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2015 International Conference on Fluid Power and Mechatronics

作者： Deyang Zhang Shoukun Wang Junzheng Wang Ligang Ma Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Chinese North Vehicle Research Institute

Hydro-viscous speed clutch(HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance of the speed control system. This paper studies the HVC of a vehicle temperature control system, and analyzes the parameters tuning method of a PID controller for the closed-loop control system. By employing a two-storey optimized control framework, the resulting model from identification can be used to complete the control parameters auto-tuning. Simulation and experimental results have showed that this auto-tuning method can obtain a group of parameters in terms of a desired performance index, which guarantees the balance of dynamic characteristics, stability and anti-jamming in closed-loop system.

关键词： hydro-viscous driver system model identification parameters tuning method

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Public service management system of urban placenames for Sanya case

Public service management system of urban placenames for San...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Wei Liu Fenghua Zhu Xisong Dong Gang Xiong Yongqiang Zhu Huazhou Wu Taozhong Liu Yuexiang Hu The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China Instituteof Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Dongguan Research Institute of CASIA Chinese Academy of Sciences Dongguan China Xiamen Kingtopinfo Technology Co. Ltd Xiamen China Joint Laboratory of Parallel Management & Control and Business Intelligence Hainan Zhongke Flower Ocean Cloud Commerce Technology Co. Ltd Haikou China

ISBN: (纸本)9781509029280

The rapidly growing amount of social interaction makes geographical names an important and indispensable medium for people in social and economic exchanges. Especially in today's information age, the frequency of usage of name information has increased greatly. In this paper, a method for the construction of a cities' names database is proposed. This will include the processing of the outcome data from the names pilot survey, the consolidation into the database, the development of the cloud service and management system based on the geographical names and zoning database, and the construction of a relatively complete set of the public service system of geographical names based on a website and touch screen interface. The method has been applied in SanYa, China successfully, and very good results have been obtained. The platform can provide not only accurate and convenient services of geographical names, but also promote its economic development and social progress.

关键词： Urban areas Standards Cloud computing Economics Spatial databases Geospatial analysis

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Scanning the Issue and Beyond: Transportation and Mobility Transformation for Smart Cities

Scanning the Issue and Beyond: Transportation and Mobility T...

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作者： Wang, Fie-Yue State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China Qingdao Academy of Intelligent Industries Qingdao266109 China

The first issue of IEEE intelligent Transportation systems Society (ITSS) starts with survey papers on technology and security for intelligent vehicles. The first paper titled 'Intra-Vehicle Networks: A Review' by S. Tuohy, M. Glavin, C. Hughes, E. Jones, M. Trivedi, and L. Kilmartin presents a comprehensive overview of current research on advanced intra-vehicle networks and identifies outstanding research questions for the future. J. Petit and S. E. Shladover's paper, 'Potential Cyberattacks on Automated Vehicles' analyzes the threats on autonomous automated vehicle and cooperative automated vehicle. 'A Video-Analysis-Based Railway-Road System for Detecting Hazard Situations at Level Crossings' by H. Salmane, L. Khoudour, and Y. Ruichek explores the possibility of implementing a smart video surveillance security system that is tuned toward detecting and evaluating abnormal situations induced by users in level crossing. 'Traffic Flow Prediction for Road Transportation Networks with Limited Traffic Data' by A. Abadi, T. Rajabioun, and P. A. Ioannou, uses a dynamic traffic simulator to generate flows in all links using available traffic information, estimated demand, and historical traffic data available from links equipped with sensors. The paper titled 'GNSS Multipath and Jamming Mitigation Using High-Mask-Angle Antennas and Multiple Constellations' studies the optimal antenna mask angle that maximizes the suppression of interference but still maintains the performance of a single constellation with a low-mask-angle antenna.

关键词： Antennas

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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An Overview of Distributed High-order Multi-agent Coordination

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 1-9页

作者： Jie Huang Hao Fang Lihua Dou Jie Chen the School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems the Fujian Institute of Education

Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most previous research works on multi-agent systems studied the first- and second-order dynamics. However, in engineering, many systems are modeled by higher-order dynamics. This paper reviews the major results and progress in distributed high-order multi-agent *** the review, a short discussion section is included to summarize the existing research and propose several promising research directions along with some open problems that are deemed important for further investigations.

关键词： Multi-agent systems Protocols Linear systems Nonlinear systems Heuristic algorithms Laplace equations

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Unknown environment 2-D map building system for coal mine detect robot

Unknown environment 2-D map building system for coal mine de...

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International Conference on Information and Automation (ICIA)

作者： Haojian Lu Junyao Gao Jianguo Zhu Zhe Xu Haoxiang Cao Jingchao Zhao Fangzhou Zhao Xin Li Yi Liu Xuanyang Shi Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Coal mine is a very dangerous field because various fatal factors menace people especially when coal mine explosion happens. For the reason that rescuers have to know the mine tunnel actual situation and at the same time, it is very dangerous for rescuers to go into mine tunnel because of the unknown environment, a kind of coal mine detect robot and an unknown environment 2-D map building system are introduced. This paper introduces a coal mine detect robot which is a kind of tracked robot that is suitable for running in explosion environment. In order to solve the problem of detecting an unknown environment, we introduce a 2-D map building system based on linear template clustering algorithm via laser radar. Finally, the experiment shows that this coal mine detect robot and the 2-D map building system are reliable and practical.

关键词： Coal mining Laser radar Robot sensing systems Robot kinematics Buildings

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Study of control parameters tuning method for hydro-viscous driver system

Study of control parameters tuning method for hydro-viscous ...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Ligang Ma Deyang Zhang Shoukun Wang Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Chinese North Vehicle Research Institute Beijing China

ISBN: (纸本)9781479987719

Hydro-viscous speed clutch (HVC) is a central control element of the driver system. Because of nonlinearities and hysteresis of the clutch, the setting of control parameters has a significant impact on the performance of the speed control system. This paper studies the HVC of a vehicle temperature control system, and analyzes the parameters tuning method of a PID controller for the closed-loop control system. By employing a two-storey optimized control framework, the resulting model from identification can be used to complete the control parameters auto-tuning. Simulation and experimental results have showed that this auto-tuning method can obtain a group of parameters in terms of a desired performance index, which guarantees the balance of dynamic characteristics, stability and anti-jamming in closed-loop system.

关键词： Mathematical model Vehicles Tuning Friction Velocity control Cooling Valves

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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A Composite controller Strategy for Electromechanical Actuator Using a Permanent-Magnet Synchronous Motor 33

A Composite Controller Strategy for Electromechanical Actuat...

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第三十三届中国控制会议

作者： WANG Chenyi GAN Minggang QIAO Zhi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Electromechanical Actuator,PMSM,Non-Singular Terminal Sliding Mode,Extended state Observer,hinge moment

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A Novel Link Scheduling for Special Re-use TDMA on Ad Hoc Networks 33

A Novel Link Scheduling for Special Re-use TDMA on Ad Hoc Ne...

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第三十三届中国控制会议

作者： Li Weijie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm.

关键词： STDMA,multi-hop ad Hoc networks,scheduling delay

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