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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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Ultrasound image denoising with multi-shape patches aggregation based non-local means

Ultrasound image denoising with multi-shape patches aggregat...

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Chen, Wanjun Ding, Mingyue Miao, Yalin Luo, Lei Department of Information Science Xi'an University of Technology Xi'an Shannxi 710048 China College of Life Science and Technology Lmage Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan Hubei 430074 China

ISBN: (纸本)9780769546230

The Non-Local Means (NLM) filter uses the redundancy of information in the image to remove noise, this scheme gives some of the best results among other powerful methods such as wavelet based approaches or diffusion techniques. Though simple to implement and efficient in practice, the classical NLM suffers from ringing artifacts around edges when using square patches, due to an abrupt lack of redundancy of the image. This paper presents an extended NLM based on Multi-Shape Patches Aggregation (NLM-MSPA) to overcome this problem, and uses it to remove medical ultrasound images corrupted by multiplicative speckle noise. We have incorporated a preprocessing step to make the speckle noise much closer to the real additive white Gaussian noise, hence more amenable to a denoising algorithm such as NLM-MSPA. Results on real images and artificially speckled images show that the proposed scheme outperforms several classical methods chosen for comparison in its ability to reduce speckle and preserve edge details. © 2011 IEEE.

关键词： Speckle

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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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Forward simulation of remaining oil exploration in cross-well by time domain electromagnetic method

Forward simulation of remaining oil exploration in cross-wel...

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IEEE International Conference on Communication Software and Networks

作者： Xi-Jin, Song Rui-Rong, Dang Bao-Long, Guo Xue-Long, Wang Key Laboratory of Photoelectric Logging and Detecting of Oil and Gas Ministry of Education Xi'An Shiyou University Xi'an China Institute of Intelligent Control and Image Engineering Xidian University Xi'an China College of Computer Science and Technology Xi'An University of Technology Xi'an China

ISBN: (纸本)9781612844855

Based on electromagnetic field theory, this paper derived the general expressions of time domain responses for cross-well electromagnetic logging. The emission waveform may be chosen as bipolar square wave by calculating the spectrums of three types of transmit signals. And the effects of thickness, magnetic permeability and electrical conductivity of the casing on time domain electromagnetic logging responses were analyzed. The computation results show that the casing change whether thinner or thicker has an obvious effect on the time domain logging responses. The simulation results also indicate the higher the casing electrical conductivity, the lower the response signal amplitude;and the lower the magnetic permeability, the more easy the electromagnetic signals through the casing. Furthermore, the sensitivity analysis of the time domain electromagnetic responses to the formation resistivity indicates that the electromagnetic responses are fairly sensitive to the formation resistivity. This result proved the feasibility and effectiveness of cross-well time domain electromagnetic logging technology applies to the field of oil and gas exploration. © 2011 IEEE.

关键词： Magnetic permeability

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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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Statistical Boundary Extraction Base on Quantum Particle Motion

Statistical Boundary Extraction Base on Quantum Particle Mot...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Yangguang Sun Mingyue Ding College of Computer Science South-Central University for Nationalities Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China College of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China

A novel statistical method was proposed for boundary extraction of interested objects in this letter. The proposed method was inspired by the physical nature of quantum and the statistical property of wave function. By introducing the polymer representation of quantum particle and based on quantum particle motion in the gradient-based image potential field, the boundary extraction was realized in our method. Experimental results demonstrated that our method has the capability to make the boundary extraction with arbitrary initialization and topology changes possible.

关键词： Quantum mechanics Wave functions Educational institutions Polymers Monte Carlo methods Deformable models Probability distribution

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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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Quantitative Study on Despeckle Methods of Medical Ultrasound images

Quantitative Study on Despeckle Methods of Medical Ultrasoun...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Runxia Ma Xuming Zhang Mingyue Ding Qi Liu Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Life College of Science and Technology Huazhong University of Science and Technology Wuhan China School of Electrical Information Engineering Sichuan University Chengdu China

Speckle is a granular noise that inherently exists in all types of coherent imaging systems. This paper presents a quantitative study on five despeckling methods such as frost filter, kuan filter, speckle reducing an isotropic diffusion, homomorphic filter and wavelet filter. We select six objective evaluation parameters, such as signal-to-ratio, contrast signal-to-noise ratio, figure of merit, least absolute error, edge protection factor, signal-to-minimum mean square error ratio, to quantify the performance of these filters. The comparative study will provide some parameter comparative reference for selecting a suitable filter in the ultrasound image processing.

关键词： Nonlinear filters Maximum likelihood detection Ultrasonic imaging Noise Speckle Gabor filters Digital filters

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