检索结果-内蒙古大学图书馆

第三十二届中国控制会议

作者： Yulei Liu Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479900305

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is three times as much as the other'*** noises of different sensors are cross-correlated and are also coupled with the system noise of the previous step. By use of the projection theorem and induction hypothesis repeatedly,a distributed fusion estimation algorithm is *** algorithm is proven to be distributed optimal in the sense of Linear Minimum Mean Square Error(LMMSE) and can effectively reduces the oscillation existed in the sequential ***,a numerical example is shown to illustrate the effectiveness of the proposed algorithm.

关键词： state estimation Distributed data fusion Cross-correlated noises Multirate

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Design and Kinetic Analysis of a Biomimetic Underwater Vehicle with Two Undulating Long-fins

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Acta Automatica Sinica 2013年第8期39卷 1330-1338页

作者： WEI Qing-Ping Shuo WANG Xiang DONG Liu-Ji SHANG Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 China

A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.

关键词： Autonomous underwater vehicle biomimetic robot fish kinematic modeling robot control

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Investigation of Best Robot Kicking

Investigation of Best Robot Kicking

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第三十二届中国控制会议

作者： Theophile Boue Chenguang Yang Hongbin Ma Phil Culverhouse School of Computing and Mathematics University of PlymouthPlymouth PL4 8AAUnited Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

ISBN: (纸本)9781479900305

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

关键词： Football Robot Robot World Cup Best Kick Motion control Compliance control Inverse Dynamics

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Cycle-slip Detection of GPS Carrier Phase with Methodology of SA4 Multi-wavelet Transform

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Chinese Journal of Aeronautics 2012年第2期25卷 227-235页

作者： HUO Guoping MIAO Lingjuan School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system （GPS）. In this paper, an algorithm based on length-4 symmetric/anti-symmetric （SA4） orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust （GHM）, Chui-Lian （CL） and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties （GMPs）, it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform.

关键词： satellite navigation cycle-slip detection orthogonal multi-wavelet good multi-filter properties singularity detection

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GPU based Non-dominated Sorting Genetic Algorithm-II for Multi-objective Traffic Light Signaling Optimization with Agent Based Modeling

GPU based Non-dominated Sorting Genetic Algorithm-II for Mul...

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International IEEE Conference on intelligent Transportation systems

作者： Z. Shen K. Wang F. Y. Wang State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Center for Military Computational Experiments and Automation the National University of Defense Technology (NUDT)

ISBN: (纸本)9781479929153

Micro-simulation becomes more and more important in the intelligent Transportation systems (ITS) research, because it can provide detailed descriptions of the system. For a multi-agent systems (MAS) modeling of an ITS, the computation burden is large, as it involves the computation of the state changing of all the agents. And, there are many multi-objective optimization problems in the ITS research. In this paper, we solve the traffic light signaling optimization problem and we take the average delay time and the average stop times as two objectives. We use a famous method of Non-dominated Sorting Genetic Algorithm II (NSGA-II). As NSGA-II can be viewed as an intelligent way of running a number of micro-simulations, usually the computation burden is huge. Graphics Processing Units (GPUs) have been a popular tool for parallel computing. The real transportation system runs in parallel and we think that a parallel tool is more suitable for the simulation and optimization of the system. We test GPU based NSGA-II method on a 4 intersection lattice road network, and on the 18 intersection road network of the Zhongguancun area of Beijing. Compared with the CPU version, the GPU version implementation achieves a speedup factor of 21.46 and 27.64 respectively.

关键词： Traffic lights intelligent transportation systems Graphics Processing Unit GRAPPER PICK UP speedup factor Agents state Change grade intelligent Tutoring systems Genetic Algorithm (GA) road network transport system arithmetic Multi-agent systems

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Disturbance observer based time-varying sliding mode control for uncertain mechanical system

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Journal of systems Engineering and Electronics 2012年第1期23卷 108-118页

作者： Binglong Cong Xiangdong Liu Zhen Chen School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory for Intelligent Control ＆ Decision on Complex Systems Beijing Institute of Technology Beijing 100081 P. R. China

It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.

关键词： mechanical system time-varying sliding mode control （TVSMC） global sliding phase global chattering disturbance observer.

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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Backstepping based adaptive sliding mode control for spacecraft attitude maneuvers

Backstepping based adaptive sliding mode control for spacecr...

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2012 UKACC International Conference on control, control 2012

作者： Cong, Binglong Liu, Xiangdong Chen, Zhen Key Laboratory for Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781467315609

This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control (B-ASMC) design is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Compared to current adaptive sliding mode control (ASMC) design, the B-ASMC design has two advantages. Theoretically, the asymptotical stability of the attitude states rather than the sliding function is guaranteed. Practically, the over-adaptation problem in current ASMC design is alleviated and the system performance is improved. Detailed design principle and rigorous closed-loop system stability analysis are provided. A large angle attitude maneuver is employed in the numerical simulation to verify the effectiveness of the proposed algorithm. © 2012 IEEE.

关键词： Backstepping

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Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuv...

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2012 UKACC International Conference on control, control 2012

作者： Cong, Binglong Liu, Xiangdong Chen, Zhen Key Laboratory for Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

ISBN: (纸本)9781467315609

This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy. © 2012 IEEE.

关键词： Sliding mode control

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