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Biped walking on level ground with torso using only one actuator

Science China(information Sciences) 2013年第11期56卷 256-264页

作者： FENG Shuai Al Yahmadi Amur S. SUN ZengQi State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and TechnologyTsinghua University Beijing Institute of Control Engineering Department of Mechanical and Industrial Engineering College of Engineering Sultan Qaboos UniversityAl-Khod 123 P.O. Box 33Sultanate of Oman

It is well known that a biped robot needs actuators to walk stably on level *** now,a biped robot with torso has needed at least two actuators to achieve *** it be possible for this kind of robot to walk on level ground with only one actuator?This paper responds in the afrmative and proposes a simple control strategy for a planar biped robot with *** this control method,there is only one low gain proportional-derivative(PD)controller between the torso and the stance leg,while the swing leg remains totally *** PD controller utilizes states of both the torso(angle and angular velocity)and the stance *** numerical simulations show that,by adopting this controller,a planar biped robot with torso can walk stably on level ground,and that the robot can walk with a wide range of speeds and high energy efciency by changing the control *** period-one gaits,one of which is stable while the other three are unstable,are found by *** to the literature surveyed,we are the first to have a torso only driven biped robot walk stably on level ground.

关键词： biped robot torso control passive dynamic walking PD controller

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Development of a new cable-driven soft robot for cardiac ablation

Development of a new cable-driven soft robot for cardiac abl...

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IEEE International Conference on Robotics and Biomimetics

作者： Tao Deng Hesheng Wang Weidong Chen Xiaozhou Wang Rolf Pfeifer Department of Automation Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (纸本)9781479927456

A new cable-driven soft endoscopic system is designed for cardiac ablation in a minimally invasive manner in this paper. The system is totally made of soft materials and has no rigid structures inside. In order to perform operation in the limited pericardium, a modified behavior-based control method inspired from animals is applied in this system. Experiments are performed to demonstrate the concept of prototype and manipulation approaches are feasible. As showed in these experimental results, the cable-driven soft endoscopic system has a strong potential in cardiac surgery.

关键词： Probes Robots Heart Shape Muscles Electron tubes Cameras

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Uncalibrated Path Planning in the Image Space for the Fixed Camera Configuration

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自动化学报 2013年第6期39卷 759-769页

作者： LIANG Xin-Wu HUANG Xin-Han WANG Min 1. Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Pro- cessing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被... 详细信息

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被列在后面，我们能利用基于图象的视觉 servoing 的本地集中和稳定性避免这些问题。因此，路径在图象空间计划是在最近的年里的机器人学的一个活跃研究话题。然而，几乎所有为 camera-in-hand 配置的盒子相关结果被建立。在这篇论文，我们建议 uncalibrated 为改正照相机配置的盒子的视觉路径计划算法。这个算法在射影的空格直接计算图象特征的轨道以便他们与僵硬天体运动兼容。由把旋转和翻译的射影的代表分解成他们的各自的正规形式，我们能容易插入内推他们在射影的空间的路径。然后，在图象飞机的图象特征的轨道能经由射影的路径被产生。这样，特征点的知识组织并且照相机内在的参数没被要求。验证建议算法的可行性和表演，基于 puma560 机器人，操纵者在这被给的模拟结果糊。

关键词：路径规划算法摄像机内参数图像空间配置稳定性问题图片校准视觉伺服

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Incorporating biological inspired optimization into modeling of district heating networks

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Energy Education Science and Technology Part A: Energy Science and Research 2014年第2期32卷 1347-1354页

作者： Shang, Leiming Zhao, Xiaomin Qu, Hongchun Huaibei Normal University School of Computer Science and Technology Huaibei Anhui China China University of Mining and Technology School of Resource and Earth Science XuzhouJiangsu China Huaibei Normal University School of Physics and Electronic Information Huaibei Anhui China Chongqing University of Posts and Telecommunications Key laboratory of industrial IoT and networked control of the Ministry of Education Division of theoretical research for complex systems Chongqing China

In this paper, we proposed a biologically inspired model to solve the optimization problem of building district heating networks. The optimization strategy of the model was inspired from physiological observations of the food foraging procedure of the true slime mold Physarum polycephalum (plasmodium) which was found and proved to be able to find optimal path in complex networks such as mazes and road maps. We developed a simulation model to mimic the food foraging procedure of the plasmodium to help to generate heating distribution networks. Simulation results were compared to a well-tuned ant colony algorithm and a genetic algorithm which were used to build the same heating network. The results indicated that although there was not large-scale efficiency savings had been made, the biologically inspired simulation model is capable of finding optimal heating distribution network which is of equal or better optimality than the compared ant colony algorithm and genetic algorithm and, to achieve network robustness, stability and reliability. © Sila Science.

关键词： Complex networks

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Index modulated OFDM with ICI self-cancellation in underwater acoustic communications

Index modulated OFDM with ICI self-cancellation in underwate...

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Asilomar Conference on Signals, systems & Computers

作者： Miaowen Wen Yuke Li Xiang Cheng Liuqing Yang School of Electronic and Information Engineering South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

ISBN: (纸本)9781479982981

OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interference (ICI) caused by the transmitter/receiver motion and ocean waves. In this paper, we propose a novel ICI countermeasure. The key idea is to inactivate partial subcarriers according to index modulation and meanwhile transmit signals with opposite polarity on two adjacent active subcarriers for ICI self cancellation. Simulation results validate that the proposed scheme achieves much better bit error rate (BER) performance than many existing schemes in UWA communications.

关键词： OFDM Modulation Bit error rate Indexes Receivers Transmitters Sonar equipment

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Spectral power estimation for unevenly spaced motor imagery data

Spectral power estimation for unevenly spaced motor imagery ...

