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第三十四届中国控制会议

作者： SUN Hao WANG Shou-jun SUN Qing-lin Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System The College of Mechanical Engineering Tianjin University of Technology The College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781467374439

The breathing adjuster is the core component of life support system of an aircraft and it is very important to control the valve to make the breathing adjuster supply the pilot the mixed air with the suitable oxygen concentration. In this paper the mathematical model, which describes the relation between the opening degree of the valve of the breathing adjuster and the flight altitude of the aircraft, is set up through analyzing requirement of aviation physiology and working principles of the breathing adjuster. Then a fuzzy controller is designed to control the opening degree of the valve in order to make the breathing adjuster supply to the pilot the mixed air with suitable oxygen concentration. Finally MATLAB Simulink is employed to verify the feasibility and validity of the fuzzy controlling approach. The results of simulating experiments show that the fuzzy control approach proposed in this paper can make the breathing adjuster supply the mixed air with suitable oxygen concentration to the pilot boarded on an aircraft.

关键词： Breathing adjuster,Oxygen concentration,the opening degree of the valve,Fuzzy control,Simulation

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Swarm Intelligence Algorithm Inspired by Route Choice Behavior

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Journal of Bionic Engineering 2016年第4期13卷 669-678页

作者： Daxin Tian Junjie Hu Zhengguo Sheng Yunpeng Wang Jianming Ma Jian Wang Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing 100191 China School of Transportation Science and Engineering Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beihang University Beijing 1 O0191 China Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies Nanjing 210096 China Department of Engineering and Design University of Sussex Brighton BN1 9RH UK The Texas Department of Transportation Austin TX78750 USA College of Computer Science and Technology Jilin University Changchun 130012 China

Travelers＇ route choice behavior, a dynamical learning process based on their own experience, traffic information, and influence of others, is a type of cooperation optimization and a constant day-to-day evolutionary process. Travelers adjust their route choices to choose the best route, minimizing travel time and distance, or maximizing expressway use. Because route choice behavior is based on human beings, the most intelligent animals in the world, this swarm behavior is expected to in- corporate more intelligence. Unlike existing research in route choice behavior, the influence of other travelers is considered for updating route choices on account of the reality, which makes the route choice behavior from individual to swarm. Anew swarm intelligence algorithm inspired by travelers＇ route choice behavior for solving mathematical optimization problems is introduced in this paper. A comparison of the results of experiments with those of the classical global Particle Swarm Optimization （PSO） algorithm demonstrates the efficacy of the Route Choice Behavior Algorithm （RCBA）. The novel algorithm provides a new approach to solving complex problems and new avenues for the study of route choice behavior.

关键词： swarm intelligence route choice behavior particle swarm optimization mathematical optimization

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Wire in the Cable-Driven System of Surgical Robot

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： X F Wang N Lv H Z Mu L J Xue Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology School of Mechanical Engineering Tianjin University of Technology School of Mechanical Engineering Zhonghuan Information College Tianjin University of Technology

During the evolution of the surgical robot, cable plays an important role. It translates motion and force precisely from surgeon's hand to the tool's tips. In the paper, the vertical wires, the composition of cable, are mathematically modeled from a geometric point of view. The cable structure and tension are analyzed according to the characteristics of wire screw twist. The structural equations of the wires in different positions are derived for both non-bent cable and bent cable, respectively. The bending moment formula of bent cable is also obtained. This will help researchers find suitable cable and design more matched pulley.

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An Image Encryption Scheme Based on DNA computing and Cellular Automata

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Discrete Dynamics in Nature and Society 2016年第1期2016卷

作者： Shihua Zhou Bin Wang Xuedong Zheng Changjun Zhou Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 ***

Networks have developed very quickly, allowing the speedy transfer of image information through Internet. However, the openness of these networks poses a serious threat to the security of image information. The field of image encryption has drawn attention for this reason. In this paper, the concepts of 1-dimensional DNA cellular automata and T-DNA cellular automata are defined, and the concept of reversible T-DNA cellular automata is introduced. An efficient approach to encryption involving reversible T-DNA cellular automata as an encryption tool and natural DNA sequences as the main keys is here proposed. The results of a simulation experiment, performance analysis, and comparison to other encryption algorithms showed this algorithm to be capable of resisting brute force attacks, statistical attacks, and differential attacks. It also enlarged the key space enormously. It meets the criteria for one-time pad and resolves the problem that one-time pad is difficult to save.

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Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

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International Journal of advanced Robotic Systems 2016年第2期13卷 44-44页

作者： Qiang Zhang Lan Wang Dongsheng Zhou Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian University Dalian China

In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF), simulated annealing particle swarm optimization (SAPSO) algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method.

关键词： Space Manipulator 7-DOF Base Attitude SAPSO Algorithm

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Mobile robot autonomous path planning based on fuzzy logic and filter smoothing in dynamic environment

Mobile robot autonomous path planning based on fuzzy logic a...

