye lens collected has lager distortion, this paper does stereo matching with the images the system collected without distortion correction using matching algorithm based on maximally stable extremal regions (MSER) and affine scale invariant feature transform (ASIFT) to reduce the correction error generated in the process. The experiment results show that the algorithm can be applied in stereo matching of fish eye image without distortion, and the results meets the need of 3D reconstruction.

关键词： Matching Spherical stereo vision Maximally Stable Extremal Regions (MSER) Affine Scale Invariant Feature Transform (ASIFT)

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