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20th International Conference on Neural information processing, ICONIP 2013

作者： Li, Junhua Struzik, Zbigniew Zhang, Liqing Cichocki, Andrzej MOE-Microsoft Key Laboratory for Intelligent Information and Intelligent Systems Shanghai Jiao Tong University Shanghai 200240 China Laboratory for Advanced Brain Signal Processing Brain Science Institute RIKEN Saitama 351-0198 Japan

ISBN: (纸本)9783642420535

The human brain can send a command to external devices or communicate with the outside environment by the means of a brain computer interface (BCI) system. The effectiveness depends on how precisely specific brain activities can be identified from EEG. Noise is usually mixed into the EEG signal, and cannot be separated or filtered out in some cases. In a practical BCI system, the whole segment of EEG is discarded when a portion of that segment is contaminated by extreme noise or artifacts. This leads to the weakness that the BCI system cannot output decoding results during the period of that discarded segment. In order to solve this problem, we employed a Lomb-Scargle periodogram to estimate the spectral power based on an unevenly spaced segment, a portion of which has been removed due to noise contamination. According to the classification results of motor imagery data, the accuracy is not dramatically decreased along with increased proportion of data removal. © Springer-Verlag 2013.

关键词： Brain computer interface

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An improved method in change detection of multitemporal remote sensing image

An improved method in change detection of multitemporal remo...

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4th International Conference on Intelligence Science and Big Data Engineering, IScIDE 2013

作者： Liao, Fangshun Yu, Sufen Li, Ying Zhang, Yanning Shaanxi Provincial Key Lab. of Speech and Image Information Processing Northwestern Polytechnical University Xi'an Shaanxi 710072 China Science and Technology on Electro-optic Control Laboratory Louyang 471009 China

ISBN: (纸本)9783642420566

Traditional Markov random Field (MRF) methods assume that neighboring pixels tend to have the same label. However, this assumption is always inconsistent with the actual situation and affects the resultant accuracy of the algorithm. To overcome this, we propose an object-based Markov Random Field (OMRF) model and a change detection method based on OMRF model. The OMRF model assumes that pixels within same object are in the same class. First, we generate the difference image from multi-temporal remote sensing images. Second, Mean Shift is applied to extract objects from difference image. Finally, change detection map is generated by iterative algorithm. The experimental results show that the algorithm can effectively improve the detection accuracy of the algorithm on real remote sensing datasets. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Change detection

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An intelligent heterogeneous multicast routing scheme

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Dongbei Daxue Xuebao/Journal of Northeastern University 2014年 35卷 231-237页

作者： Chen, Shu-Liu Wang, Xing-Wei Zhao, Zhi-Jie Huang, Min School of Information Science & Engineering Northeastern University Shenyang110819 China Information and Technology Center China Mobile Group Liaoning Co. Ltd. Shenyang110179 China Key Laboratory of Network Control Systems Chinese Academy of Sciences Shenyang110016 China

A heterogeneous multicast routing scheme in IP over DWDM (dense wavelength division multiplexing) optical Internet was proposed with the flexible QoS (quality of service), in which learning evolutionary algorithm was used to solve the heterogeneous multicast routing problem. The uncertainty in the link state parameters was handled by probability theory and the flexible QoS support was provided by fuzzy mathematics. By applying the principles in microeconomics, a fair pricing method was devised to achieve or approach the Pareto optimum under Nash equilibrium for the provider utility and the user utility. VC++6.0 was used as the development tool to achieve the simulation and the simulation results showed that the proposed scheme can effectively solve the QoS heterogeneous multicast routing problem in IP over DWDM optical Internet with good performance. ©, 2014, Northeastern University. All right reserved.

关键词： Dense wavelength division multiplexing

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Shadow detection using regression tree fields with paired regions

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Journal of Computational information systems 2013年第11期9卷 4309-4317页

作者： Tao, Wei Zhou, Yue Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai 200240 China

In this paper, we try to deal with the problem of shadow detection from static images and video sequences. In instead to considering individual regions separately, we use relative illumination conditions between segmented regions and perform pair-wise classification based on such information. We use Regression Tree Fields to solve the labeling of shadow and non-shadow regions. And we use continuous value to describe the possibility of the shadow of the region. We evaluate our method on static images and a series of video sequences. © 2013 by Binary information Press.

关键词： Classification (of information)

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Subspace decomposition approach of fault deviations and its application to fault reconstruction

Subspace decomposition approach of fault deviations and its ...

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第三十二届中国控制会议

作者： Chunhui Zhao Wenqing Li Youxian Sun State Key Laboratory of Industrial Control Technology Department of Control Science and EngineeringZhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781479900305

In the present work,a new subspace decomposition approach of fault deviation is developed for fault diagnosis via reconstruction for principle component analysis(PCA) based monitoring *** focuses on decomposing the fault effects in different monitoring subspaces,principal subspace(PCS) and residual subspace(RS),and finding the significant fault deviations that are responsible for the concerned alarming monitoring *** is achieved by analyzing the relative changes of fault process in comparison with the normal status and designing a two-step feature decomposition *** fault data space is decomposed into two different parts for the purpose of fault reconstruction in PCS and RS of monitoring system *** is composed of the concerned fault deviations that contribute to alarming monitoring statistics which are thus significant to remove the out-of-control *** other is composed of general variations that are deemed to follow normal rules or insignificant to remove alarming monitoring *** feasibility and performance are illustrated with experimental data.

关键词： subspace decomposition principal component analysis fault diagnosis fault reconstruction principal component subspace(PCS) residual subspace(RS)

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