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World Congress on intelligent Control and Automation (WCICA)

作者： Yupei Yan Yangmin Li University of Macau Taipa Macau MO Dept. of Electromechanical Engineering University of Macau Macao SAR Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467384155

The mobile robot has been one of the hottest fields in recent years, it has been widely applied in the most critical and efficient occasions in the industry, meanwhile, path planning becomes a frontier and interesting research topic for the mobile robot. In this paper, firstly mobile robot is introduced, some universal path planning algorithms of the mobile robot are reviewed, then a fuzzy logic and filter smoothing based on the data from the laser scan sensor is proposed, the path planning and autonomous obstacle avoidance based on this algorithm is emphasized because it can automatically find the best path according to the size and position of gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and obstacle avoidance algorithms are tested on this mobile robot, the testing results show this algorithm has the advantage of responding quickly, global optimized and hardware resource saved compared with other algorithms, it is suitable for the mobile robot that is designed on the embedded system and it can meet our designed requirement.

关键词： Mobile robots Heuristic algorithms Path planning Robot sensing systems Algorithm design and analysis Turning Fuzzy logic

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Corrigendum to “Closed loop geometry based optimization by integrating subdivision, reanalysis and metaheuristic searching techniques” [Comput. Struct. 182 (2017) 459–474]

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Computers & Structures 2017年 187卷 122-122页

作者： Guanxin Huang Hu Wang Guoping Wang Guangyao Li Congyi Zhang State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University China Joint Center for Intelligent New Energy Vehicle China Graphics & Interaction Laboratory EECS Department Peking University China Beijing Engineering Technology Center of Virtual Simulation and Visualization China

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A multi-agent coordinated planning approach for deadline required emergency response tasks

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IET Control Theory and Applications 2015年第3期9卷 447-455页

作者： Zhou, Chao Wang, Hongwei Zhuo, Hankz Hankui Key Laboratory of Image Processing and Intelligent Control of Education Ministry Institute of Systems Engineering Huazhong University of Science and Technology Wuhan430074 China School of Advanced Computing SunYat-sen University Guangzhou510006 China

This study investigates the emergency decision-making problem in a multi-agent system. Departments are modeled as agents to perform coordinated planning to obtain a global action plan with a short execution time constrained by a prescribed deadline. A novel multi-agent planning approach is proposed to coordinate for the solution among agents in the system. The approach consists of two stages. For the first stage, a coordinated planning and scheduling method is designed to generate a candidate global action plan. In this plan, durative actions are assigned to proper time intervals with the consideration of temporal relationships among agents. For the second stage, a coordination mechanism based on local heuristics is proposed to reduce the global time cost of the candidate plan to satisfy the deadline. An experimental study of emergency evacuation problem is conducted to demonstrate the effectiveness and efficiency of the proposed approach. © 2015 The Institution of Engineering and Technology.

关键词： Multi agent systems

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Quantum state and process tomography via adaptive measurements

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Science China(Physics,Mechanics & Astronomy) 2016年第10期59卷 25-32页

作者： HengYan Wang WenQiang Zheng NengKun Yu KeRen Li DaWei Lu Tao Xin Carson Li ZhengFeng Ji David Kribs Bei Zeng XinHua Peng JiangFeng Du Hefei National Laboratory for Physical Sciences at Microscale and Department of Modern Physics University of Science and Technology of ChinaHefei 230026China Department of Applied Physics Zhejiang University of TechnologyHangzhou 310023China Institute for Quantum Computing University of WaterlooWaterloo N2L 3G1Canada 4Department of Mathematics&Statistics University of GuelphGuelph N1G 2W1Canada Centre for Quantum Computation&Intelligent Systems Faculty of Engineering and Information TechnologyUniversity of Technology SydneySydney NSW 2007Australia State Key Laboratory of Low-Dimensional Quantum Physics and Department of Physics Tsinghua UniversityBeijing 100084China Department of Physics University of GuelphGuelph N1G 2W1Canada State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China Canadian Institute for Advanced Research Toronto M5G 1Z8Canada

We investigate quantum state tomography(QST) for pure states and quantum process tomography(QPT) for unitary channels via adaptive measurements. For a quantum system with a d-dimensional Hilbert space, we first propose an adaptive protocol where only 2d. 1 measurement outcomes are used to accomplish the QST for all pure states. This idea is then extended to study QPT for unitary channels, where an adaptive unitary process tomography(AUPT) protocol of d2+d.1measurement outcomes is constructed for any unitary channel. We experimentally implement the AUPT protocol in a 2-qubit nuclear magnetic resonance system. We examine the performance of the AUPT protocol when applied to Hadamard gate, T gate(/8 phase gate), and controlled-NOT gate,respectively, as these gates form the universal gate set for quantum information processing purpose. As a comparison, standard QPT is also implemented for each gate. Our experimental results show that the AUPT protocol that reconstructing unitary channels via adaptive measurements significantly reduce the number of experiments required by standard QPT without considerable loss of fidelity.

关键词： quantum tomography state reconstruction nuclear magnetic resonance

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Modelling and analysis of planar robotic arm dynamics based on an improved transfer matrix method for multi-body systems 14

Modelling and analysis of planar robotic arm dynamics based ...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, W. Li, H. Zhang, X.Z. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Academy of Military Medical Sciences Tianjin China

ISBN: (纸本)9789860460988

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This model contains both kinematic and dynamic characteristics of the system. According to the motion transformation relation between the joint space and the operational space of the manipulator, the solution and the procedure are developed for both forward and inverse kinematics of the unified model. The simulation results of a 2DOF planar manipulator show the rightness of the modelling method and exhibit its superiority to other methods.

关键词： Inverse kinematics

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